The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Apr. 11, 2017
Filed:
May. 23, 2013
The Ritsumeikan Trust, Kyoto, JP;
Sadao Kawamura, Shiga, JP;
Hiroyuki Onishi, Kyoto, JP;
THE RITSUMEIKAN TRUST, , JP;
Abstract
An end effector can be removed to a target position and calibration loads can be reduced, even if there is an error in a kinematic operation in a robot main body and/or cameras. A positional deviation integral torque obtained by integrating a value corresponding to a positional deviation is applied to joints while being superimposed with torques based on angular deviations. If movements of the joints stop or are about to stop before the end effector reaches a target position due to an error in a kinematic operation, the positional deviation integral torque increases with time, to move said joints and move the end effector to the target position. Thus, the end effector can be reliably moved to the target position by the positional deviation integral torque, and calibration loads can be reduced.