Robot and attitude control method of robot
US7657345B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Aug 23, 2004 |
| Grant date | Feb 2, 2010 |
| Priority date | — |
| Expiry date | Jan 16, 2027 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J13/08
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The motion of the movable sections of the robot is taken for a periodic motion so that the attitude of the robot can be stably controlled in a broad sense of the word by regulating the transfer of the movable sections. More specifically, one or more than one phase generators are used for the robot system and one of the plurality of controllers is selected depending on the generated phase. Then, the controller controls the drive of the movable sections according to continuous phase information. Additionally, the actual phase is estimated from the physical system and the frequency and the phase of the phase generator are regulated by using the estimated value, while the physical phase and the phase generator of the robot system are subjected to mutual entrainment so that consequently, it is possible to control the motion of the robot by effectively using the dynamics of the robot.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.