Manipulator and control method therefor
US8237388B2 · kind B2 · utility
Assignees
Inventors
Key dates
| Filing date | Apr 2, 2008 |
| Grant date | Aug 7, 2012 |
| Priority date | — |
| Expiry date | May 8, 2031 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10T74/20305
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A manipulator has a working unit including an end effector and a posture axis for changing the orientation of the manipulator, a compound mechanism provided on the working unit, and a controller for actuating a gripper axis, a yaw axis, and a roll axis by respectively controlling movement positions of three motors. The controller includes a torque generation detector for detecting a timing at which torque is generated on the gripper axis. When the controller detects the timing at which a torque τg′ is generated on the gripper axis under operation of a given motor, the movement positions of the plural motors are shifted and set, corresponding to the directions at which interference torques are generated with respect to the yaw axis and the roll axis, and to predetermined positions of the same directions.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.