Robot arm and method of controlling the same
US8405340B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 23, 2009 |
| Grant date | Mar 26, 2013 |
| Priority date | — |
| Expiry date | Dec 1, 2030 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/40264
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Disclosed are a robot arm having high back-drivability to interact with a human being, which is safely stopped, and a method of controlling the robot arm. When the operation of the robot arm having high back-drivability to interact with a human being is converted into a safety mode due to the occurrence of an emergency, in which the operation of the robot arm is stopped, only a torque having a degree to compensate for gravity applied to the robot arm, i.e., only a torque to maintain the kinematical position of the current state of the robot arm without falling of the robot arm due to gravity, is outputted to control the robot arm as if the robot arm is in a weightless state, thus being capable of safely stopping the robot arm.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.