Control method of robot apparatus and robot apparatus
US9044860B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Dec 20, 2012 |
| Grant date | Jun 2, 2015 |
| Priority date | — |
| Expiry date | Jul 10, 2033 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/41387
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A control method of a robot apparatus, the robot apparatus including a link and a pair of actuators, obtaining each driving force command value of each of the actuators, and controlling each of the actuators, the control method including: a torque command value computation step; a change computation step of computing a difference between the joint stiffness command value and a value and performing a computation of subtracting a value from the joint stiffness command value; an iterative step of iterating the computations of the torque command value computation step and the change computation step until the difference converges to a value equal to or smaller than a predetermined value; and a driving force command value computation step to compute each of the driving force command values when the difference is converged to a value equal to or smaller than the predetermined value.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.