Control method of robot apparatus and robot apparatus
US9050724B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Dec 20, 2012 |
| Grant date | Jun 9, 2015 |
| Priority date | — |
| Expiry date | Jul 31, 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 calculation step of using the target stiffness, the target trajectory, angular velocity of the target trajectory, and angular acceleration of the target trajectory to calculate a torque command value; a determination step of determining whether each of the driving force command values is a value 0 or greater; a change step of performing at least one of a change of increasing the target stiffness and a change of reducing the angular acceleration; and a driving force command value calculation step of using the target stiffness and the torque command value to calculate each of the driving force command values.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.