Robot apparatus, robot control method, program, and recording medium
US9342067B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Sep 18, 2013 |
| Grant date | May 17, 2016 |
| Priority date | — |
| Expiry date | Jul 17, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/41059
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A robot apparatus includes a rectangular wave generating portion arranged on the output side of a speed reducer, and configured to generate first output pulse signals upon driving of a joint. A control portion includes calculating portions and a motor control portion. The motor control portion estimates an estimated joint angle using input pulse signals, and controls to operate a servo motor so that this estimated joint angle matches a target joint angle. The calculating portions calculate a torsion angle of the joint corresponding to a deviation amount between the first output pulse signals and a pulse waveform of an ideal state. The motor control portion controls to operate the servo motor so as to correct the estimated joint angle by the torsion angle.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.