Robotics apparatus, robot control method, program, and recording medium
US9427870B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Mar 14, 2014 |
| Grant date | Aug 30, 2016 |
| Priority date | — |
| Expiry date | Jun 27, 2034 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/02
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
The robotics apparatus includes an f1-actuator for driving a first link, an f2-actuator for driving a second link, an actuator for simultaneously driving both links, and a CPU for controlling those actuators. The CPU sets a driving-force command value to an e3-actuator to a predetermined set value. Moreover, the CPU calculates a driving-force command value to the f1-actuator based on the driving-force command value and a target joint angle for a first joint. The CPU calculates a driving-force command value to the f2-actuator and a target joint angle for a second joint. It achieves a control for allowing a distal end of a second link to track a target trajectory and stiffness control at the distal end of the second link with a smaller number of driving sources than that of a conventional 3-pair 6-muscle manipulator.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.