Title:
JOINT DRIVE CONTROL DEVICE FOR ROBOT
Document Type and Number:
Japanese Patent JP3167404
Kind Code:
B2
Abstract:
PURPOSE: To sufficiently absorb and mitigate the external force such as road surface reaction, if applied, by providing a correction quantity calculating means determining the correction quantity for moving the preset portion of a robot to absorb the detected external force.
CONSTITUTION: A two-walking leg type moving robot 1 is provided with a body and at least one link mechanism constituted of at least two links connected to the body via the first joint and connected to each other via the second joint. When the joint drive of the robot 1 is controlled, the external force applied to the robot 1 is detected by a detecting means 36. The correction quantity for moving the preset portion of the robot 1 to absorb the detected external force is determined by a correction quantity calculating means 26. The drive control values of the first and second joints are determined by a control value determining means 26 based on the determined correction quantity, and the grounding impact force applied to the robot 1 is sufficiently absorbed and mitigated.
More Like This:
Inventors:
Nobuaki Ozawa
Application Number:
JP7551892A
Publication Date:
May 21, 2001
Filing Date:
February 26, 1992
Export Citation:
Assignee:
Honda motor industry stock company
International Classes:
B25J13/08; B25J5/00; B62D57/032; G05D1/02; (IPC1-7): B25J5/00
Domestic Patent References:
| JP2298489A | ||||
| JP61133408A |
Attorney, Agent or Firm:
Yutaka Yoshida (1 person outside)