Title:
DRIVING METHOD FOR JOINT DEVICE
Document Type and Number:
WIPO Patent Application WO/2012/127532
Kind Code:
A1
Abstract:
Provided is a driving method for a joint device, which is suitable for robot joints and achieves improvement in back-drivability. A first motor and a second motor are fixedly provided to a first link. An output shaft of the first motor is coupled to an inner gear of a differential speed reducer. An output shaft of the second motor is coupled to an outer gear of the differential speed reducer. A second link is coupled to the inner gear of the differential speed reducer. When the first link and the second link are brought into a relative stationary state to keep a joint angle constant, the first motor and the second motor are both rotated at rotation speeds larger than zero and different from each other to bring the second link into a stationary state.
Inventors:
DOI MASAHIRO (JP)
Application Number:
PCT/JP2011/001704
Publication Date:
September 27, 2012
Filing Date:
March 23, 2011
Export Citation:
Assignee:
TOYOTA MOTOR CO LTD (JP)
DOI MASAHIRO (JP)
DOI MASAHIRO (JP)
International Classes:
B25J17/00
Foreign References:
| JP2009291874A | 2009-12-17 | |||
| JPH08308178A | 1996-11-22 | |||
| JPH1149013A | 1999-02-23 |
Other References:
JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 13, no. 8, pages 1078 - 1083
JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 22, no. 3, pages 353 - 360
See also references of EP 2689900A4
JOURNAL OF THE ROBOTICS SOCIETY OF JAPAN, vol. 22, no. 3, pages 353 - 360
See also references of EP 2689900A4
Attorney, Agent or Firm:
IEIRI, Takeshi (JP)
House ON 健 (JP)
House ON 健 (JP)
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Claims: