Title:
ROBOT AND CONTROLLER
Document Type and Number:
WIPO Patent Application WO/2007/139135
Kind Code:
A1
Abstract:
A robot and controller for optimally distributing an acting force necessary for
movement to given contact points in a space and generating the torques at the respective
coupling parts. A drive controller (3) which a robot has receives an input of target
movement information (step S1), derives a ZMP to be targeted and an acting force
to be targeted according to the movement to be targeted and represented by the
received target movement information (step S2), derives forces acting on the
respective contact parts so that the derived acting force can be optimally distributed
according to a norm minimum standard (step S3), computes torque values as the
control target values of the actuators for driving the respective coupling parts
(step S4), and outputs the computed torque values as the control target values
to the actuators (step 5). The actuators receive the torque values as the control
target values and operate according to the received torque values.
Inventors:
SANG-HO HYON
Application Number:
PCT/JP2007/060963
Publication Date:
December 06, 2007
Filing Date:
May 30, 2007
Export Citation:
Assignee:
JAPAN SCIENCE & TECH AGENCY (JP)
SANG-HO HYON
SANG-HO HYON
International Classes:
B25J9/16; B25J5/00; B25J13/00
Other References:
ASADA M. ET AL: "New Edition Robot Kogaku Handbook", 23 June 2005 (2005-06-23), pages 289 - 295, XP003019628
Attorney, Agent or Firm:
KOHNO, Takao (4-3 Tsuriganecho 2-chome, Chuo-ku, Osaka-sh, Osaka 35, JP)
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