Login| Sign Up| Help| Contact|

Patent Searching and Data


Title:
ROBOTIC APPARATUS AND CONTROL METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2014/021433
Kind Code:
A1
Abstract:
The robotic apparatus (1) is provided with a control device (3) for performing correction using values estimated by a joint torque-estimating unit (53) for estimating the joint torque acting on each joint (20-25). The joint torque-estimating unit (53) comprises a Coulomb's frictional force torque-estimating unit (70), a viscous frictional force torque-estimating unit (71), and a shift interval-computing unit (72) for making shifts from the Coulomb's frictional force torque-estimating unit (70) to the viscous frictional force torque-estimating unit (71) and shifts from the viscous frictional force torque-estimating unit (71) to the Coulomb's frictional force torque-estimating unit (70) smooth.

Inventors:
MATSUMOTO YUTA (JP)
NISHIHARA YASUNORI (JP)
FUJITA JUN (JP)
Application Number:
PCT/JP2013/070918
Publication Date:
February 06, 2014
Filing Date:
August 01, 2013
Export Citation:
Click for automatic bibliography generation   Help
Assignee:
TOSHIBA MACHINE CO LTD (JP)
International Classes:
B25J9/10; B25J13/00
Foreign References:
JP2006146572A2006-06-08
JP2010076012A2010-04-08
Attorney, Agent or Firm:
KATSUNUMA Hirohito et al. (JP)
Katsunuma Hirohito (JP)
Download PDF:
View/Download PDF      PDF Help



 
Previous Patent: PROCESS FOR PRODUCING POLYACRYLIC ACID (SALT)-BASED WATER-ABSORBING RESIN

Next Patent: VISCOUS COMPOSITION