Title:
MANIPULATOR AND CONTROL METHOD THEREFOR
Document Type and Number:
WIPO Patent Application WO/2023/003217
Kind Code:
A1
Abstract:
A manipulator and a control method therefor are disclosed. A manipulator according to the present disclosure comprises: a plurality of links corresponding to each of a user's upper arm, lower arm, and hand; a plurality of motors for rotating the plurality of links; a communication interface; a memory for storing at least one instruction; and a processor for executing the at least one instruction, wherein the processor obtains information about the body coordinate system of the link corresponding to the lower arm, on the basis of first rotation angle information about the motors corresponding to the upper arm and the lower arm from among the plurality of motors, obtains information about an equilibrium angle at which the body coordinate system is in equilibrium with a predefined reference coordinate system, obtains second rotation angle information about the motors corresponding to the hand from among the plurality of motors, on the basis of the sensing value and the equilibrium angle information, if the sensing value representing the position of the hand is received from an external sensor through the communication interface, and controls motors corresponding to the hand, on the basis of the second rotation angle information. Other various embodiments are possible.
Inventors:
LEE HANSUNG (KR)
SON HYUNGMIN (KR)
JUN LEO (KR)
PAIK JIWON (KR)
SADI SAJID (US)
KANG JEANNIE (KR)
LEE MINYOUNG (KR)
LEE YENAH (KR)
SON HYUNGMIN (KR)
JUN LEO (KR)
PAIK JIWON (KR)
SADI SAJID (US)
KANG JEANNIE (KR)
LEE MINYOUNG (KR)
LEE YENAH (KR)
Application Number:
PCT/KR2022/009633
Publication Date:
January 26, 2023
Filing Date:
July 05, 2022
Export Citation:
Assignee:
SAMSUNG ELECTRONICS CO LTD (KR)
International Classes:
B25J13/08; B25J9/06; B25J9/10; B25J9/12; B25J9/16; B25J13/00; B25J15/02
Foreign References:
| JPH09109069A | 1997-04-28 | |||
| JP2006107024A | 2006-04-20 | |||
| JP2018153873A | 2018-10-04 | |||
| KR20200091238A | 2020-07-30 | |||
| KR20130094128A | 2013-08-23 |
Attorney, Agent or Firm:
KIM, Tae-hun et al. (KR)
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