Torque compensation
US-2024358370-A1 · Oct 31, 2024 · US
Actuating apparatus
US8996170B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-8996170-B2 |
| Application number | US-201314013536-A |
| Country | US |
| Kind code | B2 |
| Filing date | Aug 29, 2013 |
| Priority date | Aug 31, 2012 |
| Publication date | Mar 31, 2015 |
| Grant date | Mar 31, 2015 |
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Abstract
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An actuating apparatus includes an actuator including flexible transmitting assemblies disposed between a plurality of joints, and a plurality of motors for actuating the joints. Each of the motors includes a variable rigidity element, the rigidity of which is variable in directions of rotation of the joints, and a controller for controlling the actuator. The controller includes a rigidity threshold value calculator for calculating rigidity threshold values of the joints, based on a required rigidity for a predetermined task position on a link and a coefficient matrix determined based on rotational angles of the motors.
First claim
Opening claim text (preview).
What is claimed is: 1. An actuating apparatus comprising: an actuator including a link having a plurality of joints, a plurality of rotary prime movers for actuating the joints, and a plurality of flexible transmitting assemblies disposed respectively between the joints and the rotary prime movers, each of the flexible transmitting assemblies including a variable rigidity element a rigidity of which is variable in directions of rotation of the joints; and a controller for contro…
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Classifications
- B25J9/1633Primary
Operations & Transport · mapped topic
Physics · mapped topic
Operations & Transport · mapped topic
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Frequently asked questions
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- What does patent US8996170B2 cover?
- An actuating apparatus includes an actuator including flexible transmitting assemblies disposed between a plurality of joints, and a plurality of motors for actuating the joints. Each of the motors includes a variable rigidity element, the rigidity of which is variable in directions of rotation of the joints, and a controller for controlling the actuator. The controller includes a rigidity thre…
- Who is the assignee on this patent?
- Honda Motor Co Ltd
- What technology area does this patent fall under?
- Primary CPC classification B25J9/1633. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Mar 31 2015 00:00:00 GMT+0000 (Coordinated Universal Time) (B2). Legal status and post-grant events are not shown on this page.
- What related patents are in patentsdb?
- We list 8 related publications on this page (citations in our corpus or others sharing the same primary CPC).