Systems and methods of using a hieroglyphic machine interface language for communication with auxiliary robotics in rapid fabrication environments
US-8977378-B2 · Mar 10, 2015 · US
Robot control device
US9156166B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9156166-B2 |
| Application number | US-201414448292-A |
| Country | US |
| Kind code | B2 |
| Filing date | Jul 31, 2014 |
| Priority date | Aug 5, 2013 |
| Publication date | Oct 13, 2015 |
| Grant date | Oct 13, 2015 |
How to read this patent
A practical reading order for non-experts. Skip the full description unless you need deep technical detail.
- Title
What the patent document calls the invention.
- Abstract
A short plain-language summary of the technical disclosure.
- Assignees and inventors
Who owns or filed the patent and who is credited as inventor.
- Key dates
Filing, priority, publication, and grant dates set the timeline.
- First independent claim
The legal scope of protection — read this for what is actually claimed.
- CPC / IPC classifications
Technology tags used to group this patent with similar filings.
- Citations and related patents
Prior art links and similar publications in this corpus.
Abstract
Official abstract text for this publication.
A robot control device according to an embodiment includes: an observer receiving the angular velocity of the motor and the current command value, and estimating an angular acceleration of the link, and angular velocities of the link and the motor from a simulation model of an angular velocity control system of the motor; a first feedback unit calculating an axis torsion angular velocity from a difference between the angular velocities of the link and the motor estimated by the observer, and giving feedback to the angular velocity control system; a second feedback unit feeding back the angular acceleration of the link estimated by the observer to the angular velocity control system; and a first feedback constant calculating unit compensating an end effector load mass and increases inertia at the second feedback unit when an end effector load in the nonlinear dynamic model has low inertia.
First claim
Opening claim text (preview).
The invention claimed is: 1. A robot control device that controls a robot arm having an elastic mechanism between a rotation axis of a motor and a rotation axis of a link, and has an angular velocity control system that performs proportionality/integration control on an angular velocity of the motor and outputs a current command value to the motor, the robot control device comprising: an observer configured to receive the angular velocity of the motor and the current command val…
Assignees
Inventors
Classifications
Physics · mapped topic
Operations & Transport · mapped topic
Operations & Transport · mapped topic
Physics · mapped topic
Operations & Transport · mapped topic
Patent family
Related publications grouped by family.
External sources
Next steps
Free tools are coming soon. Tell us what you want to track and we'll notify you.
Frequently asked questions
Answers are generated from the same data shown on this page.
- What does patent US9156166B2 cover?
- A robot control device according to an embodiment includes: an observer receiving the angular velocity of the motor and the current command value, and estimating an angular acceleration of the link, and angular velocities of the link and the motor from a simulation model of an angular velocity control system of the motor; a first feedback unit calculating an axis torsion angular velocity from a…
- Who is the assignee on this patent?
- Toshiba Kk
- What technology area does this patent fall under?
- Primary CPC classification B25J9/1651. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Oct 13 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 1 related publication on this page (citations in our corpus or others sharing the same primary CPC).