Surgical manipulator capable of controlling a surgical instrument in multiple modes
US-9119655-B2 · Sep 1, 2015 · US
Robot apparatus, robot controlling method, program and recording medium
US9505133B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9505133-B2 |
| Application number | US-201414561771-A |
| Country | US |
| Kind code | B2 |
| Filing date | Dec 5, 2014 |
| Priority date | Dec 13, 2013 |
| Publication date | Nov 29, 2016 |
| Grant date | Nov 29, 2016 |
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 joint driving unit driving a joint of a robot arm includes a motor, a speed reducer transmitting rotation of the motor in a variable speed, an input side encoder detecting a rotation angle of a rotation shaft of the motor, and an output side encoder detecting a rotation angle of an output shaft of the speed reducer. When positioning the end effector at a working start position at which predetermined work is started, operation of the robot is set to an output based control mode in which an angle of a joint is feedback controlled based on an angle detection value from the output side encoder. When the robot performs the predetermined work, the operation of the robot is changed to an input based control mode in which the angle of the joint is feedback controlled based on an angle detection value from the input side encoder.
First claim
Opening claim text (preview).
What is claimed is: 1. A robot apparatus comprising: a robot having a robot arm of multi-joint and an end effector attached to an end of the robot arm; and a control unit configured to control an operation of the robot, wherein the robot arm has a joint driving unit configured to drive the joint, the joint driving unit has a rotating motor, a speed reducer transmitting a rotation of the rotating motor in a variable speed, an input angle detecting unit detecting a rotation an…
Assignees
Inventors
Classifications
Cross-Sectional Technologies · mapped topic
Physics · mapped topic
Cross-Sectional Technologies · mapped topic
- B25J13/088Primary
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 US9505133B2 cover?
- A joint driving unit driving a joint of a robot arm includes a motor, a speed reducer transmitting rotation of the motor in a variable speed, an input side encoder detecting a rotation angle of a rotation shaft of the motor, and an output side encoder detecting a rotation angle of an output shaft of the speed reducer. When positioning the end effector at a working start position at which predet…
- Who is the assignee on this patent?
- Canon Kk
- What technology area does this patent fall under?
- Primary CPC classification B25J13/088. Mapped technology areas include Operations & Transport.
- When was this patent published?
- Publication date Tue Nov 29 2016 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).