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Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and 원문보기

IPC분류정보
국가/구분 United States(US) Patent 등록
국제특허분류(IPC7판)
  • G05B-013/00
출원번호 US-0621717 (1984-06-18)
우선권정보 JP-0109171 (1983-06-20); JP-0214998 (1983-11-17)
발명자 / 주소
  • Sugimoto Koichi (Hiratsuka JPX) Hirabayashi Hisaaki (Yokohama JPX) Arai Shinichi (Yokohama JPX) Sakaue Shiyuki (Yokohama JPX)
출원인 / 주소
  • Hitachi, Ltd. (Tokyo JPX 03)
인용정보 피인용 횟수 : 44  인용 특허 : 9

초록 ▼

Method and apparatus for controlling a robot wherein a force signal is calculated by detecting a force applied to a hand of the robot, a first value representing a difference between the force signal and a force reference is calculated, a second value representing a product of a difference between a

대표청구항 ▼

A method for controlling a robot comprising the steps of: detecting a force applied to a hand of the robot to produce a force signal; calculating a first value representing a difference between said force signal and a force reference; calculating a second value representing a product of a difference

이 특허에 인용된 특허 (9)

  1. Pollard Brian W. (Westport CT) Perzley William (Weston CT) Blanchard Stanley J. (Danbury CT), Control system for manipulator apparatus.
    상세보기
  2. Sturges ; Jr. Robert H. (Plum Borough PA) Birsa Joseph J. (Plum Borough PA) Dawson Paul H. (Plum Borough PA) Byford Roger G. (Washington Township ; Armstrong County PA), Manipulator control system and apparatus for decontaminating nuclear steam generators.
    상세보기
  3. Davis Malcolm F. (Cincinnati OH) Linser Charles M. (Cincinnati OH) Resnick Brian J. (Cincinnati OH), Manipulator with adaptive velocity controlled path motion.
    상세보기
  4. Ruoff ; Jr. Carl F. (Dayton OH), Method and apparatus for generating position or path control programs using force feedback.
    상세보기
  5. Kikuchi Hiroshi (Hiratsuka JPX) Sugimoto Koichi (Yokohama JPX), Method and apparatus of robot teaching.
    상세보기
  6. Freund Eckhard (Karlsruhe-Bergwald DEX), Method of and arrangement for controlling manipulators and industrial robots.
    상세보기
  7. Watson ; Paul C., Remote center compliance system.
    상세보기
  8. Whitney Daniel E. (Arlington MA) Nevins ; Jr. James L. (Burlington MA), Servo-controlled mobility device.
    상세보기
  9. Whitney Daniel E. (Arlington MA) Nevins ; Jr. James L. (Burlington MA), Servo-controlled mobility device.
    상세보기

이 특허를 인용한 특허 (44)

  1. Kazerooni Homayoon (Minneapolis MN), Active compliant end-effector with force, angular position, and angular velocity sensing.
    상세보기
  2. Nihei, Ryo; Inoue, Toshihiko; Ibayashi, Jun; Iwayama, Takatoshi, Cable laying structure for robot.
    상세보기
  3. Greer Dale R. ; Kim Munsang,KRX, Calibration and compensation of robot-based gauging system.
    상세보기
  4. Thorne, Christopher Everett, Cam-driven differential joint.
    상세보기
  5. Kunii Tosiyasu (Tokyo JPX) Sun Lining (Tokyo JPX), Computer-implemented motion analysis method using dynamics.
    상세보기
  6. Oaki Junji (Komae JPX), Control unit for a multi-degree-of freedom manipulator.
    상세보기
  7. Perzley William (Weston CT) Penkar Rajan C. (Danbury CT) Davis Jeffrey R. (Sunnyvale CA), Coordinate conversion system and method for controlling an industrial robot.
    상세보기
  8. Daggett Kenneth E. (Murrysville PA) Onaga Eimei M. (Brookfield Center CT) Casler ; Jr. Richard J. (Newtown CT) Booth Barrett L. (Brookfield CT) Penkar Rajan C. (Woodbury CT) Vercellotti Leonard C. (O, Digital control for multiaxis robots.
    상세보기
  9. Seraji Homayoun (La Cresenta CA), Dual-arm manipulators with adaptive control.
    상세보기
  10. Nakata Shuichi (Kariya JPX) Yamamoto Katsumi (Takahama JPX) Aono Toshio (Kariya all of JPX) Sugita Shinichi (Kariya all of JPX), Electric control apparatus for industrial robot.
    상세보기
  11. Kraft Brett W. (11667 W. 90th St. Overland Park KS 66214), Force feedback control for backhoe.
    상세보기
  12. Jacobus, Charles J.; Riggs, Alan J.; Taylor, Mark J, Force feedback system and actuator power management.
    상세보기
  13. Jacobus,Charles J.; Riggs,Alan J.; Taylor,Mark J., Force feedback system and actuator power management.
    상세보기
  14. Ning Xi ; Jindong Tan, Hybrid robot motion task level control system.
    상세보기
  15. Jnsson Sven (Vsters SEX) Persson Erik (Vsters SEX) stlund Lars (Vsters SEX), Method and a device for optimum control of control parameters in an industrial robot.
    상세보기
  16. Seraji Homayoun (La Cresenta CA), Method and apparatus for adaptive force and position control of manipulators.
    상세보기
  17. Seraji Homayoun (La Crescenta CA), Method and apparatus for configuration control of redundant robots.
    상세보기
  18. Quaid, Arthur E.; Kang, Hyosig; Moses, Dennis, Method and apparatus for controlling a haptic device.
    상세보기
  19. Schreiber, Günter; Zimmermann, Uwe, Method and device for command input in a controller of a manipulator.
    상세보기
  20. Ishikawa Hiroshi (Ichikawa JPX) Kawase Kei (Komae JPX), Method and system for compliance control.
    상세보기
  21. Watanabe Atsushi,JPX ; Kato Tetsuaki,JPX ; Tsuchida Yukinobu,JPX, Method and system for controlling robot.
    상세보기
  22. Schreiber, Günter, Method for allowing a manipulator to cover a predetermined trajectory, and control device for carrying out said method.
    상세보기
  23. Stelzer Joerg (Erlangen DEX), Method for positioning a tool of a multi-joint robot.
    상세보기
  24. Schnelle Joseph W. (Cincinnati OH) Webb Gregory (Cincinnati OH) Tarvin Ronald L. (Cincinnati OH) Brown James V. (Amelia OH), Method of moving and orienting a tool along a curved path.
    상세보기
  25. Schonlau William J. (28127 Ridgepoint Ct. Rancho Palos Verdes CA 90274), Modular robotic system.
    상세보기
  26. Vold Harvard I. (Milford OH) Farrell James D. (Cincinnati OH), Motion controller for redundant or nonredundant linkages.
    상세보기
  27. Onda Nobuhiko (Kawasaki JPX) Asakawa Kazuo (Kawasaki JPX) Akita Tadashi (Kawasaki JPX) Komoriya Hitoshi (Machida JPX) Kamada Toru (Yokohama JPX), Movable apparatus driving system.
    상세보기
  28. Casler ; Jr. Richard J. (Newtown CT) Penkar Rajan C. (Woodbury CT), Multiaxis robot control having improved continuous path operation.
    상세보기
  29. Fullmer David M. (Ann Arbor MI), Parts assembly using signature analysis.
    상세보기
  30. Higuchi Toshiro (Yokohama JPX), Precision automatic assembly apparatus including air core coils and corresponding magnetic poles.
    상세보기
  31. Higuchi Toshiro (Yokohama JPX), Precision automatic assembly apparatus including face to face magnets and an air core coil therebetween.
    상세보기
  32. Higuchi Toshiro (Yokohama JPX), Precision automatic assembly apparatus, with electromagnetically supported member and assembly method using same.
    상세보기
  33. Nakata Yasuyuki,JPX ; Yabuki Akihiko,JPX ; Yoshida Yutaka,JPX ; Nishimoto Katsushi,JPX, Profile control system for robots.
    상세보기
  34. McIntosh James L. (Westminster CO), Program controlled force measurement and control system.
    상세보기
  35. Nakazumi Akira (Tokorozawa JPX) Imamura Nobuaki (Kobe JPX), Robot controller.
    상세보기
  36. Iwatake, Takahiro, Robot controller for robot which sets two objects in combined state.
    상세보기
  37. Kunii Toshiyasu (Tokyo JPX) Sun Lining (Tokyo JPX), Robot or numerical control programming method.
    상세보기
  38. Tsuchihashi Akira (Nagareyama JPX) Takarada Shinichi (Yokohama JPX), Robot system.
    상세보기
  39. Ishiguro Yasuo (Toyota JPX) Kato Yoshito (Aichi JPX) Hayashi Chisao (Aichi JPX) Nakano Masaru (Nagoya JPX) Koide Mitsuo (Owariasahi JPX) Moribe Hiroshi (Nagoya JPX) Kuno Toshitaka (Nagoya JPX), Robot with controlled tool tracking displacement.
    상세보기
  40. Oka, Takenori; Okahisa, Manabu, Robot with load sensor.
    상세보기
  41. Shu,Deming; Joachimiak,Andrzej; Preissner,Curt A.; Nocher,Daniel; Han,Yufeng; Barraza, Jr.,Juan; Lee,Peter; Lee,Wah Keat; Cai,Zhonghou; Ginell,Stephan; Alkire,Randy; Schuessler,Robert G., Robot-based automation system for cryogenic crystal sample mounting.
    상세보기
  42. Szakaly Zoltan F. (Tujunga CA), Synchronized computational architecture for generalized bilateral control of robot arms.
    상세보기
  43. Vau, Bernard, System for stabilizing a positioner with motorized axes of an item of equipment, method and application.
    상세보기
  44. Kurakake Mitsuo (Hino JPX), Velocity control apparatus.
    상세보기

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