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Class 700/260 - Having control of force

Definition: Subject matter wherein the system or method controls
No. of patents: 411
Last issue date: 01/07/2014

NumberTitleIssue Date
8626341Apparatus and method for adjusting parameter of impedance control
An apparatus has a parameter initial value calculator, a force reference impression part, an evaluation data measurement part, an allowable value setting part, a viscosity parameter calculator, an end determining part, and an inertia parameter adjusting part. The fo...
8620474Control device and method for a manipulator
In a method for controlling a manipulator, in particular a robot, a reference path is stored and reference increments are automatically determined while following the path the reference increments are determined based on the dynamics of the manipulator while followi...
8612053Control device for mobile robot
A control device for a mobile robot, in which the desired value of a motion state amount of a mobile robot includes at least the desired value of a vertical component of a first-order differential value of the translational momentum of the entire mobile robot. The d...
8612052Robot device, movement controlling apparatus and method for legged locomotion robot, sensor system for legged locomotion robot, and mobile unit
The lumbar part of a robot as a controlled-object point where the mass is moved to the largest extent is set as the origin of a local coordinate, an acceleration sensor is disposed at the controlled-object point to directly measure the attitude and acceleration at t...
8588980Power assist device and control method therefor
A control method for a power assist device provided with an operation handle, a force sensor that detects an operation force applied to the operation handle and an orientation of the operation force, a robot arm, and an actuator. When the orientation of the operatio...
8538583Robot and control method
A robot one of transfers an article to an external subject and receives the article from the human subject and flexibly copes with changes in human intention. If a pushing force applied to robot hands is sensed, the robot hands grip and pull the article to inform th...
8532824Control device for robot
A control device for a robot determines, as a desired driving force to be imparted to a joint, a component value corresponding to the displacement amount of each joint out of a desired generalized force vector τcmd that satisfies the relationship indicated by expre...
8504205Robotic grasping device with multi-force sensing at base of fingers
A robotic grasping device (10) has a first finger (20), a second finger (30) and an actuator (40). The first finger has a first fingertip (22), a first base (24) and a first actuator engagement end (26). A first gripp...
A control apparatus for a master-slave robot includes a force correction section detecting unit that detects a section at which force information from at least one of force information and speed information is corrected, and a force correcting unit that corrects the...
8489239Robust operation of tendon-driven robot fingers using force and position-based control laws
A robotic system includes a tendon-driven finger and a control system. The system controls the finger via a force-based control law when a tension sensor is available, and via a position-based control law when a sensor is not available. Multiple tendons may each hav...
8483882Hierarchical robot control system and method for controlling select degrees of freedom of an object using multiple manipulators
A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, an...
8452452Grip position calculator and method of calculating grip position
The grip position calculator determines a grip position where the fingers can grip a workpiece in any orientation of the workpiece. The calculator then determines an initial position where the finger tips can grip the workpiece and set the initial position as a poin...
8452453Robot and control device for same
A robot is provided with: a base section; three motors set on the base section; a support so set that an axial centerline is perpendicular to a surface of the base section; pulleys; three wires into which nonlinear springs are incorporated; an output shaft connected...
8401702Robot, and control apparatus, control method, and control program for robot
A robot arm provided with a body unit shifting mechanism that connects a base unit and a body unit so as to be relatively shifted, and joint lock mechanisms that are capable of mechanically securing respective joints is disposed on the body unit, and a robot operati...
8392023Photo-interrupter based force sensing handle and method of use
A robotic system includes a robot for moving a payload in response to a calculated input force. Sensors in respective sensor housings are connected to a handle, each sensor including a light emitter and receiver. The sensors measure a light beam received by a respec...
8392024Power assist device and method of controlling the power assist device
A method of controlling a power assist device that includes an operating handle, a force sensor, a robot arm, an actuator that drives the robot arm, and a conveying portion for conveying the robot arm. When a body in motion, the conveying portion is controlled to mo...
8380352Robot system
First calculation means calculates a TCP velocity error vector Verr when wrist axes performs rotational following movement, second calculation means selects a component, including the sign, of the TCP velocity error vector Verr, third calculation means decomposes th...
8340822Actuator control device, actuator control method, actuator, robot apparatus, and computer program
There is provided an actuator control device for force-controlling a joint driving actuator according to a commanded joint force command value τa. The actuator control device includes a joint value detecting means for detecting a joint value q at an outp...
8335591Robot apparatus and method of controlling the same
A robot apparatus has a multi-link structure including a plurality of links and joints serving as link movable sections, and in which at least some of the links are driven by combination of position control and force control. The apparatus includes: position control...
8315740Motion control system, motion control method, and motion control program
The present invention provides a motion control system to control a motion of a second motion body, by considering an environment which a human contacts and a motion mode appropriate to the environment, and an environment which a robot actually contacts. The motion ...
8311677Control device for legged mobile robot
A control device for a legged mobile robot has a unit which generates the time series of a future predicted value of a model external force manipulated variable as a feedback manipulated variable for reducing the deviation of the posture of the robot. A desired moti...
8280552Power assist device and its control method
It is possible to provide a power assist device which can maintain a stable contact state without causing an oscillation phenomenon even if a robot is brought into contact with an environment. A method for controlling the power assist device is also provided. The po...
8271138Gripper device
Gripper devices for handling syringes and automated pharmacy admixture systems (APASs) that utilize such gripper devices. The gripper devices may include various gripper finger profiles, substantially tapered or angled gripping surfaces and/or gripper fingers interl...
8204626Control device for mobile body
A control device for a mobile body makes it possible to smoothly correct the deviation of an actual posture of a base body of a mobile body, which travels with the base body thereof moving up and down, from a desired posture of the base body while restraining an ove...
8195334Hand device
A hand device (1) of the present invention includes a palm (10) and a plurality of finger mechanisms (11-15). The palm (10) is provided with a palm protruding portion (101-103) that protrudes upward from a palm surfac...
8185243Robot, control device for robot arm and control program for robot arm
A robot arm, which is driven by an elastic body actuator and has a plurality of joints, is provided with an arm-end supporting member that supports the robot arm when made in contact with a supporting surface that is placed on an arm-end portion of the robot arm and...
8121732Target position detection apparatus for robot
A target position detection apparatus for a robot includes: a robot including an arm configured to be freely moved in at least two directions of X and Y axes, the arm having a wrist axis provided at a distal end of the arm and configured to be freely moved in a hori...
8099193Control system for an industrial robot
A control system for controlling an industrial robot and a method thereof. A control unit generates a control signal for controlling the motor. At least one drive unit controls the motor. The drive unit includes a switching unit adapted to convert DC current to alte...
8073568Device utilizing a PID controller, control method thereof, and robot utilizing the controller
A control method utilizing a PID controller includes detecting the position of an object and obtaining the position deviation by comparison with a predetermined position value, detecting the vibration of the object and obtaining a vibration value, adjusting the cont...
8005573Control device for legged mobile robot
On the basis of at least a difference between a desired state amount related to a posture of a robot 1 about a vertical axis or a floor surface normal line axis and an actual state amount of the robot 1 and a permissible range of a restriction object a...
7966094Workpiece picking apparatus
A workpiece picking apparatus includes a robot, a workpiece recognition device for recognizing the workpieces located in a wide area, an accurate measurement device for accurately measuring the three-dimensional position of the workpiece, a workpiece select device f...
7853358Method and apparatus for controlling displacements of a moving portion of a multi-axis robot
The inventive method consists in supplying motion instructions (300) at least including information about the path geometry (320) and load instructions (310) to a path generator (400), calculating an allied load signal (800), trans...
7848849Controller of leg type moving robot
A controller of a leg type moving robot determines an action force to be input to an object dynamic model 2 such that a motion state amount (object model velocity) of the object dynamic model 2 follows a desired motion state amount based on a moving pl...
7778733Grip strength with tactile feedback for robotic surgery
Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuratio...
7606634Control device for mobile body
Ground contact portions 10 are classified into a tree structure such that each of the ground contact portions 10 of a mobile body 1 (mobile robot) equipped with three or more ground contact portions 10 becomes a leaf node and that an inte...
7558647Device and method for controlling robot arm, robot and program based on object-dependent impedance
In a robot arm controlling device, a mechanical impedance set value of the arm is set by an object property-concordant impedance setting device based on information of an object property database in which information associated with properties of an object being gri...
7493192Gait producing device for leg type movable robot, and control device
A desired trajectory of a vertical component of a translation floor reaction force of a legged mobile robot 1, a vertical component of a total center-of-gravity acceleration or a body acceleration's vertical component of the robot 1 is determined, and ...
7440819Animation system for a robot comprising a set of movable parts
The object of the invention is to make the movable parts of a robot reproduce the movement of the movable parts of an animated object, via the transmission of movement parameters to the robot in a primary signal PS. The primary signal PS comprises sets of parameters...
7437214Robot device and method of controlling the same
A legged mobile robot can calculate the movement amount between a portion of the robot apparatus that had been in contact with a floor up to now and a next portion of the robot apparatus in contact with the floor using kinematics and to switch transformation to a co...
7430457Robot teaching program editing apparatus based on voice input
Candidate character strings representing objects disposed in a work cell, models for robot operation instructions which has variable parts, and robot commands related to the objects are defined in advance. By inputting a query such as ‘Workpiece 1 ?’ by voice, t...
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