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7386364 |
Operation control device for leg-type mobile robot and operation control method, and robot device
A legged mobile robot gives up a normal walking motion and starts a tumbling motion when an excessively high external force or external moment is applied thereto and a behavior plan of a foot part...
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7373219 |
Grip 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...
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7372230 |
Off-axis rotary joint
An off-axis rotary joint ( 20 ) for selectively enabling communication of a signal (i.e., electrical and/or optical) between a housing ( 21 ) mounted for rotation about an axis (y-y) relative to a...
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7366587 |
Legged mobile robot
The characteristics of actuators themselves and the characteristics of controllers for the actuators are dynamically or statically controlled to achieve stable and highly efficient movements. In a...
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7355364 |
Motor and controller inversion: commanding torque to position-controlled robots
Systems and methods are presented that cancel the dynamics of a motor and a joint controller in the presence of communication time delays, measurement noise, and controller parameter uncertainties...
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7339339 |
Control system of floating mobile body
An object of the invention is to provide a floating mobile object control system capable of causing a floating mobile object to stand still in a predetermined position with high precision or track...
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7324872 |
Robot apparatus
An external force estimation system for estimating an external force acting upon a robot apparatus which includes a machine body which in turn includes a plurality of movable joints is disclosed...
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7302312 |
Hardware abstraction layer (HAL) for a robot
Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software...
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7248014 |
Motor control system
A motor control system capable of securing stability and rapidity of motion even in a machine where the stability varies in accordance with a position of a driven member. The driven member and a...
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7236854 |
Method and a system for programming an industrial robot
A method and a system for use in connection with programming of an industrial robot. The programming includes teaching the robot a path having a number of waypoints located on or in the vicinity of...
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7173390 |
Method of detecting a malfunction during a displacement of an element by means of a drive system, and device suitable for carrying out such a method
A method and a device are provided for detecting the occurrence of a malfunction upon movement of an element by a driving system. While the element is being moved, a difference between a...
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7132814 |
Method of calculating correction value and method of manufacturing printer
A correction value calculating method includes: preparing a printer including a motor, a PID control system for controlling the motor, and a memory for storing a correction value, the printer being...
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7102315 |
Robot arm control method and control device
When either a command value or an actually measured value is appropriately selected as an angular velocity used for the frictional torque calculation, the frictional compensation can be made valid...
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7098620 |
Minute object manipulating apparatus
A minute object manipulating apparatus includes a tool which manipulates a manipulation target object, an observation unit capable of changing the magnification for observating the manipulation...
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7072740 |
Legged mobile robot
In a mobile robot, the actuator characteristics are dynamically or statically controlled, during motions of an entire robot body in the course of falldown or descent, to realize stable highly...
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7064512 |
Positioning apparatus, exposure apparatus, and semiconductor device manufacturing method
A positioning apparatus includes an X stage, a linear motor (X-axis) which drives the X stage along the X-axis, a linear motor (Y-axis) which drives a Y stage along the Y-axis, a laser...
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7057367 |
Two-leg walking humanoid robot
It is a biped (two-footed) walking humanoid robot, which is provided with drive motors ( 11 d, 11 e , 18 L, 18 R- 24 L, 24 R, 28 L, 28 R- 33 L, 33 R, 35, 36 ) to pivotally move respective...
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7013201 |
Legged mobile robot and method of controlling operation of the same
A legged mobile robot possesses degrees of freedom which are provided at roll, pitch, and yaw axes at a trunk. By using these degrees of freedom which are provided at the trunk, the robot can...
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7005823 |
Positioning system and positioning method
A positioning system for moving an object to a target position is presented. In an embodiment, the system includes a first actuator configured to exert a force on the object in a first direction in...
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6979971 |
Control device-built-in cylinder servo motor
An operation command for constructing compensation data is generated in a control device, and measurement data obtained from an external length measuring device is input to an input unit. The...
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6949905 |
Servo control system and method of setting
A servo control system which comprises an original cam pattern generator 11 for generating a first pattern of a cam shape relative to a phase corresponding to one revolution of a cam mechanism; a...
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6946812 |
Method and apparatus for providing force feedback using multiple grounded actuators
An apparatus and method for interfacing the motion of a user-manipulable object with a computer system includes a user object physically contacted or grasped by a user. A 3-D spatial mechanism is...
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6943520 |
Two-legs walking type moving device, method and device for controlling its walking
Disclosed is a biped walking mobile system which achieves stability without altering a preestablished gait, and a walk controller and control method therefor. The biped walking mobile apparatus...
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6922610 |
Robot having offset rotary joints
A robot is obtained having various functions that are demanded for planetary landing vehicles, extreme operations robots or the like, in particular to provide a leg structure for a robot that is...
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6922025 |
Zero ripple linear motor system
The present invention relates systems and methods for compensating for errors associated with a linear motion system. The systems and methods determines one or more errors associated with the...
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6919701 |
Robot controller
A robot controller for keeping the posture of a tool in a task coordinate system by a simple processing and allowing a robot to perform flexible translational motion. A robot controller for...
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6914404 |
Motor controller
A motor controller, comprising a first simulation control unit ( 8 ) and a second simulation control unit ( 9 ) as a feed forward control means for inputting a command to an actual control unit (...
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6911791 |
Method and device for the reduction of load cycle oscillations in the drive train of a motor vehicle
Load cycle oscillations in the drive train of a motor vehicle are reduced by detecting a change in available torque in the drive train, determining the period of a load cycle oscillation, and, at...
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6903527 |
Servo controller
A switch is turned on by a learning control start command from a master control unit, and the positional deviation at respective cycles is read in. Correction data read out from a learning memory...
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6870345 |
Servo loop PID compensator with embedded rate limit
This invention describes a reconfigured form of the PID compensator such that the rate of change of the position error is inherently limited without affecting the performance of the servo loop when...
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6853881 |
Robot information processing system
A robot controller executes an operating program, calculates a position and posture of a robot, and sends the position and posture information to a personal computer (PC). At the PC side, on the...
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6853879 |
Medical manipulator and method of controlling the same
A medical master/slave manipulator is excellent in operability and capable of reducing burden on the operator. The medical master/slave manipulator includes a master unit provided with an operation...
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6846455 |
Automatic sampling device
The invention relates to an automatic sampler device. According to one aspect, the automatic sampler includes a cell having a sample platform and a reference platform; a sample tray; and a sample...
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6844694 |
Stage assembly and exposure apparatus including the same
A stage assembly for an exposure apparatus is disclosed. The stage assembly comprises a guide assembly. The guide assembly includes a guide bar, a stage, a first actuator component, and a second...
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6831437 |
Walking platforms with automatic self-stabilization
A walking platform that achieves automatic self-stabilization includes a motor within the mid-region of the platform that is in communication with a crankshaft. The crankshaft has a connecting rod...
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6826452 |
Cable array robot for material handling
A cable array robotic system and apparatus for applications such as cargo handling at sea and pallet handling in manufacturing, based on a multi-cable robotic control system is disclosed. The...
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6742391 |
Feed system controlling method and apparatus for machine tool
Control method and control apparatus are capable of preventing vibrations of the feed system and thereby maintaining its optimum operating state for a long run. The control apparatus ( 1 ) includes...
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6741057 |
Servo controller for preventing downward displacement in gravitating axis
A servo controller capable of preventing downward displacement of a gravitating axis of a machine when an excitation of a servomotor for driving the gravitating axis is discontinued. When a...
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6697710 |
Gas pipe explorer robot
A gas pipe explorer formed of a plurality of connecting elements, and an articulation element between the connected elements. The connected elements include drive capabilities, and the articulation...
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6696809 |
Robot, servo circuit, actuator, robot control method, and actuator driving method
Based on a control object, a result of the detection of driving of an actuator and a response from a standard mathematical model of the actuator, the actuator is controlled, or in a servo system...
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6690999 |
Manipulator control method
A method for controlling a hyper-redundant manipulator including a plurality of links coupled by joints by determining the shape the manipulator takes when the end of the manipulator is moved to a...
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6684128 |
Robot and method of controlling the robot
A robot capable of being operated at a high-speed by the full use of a power of a servo-motor, including a motor and a speed reducer, wherein the motor drives the robot through the speed reducer,...
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6650078 |
Method and system for controlling mechanical systems exhibiting discontinuity in inertial loading
A technique is provided for adapting feedback control system performance to applications involving changing inertial loads. A modified gain profile is applied for a control system block that...
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6640160 |
Biped ambulatory robot
A biped ambulatory robot is provided having a structure in which the electrical storage device is arranged to reduce the load on the joints (particularly the knee joints) of the leg members of the...
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6615110 |
Controlling method and apparatus for positioning a robot
A controlling method and apparatus for positioning a robot that can output an optimal speed instruction for controlling residual vibration after completion of a moving operation, achieve reduction...
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6594550 |
Method and system for using a buffer to track robotic movement
A method for controlling movement of an automated machine. The movement is defined by a plurality of steps. First, a buffer of a predetermined size is defined. The buffer stores a current step and...
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6590358 |
Servocontrol device
Magnitudes of a sine-wave component and a cosine-wave component of a periodical disturbance are estimated in real time during motor rotating, the sine-wave component and the cosine-wave component...
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6573679 |
Servomechanical control system and method
An improved method for controlling a servomechanism, applicable to nearly all types of servomechanism control systems. The inventive method improves the performance of servomechanism control...
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6560513 |
Robotic system with teach pendant
A robotic system for a robot includes a programmable controller coupled to the robot and a teach pendant coupled to the programmable controller. The teach pendant is adapted to control the robot...
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6515442 |
Position controller
To overcome the problem of a low frequency disturbance causing minute vibrations affecting response attributable to the difficulty of adaption to the phase of the vibrations, the present invention...
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