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公开(公告)号：KR101786105B1
公开(公告)日：2017-10-18
申请号：KR1020110082231
申请日：2011-08-18
Applicant: 현대자동차주식회사
Abstract: 착용로봇의끝단에가상의스프링-댐퍼모델을적용하고, 끝단에서로봇의동작에필요한최종힘을자코비안트랜스포즈를통해각 관절에서의필요토크로분배하되, 최종힘에저항힘을가산하여필요토크로분배함으로써요구되는로봇의저항을조절할수 있도록하는것을특징으로하는착용로봇제어방법이소개된다.
Abstract translation: 它是在穿着机器人弹簧的端部 - 而应用该阻尼器模型，字符在通过转置的端雅可比分布到所需要的扭矩为机器人的操作所需要的最终功率eseoui各个关节，所需要的扭矩通过将阻力到最终功率 这样可以控制机器人的阻力。
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公开(公告)号：KR101765952B1
公开(公告)日：2017-08-08
申请号：KR1020110125675
申请日：2011-11-29
Applicant: 현대자동차주식회사
Abstract: 컨트롤러에서출력되는요청토크(T)를로봇의구동부에입력하는입력단계; 상기로봇의구동부에서출력되는출력토크(T)를출력각가속도로환산하는환산단계; 착용자가로봇의구동부에인가하는인적토크(T)를입력으로하고가상각가속도를출력으로하는가상어드미턴스모델의댐핑파라미터를상기출력각가속도를통해수정하는수정단계; 및상기가상어드미턴스모델의가상각가속도와로봇의구동부에서출력되는출력각가속도를합산하여상기컨트롤러에입력하고, 컨트롤러에서요청토크(T)를출력하는출력하는출력단계;를포함하는착용식로봇의제어방법및 제어장치가소개된다.
Abstract translation: 输入步骤，将从控制器输出的要求转矩T输入到机器人的驱动单元; 转换步骤，将从机器人的驱动单元输出的输出转矩T转换成输出角加速度; 穿着者的改性步骤是进入人扭矩（T）施加给机器人的驱动单元和修改虚拟导纳角加速度经由输出角加速度的输出的虚拟模型的阻尼参数; 以及通过对从虚拟角加速度和虚拟导纳模型和输入到控制器的机器人的驱动单元所输出的输出角加速度输出到的输出步骤，并且输出来自所述控制器的请求转矩（T）;控制可穿戴式机器人，其包括的方法 并介绍了一种控制装置。
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公开(公告)号：KR101470164B1
公开(公告)日：2014-12-05
申请号：KR1020130063379
申请日：2013-06-03
Applicant: 현대자동차주식회사
Abstract: 로봇의 각 관절의 각속도를 산출하는 산출단계; 상기 각 관절의 각속도를 자코비안 행렬을 이용하여 로봇 끝단에서의 속도로 환산하고 미분하여 끝단의 가속도를 구하는 도출단계; 및 도출된 가속도에 중량을 곱하여 끝단에서의 힘을 구하고 증강비를 곱한 후, 이를 자코비안 행렬을 이용하여 각 관절에서의 필요토크로 환산하는 환산단계;를 포함하는 로봇의 민감도 향상방법이 소개된다.
Abstract translation: 公开了一种提高机器人的灵敏度的方法，包括：计算机器人的每个关节的角速度的计算步骤; 通过使用雅可比矩阵将每个关节的加速度转换成机器人的端部的速度来区分机器人的端部的速度，导出机器人的端部的加速度的推导步骤; 以及转换步骤，通过将所得到的加速度与权重相乘来推导机器人的端部的力，将力乘以增强比，然后将乘以增强比的力转换为每个关节的所需扭矩 使用雅可比矩阵。
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公开(公告)号：KR1020140085700A
公开(公告)日：2014-07-08
申请号：KR1020120154468
申请日：2012-12-27
Applicant: 현대자동차주식회사
CPC classification number: B25J9/1607 , B62D57/032 , Y10S901/01
Abstract: Introduced in the present invention is a method for controlling the walking of a robot, which comprises the following: a virtual wall forming step which forms a virtual wall separated at a fixed distance to the outer side from both feet of a robot when the robot is supported by both feet; a change calculating step which kinematically calculates distance and speed changes between the body of the robot and the virtual wall using a joint angle and a link length of the robot; a reaction calculating step which calculates a virtual reaction necessary for the body of the robot by substituting the distance and speed changes into a virtual spring-damper model that exists between the body of the robot and the virtual wall; and a reaction converting step which converts the calculated reaction into a driving torque at the joint of the robot using Jacobian transposed matrix.
Abstract translation: 在本发明中引入的是一种用于控制机器人的行走的方法，包括以下步骤：虚拟壁形成步骤，当机器人是机器人时，形成从机器人的两个脚部到外侧以固定距离分开的虚拟壁 双脚支撑; 改变计算步骤，其使用所述机器人的关节角度和连杆长度运动地计算所述机器人的身体与所述虚拟壁之间的距离和速度变化; 反应计算步骤，通过将距离和速度变化代入到存在于机器人的身体与虚拟壁之间的虚拟弹簧阻尼器模型中来计算机器人身体所需的虚拟反应; 以及反应转换步骤，其使用雅可比转置矩阵将所计算的反应转换为机器人的接合处的驱动转矩。
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公开(公告)号：KR101417486B1
公开(公告)日：2014-07-08
申请号：KR1020120147914
申请日：2012-12-17
Applicant: 현대자동차주식회사
CPC classification number: B25J9/1633
Abstract: 관절을 구동하는 모터의 회전각 또는 회전각속도와 관절에 연결된 링크의 회전각 또는 회전각속도를 이용한 착용로봇의 의도토크 추출방법으로서, 모터의 회전각속도로부터 마찰토크의 추정값을 출력하는 마찰출력단계; 모터의 회전각속도로부터 모터토크를 산출하는 모터토크산출단계; 링크의 회전각속도를 산출하는 링크회전산출단계; 및 모터토크와 링크의 회전각속도를 외란관측기에 대입하여 착용자가 가한 의도토크의 추정값을 산출하는 의도토크산출단계;를 포함하는 착용로봇의 의도토크 추출방법 및 추출시스템이 소개된다.
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Patent Agency Ranking
公开(公告)号：KR1020140078480A
公开(公告)日：2014-06-25
申请号：KR1020120147881
申请日：2012-12-17
Applicant: 현대자동차주식회사
Abstract: Introduced is a joint drive device comprising a joint connecting a link of the robot; a bracket extended from one side of the link to the front side or the back side; a motor installed on the inner side surface of the bracket and disposed on the front side or the back side of a wearer; and a four-bar link connecting a motor and the joint.
Abstract translation: 引入了一种联合驱动装置，其包括连接机器人的连杆的接头; 支架从连杆的一侧延伸到前侧或后侧; 安装在所述支架的内侧表面并设置在穿戴者的前侧或后侧的马达; 以及连接电动机和接头的四杆连杆。
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公开(公告)号：KR101383722B1
公开(公告)日：2014-04-08
申请号：KR1020120147916
申请日：2012-12-17
Applicant: 현대자동차주식회사
CPC classification number: B25J9/1607 , A63B21/15 , A63B21/4017 , B25J9/0006 , B25J9/0087 , B25J9/1682 , G05B2219/40305
Abstract: Disclosed is a method for controlling both robot arms, which comprises: a grasping step to grasp the axial position difference between the tip ends of one arm and the other arm; a producing step to produce virtual power at the tip end of one arm based on the position difference grasped; and a converting step to convert the produced virtual power into driving torque for each joint of one arm using a Jacobian matrix. [Reference numerals] (AA) Start; (BB) End; (S100) Grasping step; (S200) Producing step; (S300) Converting step; (S400) Applying step
Abstract translation: 公开了一种用于控制两个机器人手臂的方法，包括：抓握一个臂的末端与另一个臂之间的轴向位置差的抓取步骤; 基于所掌握的位置差，在一个臂的前端产生虚拟动力的制造步骤; 以及转换步骤，用于使用雅可比矩阵将所产生的虚拟功率转换成一个臂的每个关节的驱动转矩。 （附图标记）（AA）开始; （BB）结束; （S100）抓取步骤; （S200）生产步骤; （S300）转换步骤; （S400）应用步骤
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公开(公告)号：KR101326957B1
公开(公告)日：2013-11-13
申请号：KR1020120051492
申请日：2012-05-15
Applicant: 현대자동차주식회사
Inventor： 양우성
CPC classification number: B25J13/085 , B25J9/1633 , B62D57/032 , Y10S901/01
Abstract: The input torque inputted for an ankle of a walking robot is compensated for the target torque for a valve related to the actuating torque from the ground surface measured by a sensor, and a value related to the actual torque applied by the ankle of the robot is obtained by providing feedback so that the walking safety of the robot is obtained.
Abstract translation: 为步行机器人脚踝输入的输入扭矩补偿与由传感器测量的与地面相关的致动扭矩的阀的目标扭矩，并且与由机器人的脚踝施加的实际转矩相关的值是 通过提供反馈来获得机器人的行走安全性。
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公开(公告)号：KR1020130078885A
公开(公告)日：2013-07-10
申请号：KR1020120000025
申请日：2012-01-02
Applicant: 현대자동차주식회사
CPC classification number: G05B15/00 , B25J9/0006 , B25J9/06 , B25J9/16 , B25J13/085 , G05B2219/37357 , G05B2219/39523 , G05B2219/40305
Abstract: PURPOSE: A lifting control method of wearable robots and a lifting control system are provided to control the end of the robot with power in which the intention of a wearer is reflected to the end and to drive the wearable robot for supplying the power to the wearer. CONSTITUTION: A lifting control method of wearable robots comprises the steps of: producing final power for objects in a lifting process by differences in weight power in which the object applies to the robot and permitted power in which a wearer applies to the robot (S100); setting target position to lift the object by the robot (S200); applying a virtual power model using the end supporting the object by the robot and a spring damper at each joint and driving each joint of the robot according to final torque by converting the final torque required to each joint of the robot by applying the final power (S300); and fixing the final power when the robot lifts the object to the target position (S400). [Reference numerals] (AA) Start; (BB) Finish; (S100) Power generating step; (S200) Position setting step; (S300) Lifting step; (S400) Fixing step; (S500) Transferring step
Abstract translation: 目的：提供可穿戴式机器人的提升控制方法和提升控制系统，以控制机器人的端部，其中佩戴者的意图反映到末端并驱动可佩戴的机器人以向穿着者供电 。 构成：可穿戴机器人的提升控制方法包括以下步骤：通过对象应用于机器人的重量功率的差异和穿戴者对机器人施加的允许电力，在提升过程中产生对象的最终电力（S100） ; 设置目标位置以通过机器人抬起物体（S200）; 使用由机器人支撑物体的端部和在每个关节处的弹簧阻尼器来施加虚拟动力模型，并且通过施加最终动力来转换机器人的每个关节所需的最终扭矩，根据最终扭矩来驱动机器人的每个关节（ S300）; 并且当机器人将物体提升到目标位置时固定最终动力（S400）。 （附图标记）（AA）开始; （BB）完成; （S100）发电步骤; （S200）位置设定步骤; （S300）起吊步骤; （S400）固定步骤; （S500）传送步骤
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公开(公告)号：KR1020130061867A
公开(公告)日：2013-06-12
申请号：KR1020110128151
申请日：2011-12-02
Applicant: 현대자동차주식회사
CPC classification number: B25J13/06 , B25J9/0006 , B25J13/081 , B25J19/02
Abstract: PURPOSE: A haptic robot handle system is provided to easily use by removing inconvenience such as twisting a wrist according to the position of the wrist when a wearer moves by holding a handle unit. CONSTITUTION: A haptic robot handle system comprises a handle(100) and a gripper(200). The handle includes a handle unit(110) and a handle support stand(120). The handle unit is for a wearer to grip with hand. The handle support stand is equipped on one side of the handle unit to connect the gripper and the handle unit. The handle support stand includes a pressure sensor(150).
Abstract translation: 目的：提供一种触觉机器人手柄系统，以便通过握住手柄单元，通过消除诸如在佩戴者移动时根据手腕的位置扭转手腕的不方便来使用。 构成：触觉机器人手柄系统包括手柄（100）和夹持器（200）。 手柄包括手柄单元（110）和手柄支撑架（120）。 手柄单元用于佩戴者用手握住。 手柄支撑架装在手柄单元的一侧，用于连接夹具和把手单元。 手柄支撑架包括压力传感器（150）。
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