公开(公告)号：US20180370031A1

公开(公告)日：2018-12-27

申请号：US15741353

申请日：2016-05-23

Applicant: WASEDA UNIVERSITY

Inventor： Alexander Schmitz ,  Soumya Bhavaraju ,  Yoshihiro Sakamoto ,  Gonzaro Aguirre Dominguez ,  Ritsuki Sato ,  Wei Wang ,  Shigeki Sugano

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/00 ,  B25J19/06

Abstract: A control system (10) according to the present invention includes a robot arm (11) provided in a manner capable of moving in a given space, a motor (14) for operating the robot arm (11), a torque adjustment device (16) for operating in a manner capable of adjusting a transmitted torque that is transmitted from the motor (14) to the robot arm (11), and a control device (19) for performing operation control of the robot arm (11). The robot arm (11) is provided with a gravity-compensating mechanism (12) for cancelling an effect of gravity due to the robot arm (11), and the control device (19) commands adjustment of the transmitted torque at the torque adjustment device (16), without taking into account the effect of the gravity of the robot arm (11).

公开(公告)号：US10730184B2

公开(公告)日：2020-08-04

申请号：US15741353

申请日：2016-05-23

Applicant: WASEDA UNIVERSITY

Inventor： Alexander Schmitz ,  Soumya Bhavaraju ,  Yoshihiro Sakamoto ,  Gonzaro Aguirre Dominguez ,  Ritsuki Sato ,  Wei Wang ,  Shigeki Sugano

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/00 ,  B25J19/06

Abstract: A control system (10) according to the present invention includes a robot arm (11) provided in a manner capable of moving in a given space, a motor (14) for operating the robot arm (11), a torque adjustment device (16) for operating in a manner capable of adjusting a transmitted torque that is transmitted from the motor (14) to the robot arm (11), and a control device (19) for performing operation control of the robot arm (11). The robot arm (11) is provided with a gravity-compensating mechanism (12) for cancelling an effect of gravity due to the robot arm (11), and the control device (19) commands adjustment of the transmitted torque at the torque adjustment device (16), without taking into account the effect of the gravity of the robot arm (11).