US4621332A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient
Assignee: Hitachi Ltd
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Filing: 1984-06-18
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Granted: 1986-11-04
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Expires: 2004-06-18
Abstract
Abstract 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 position signal representing current position and attitude of the hand and a position reference, multiplied by a spring constant is calculated, a third value representing a product of a velocity signal representing a current velocity of the hand, multiplied by a viscosity coefficient is calculated, and a command velocity of the hand is calculated based on the first, second and third values and a mass coefficient.
Inventors
- 👤 Koichi Sugimoto
- 👤 Hisaaki Hirabayashi
- 👤 Shinichi Arai
- 👤 Shiyuki Sakaue
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 13:34
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; B25J9/1628; B25J9/1633; B25J13/00; B25J13/08; B25J13/085
Claims Analysis
Total Claims: 35
Claim 1
Independent Claim
126 words
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 between a position signal representing-current position and attitude of said hand and a position reference multiplied by a spring constant; calculating a third value representing a product of a velocity signal representing a current velocity of said hand multiplied by a viscosity coefficient; and controlling the hand of the robot by generating a command velocity, with the value of said command velocity being based on said first, second and third values and a coefficient to mass.
Claim 2
Independent Claim
126 words
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 between a position signal representing-current position and attitude of said hand and a position reference multiplied by a spring constant; calculating a third value representing a product of a velocity signal representing a current velocity of said hand multiplied by a viscosity coefficient; and controlling the hand of the robot by generating a command velocity, with the value of said command velocity being based on said first, second and third values and a coefficient to mass.
Claim 3
Dependent Claim
20 words
A method for controlling a robot according to claim 1 wherein said command velocity is used as said velocity signal.
Claim 4
Dependent Claim
29 words
A method for controlling a robot according to claim 2 wherein a position signal produced by a position sensor mounted on said robot is used as said position signal.
Claim 5
Dependent Claim
29 words
A method for controlling a robot according to claim 1 wherein a velocity signal produced by a velocity detector mounted on said robot is used as said velocity signal.
Claim 6
Dependent Claim
32 words
A method for controlling a robot according to claim 1 wherein a differentiation of a position signal produced by a position detector mounted on said robot is used as said velocity signal.
Claim 7
Dependent Claim
29 words
A method for controlling a robot according to claim 1 wherein a position signal produced by a position detector mounted on said robot is used as said position signal.
Claim 8
Dependent Claim
32 words
A method for controlling a robot according to claim 1 wherein an integration of a velocity signal produced by a velocity detector mounted on said robot is used as said position signal.
Claim 9
Dependent Claim
28 words
A method for controlling a robot according to claim 1 wherein said position reference is controlled based on position information from a non-contact sensor mounted on said robot.
Claim 10
Dependent Claim
35 words
A method for controlling a robot according to claim 1, further comprising the step of determining the values of the spring constant, the viscosity coefficient, and the mass coefficient experimentally before detecting the force applied.
Claim 11
Dependent Claim
96 words
A robot control apparatus comprising: first means for providing a force signal based on a force applied to a hand of a robot; second calculation means for calculating a position signal representing a position and an attitude of said hand based on information about the position of the hand; third calculation means for calculating a command velocity of said hand based on said force signal and said position signal; and fourth means for generating an articulation angular velocity signal for controlling said robot, the value of said articulation angular velocity being based on said command velocity.
Claim 12
Dependent Claim
96 words
A robot control apparatus comprising: first means for providing a force signal based on a force applied to a hand of a robot; second calculation means for calculating a position signal representing a position and an attitude of said hand based on information about the position of the hand; third calculation means for calculating a command velocity of said hand based on said force signal and said position signal; and fourth means for generating an articulation angular velocity signal for controlling said robot, the value of said articulation angular velocity being based on said command velocity.
Claim 13
Dependent Claim
50 words
The control apparatus of claim 10, further comprising fifth means coupled to said third means, for generating a velocity signal representing a current velocity of the hand modified by a viscosity coefficient, whereby said third means calculates said command velocity based on said force signal, position signal, and velocity signal.
Claim 14
Dependent Claim
34 words
The control apparatus of claim 11, further comprising: memory means coupled to said second means, third means, and fifth means, for storing values of a spring constant, a mass coefficient and said viscosity coefficient.
Claim 15
Dependent Claim
41 words
The control apparatus of claim 11, wherein said fifth means includes means coupled to said third calculation means for receiving said command velocity, whereby said fifth means generates said velocity signal on the basis of the value of said command velocity.
Claim 16
Dependent Claim
46 words
The control apparatus of claim 11, wherein said fifth means includes means for receiving a sensed signal having a value proportional to said current velocity of the hand, whereby said fifth means generates said velocity signal on the basis of the value of said command velocity.
Claim 17
Dependent Claim
33 words
The control apparatus of claim 11, wherein said second calculation means includes means coupled to said third calculation means for receiving said command velocity as said information about the position of the hand.
Claim 18
Dependent Claim
68 words
The control apparatus of claim 11, wherein: said second calculation means includes means coupled to said third calculation means for receiving said command velocity as said information about the position of the hand; and said fifth means includes means coupled to said third calculation means for receiving said command velocity, whereby said fifth means generates said velocity signal on the basis of the value of said command velocity.
Claim 19
Dependent Claim
76 words
The control apparatus of claim 11, furher comprising: memory means coupled to said second calculation means, third calculation means and fifth means for storing values of a spring constant, said viscosity coefficient, and a mass coefficient, whereby said second calculation means uses said spring constant to calculate said position signal, said third calculation means uses said mass coefficient to calculate said command velocity, and said fifth means uses said viscosity coefficient to generate said velocity signal.
Claim 20
Dependent Claim
180 words
The control apparatus of claim 10, wherein said first means comprises: first transform means for transforming a first sensed signal proportional in value to the magnitude of said applied force into a first intermediate signal representative of the magnitude of said applied force at a point defined in a first coordinate system; second transform means for transforming said first intermediate signal into a second intermediate signal representative of the magnitude of the applied force in a second coordinate system defined by the hand of the robot; compensation means for providing a compensation component on the basis of said position signal, and the masses and centers of gravity of the hand and any object supported by said hand; correction means for modifying said second intermediate signal on the basis of said compensation component to provide a third intermediate signal; and third transform means for transforming said third intermediate signal into said force signal representative of the magnitude of the applied force in a third coordinate system having an origin at a point of rotational moment due to movement of the hand.
Claim 21
Dependent Claim
139 words
A robot control apparatus comprising: first means for providing a force signal based on a force applied to a hand of a robot, and for providing a first value representing a difference between the force signal and a force reference; second means for calculating a position signal representing a position and an attitude of said hand based on information about the position of the hand, and for providing a second value representing a product of a difference between the position signal and a position reference multiplied by a spring constant; third means for calculating a command velocity of said hand based on said first value, said second value, and a mass coefficient; and fourth means for generating an articulation angular velocity signal for controlling the robot, the value of said articulation angular velocity being based on said command velocity.
Claim 22
Dependent Claim
139 words
A robot control apparatus comprising: first means for providing a force signal based on a force applied to a hand of a robot, and for providing a first value representing a difference between the force signal and a force reference; second means for calculating a position signal representing a position and an attitude of said hand based on information about the position of the hand, and for providing a second value representing a product of a difference between the position signal and a position reference multiplied by a spring constant; third means for calculating a command velocity of said hand based on said first value, said second value, and a mass coefficient; and fourth means for generating an articulation angular velocity signal for controlling the robot, the value of said articulation angular velocity being based on said command velocity.
Claim 23
Dependent Claim
52 words
The control apparatus of claim 19, further comprising fifth means coupled to said third means, for generating a velocity signal representing a current velocity of the hand modified by a viscosity coefficient, whereby said third means calculates said command velocity based on said first value, second value, velocity signal, and mass coefficient.
Claim 24
Dependent Claim
32 words
The control apparatus of claim 20, further comprising: memory means coupled to said second means, third means, and fifth means, for storing values of said spring constant, mass coefficient and viscosity coefficient.
Claim 25
Dependent Claim
40 words
The control apparatus of claim 20, wherein said fifth means includes means coupled to said third means for receiving said command velocity, whereby said fifth means generates said velocity signal on the basis of the value of said command velocity.
Claim 26
Dependent Claim
46 words
The control apparatus of claim 20, wherein said fifth means includes means for receiving a sensed signal having a value proportional to said current velocity of the hand, whereby said fifth means generates said velocity signal on the basis of the value of said command velocity.
Claim 27
Dependent Claim
31 words
The control apparatus of claim 20, wherein said second means includes means coupled to said third means for receiving said command velocity as said information about the position of the hand.
Claim 28
Dependent Claim
65 words
The control apparatus of claim 20, wherein: said second means includes means coupled to said third means for receiving said command velocity as said information about the position of the hand; and said fifth means includes means coupled to said third means for receiving said command velocity, whereby said fifth means generates said velocity signal on the basis of the value of said command velocity.
Claim 29
Dependent Claim
93 words
A robot control apparatus comprising: first means for providing a force signal based on a force applied to a hand of a robot; second means for calculating a position signal representing a position and an attitude of said hand based on information about the position of the hand; third means for generating a velocity signal representing a current velocity of the hand modified by a viscosity coefficient; and fourth means for generating a command velocity for the hand on the basis of said force signal, position signal, velocity signal and a mass coefficient.
Claim 30
Dependent Claim
93 words
A robot control apparatus comprising: first means for providing a force signal based on a force applied to a hand of a robot; second means for calculating a position signal representing a position and an attitude of said hand based on information about the position of the hand; third means for generating a velocity signal representing a current velocity of the hand modified by a viscosity coefficient; and fourth means for generating a command velocity for the hand on the basis of said force signal, position signal, velocity signal and a mass coefficient.
Claim 31
Dependent Claim
40 words
The control apparatus of claim 26, wherein said third means includes means coupled to said fourth means for receiving said command velocity, whereby said third means generates said velocity signal on the basis of the value of said command velocity.
Claim 32
Dependent Claim
46 words
The control apparatus of claim 26, wherein said third means includes means for receiving a sensed signal having a value proportional to said current velocity of the hand, whereby said third means generates said velocity signal on the basis of the value of said command velocity.
Claim 33
Dependent Claim
31 words
The control apparatus of claim 26, wherein said second means includes means coupled to said fourth means for receiving said command velocity as said information about the position of the hand.
Claim 34
Dependent Claim
65 words
The control apparatus of claim 26, wherein: said second means includes means coupled to said fourth means for receiving said command velocity as said information about the position of the hand; and said third means includes means coupled to said fourth means for receiving said command velocity, whereby said third means generates said velocity signal on the basis of the value of said command velocity.
Claim 35
Dependent Claim
60 words
The control apparatus of claim 26, further comprising: memory means coupled to said second means; third means and fourth means for storing values of a spring constant, said viscosity coefficient, and said mass coefficient, whereby said second means uses said spring constant to calculate said position signal and said third means uses said viscosity coefficient to generate said velocity signal.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1989-11-03 | 1990-05-05 | 1990-11-04 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1993-11-03 | 1994-05-05 | 1994-11-04 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1997-11-03 | 1998-05-05 | 1998-11-04 | $7700.00 | Window Closed / Lapsed |