Patent US5260629A successfully refreshed from Google Patents.
US5260629A
Expired / Lapsed
US
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Control device for robot in inertial coordinate system
Assignee: Kawasaki Motors Ltd
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Filing: 1991-06-24
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Granted: 1993-11-09
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Expires: 2011-06-24
Abstract
Abstract The present invention discloses a control device containing a device detecting a velocity or an acceleration parameter of the main robot body. The velocity or acceleration parameters are expressed in a robot coordinate system and is detected from the detection device. The output from the detection device is even added to a desired value that is expressed in an absolute coordinate system that is in an inertial reference frame for an arm of the robot. In this way, the robot arm can be made to follow any desired path, by using desired positions in the absolute coordinate system that is an inertial coordinate system.
Inventors
- 👤 Kiyoshi Ioi
- 👤 Osamu Noro
- 👤 Osamu Miki
- 👤 Takashi Katsuragawa
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-27 21:30
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; B25J9/1615
Claims Analysis
Total Claims: 4
Claim 1
Independent Claim
137 words
A control device for a robot referenced to an inertial coordinate system, comprising: a robot provided with an arm in a main robot body thereof, said arm being drivable; desired value setting means for setting a desired value expressed in an absolute coordinate system in an inertial system of said arm; detection means for detecting at least one of a velocity and an acceleration output in a robot coordinate system of said main robot body, wherein said detection means comprises an accelerometer mounted in said main robot body and a two-stage integrator for generating both a velocity signal and a position signal from an output from said accelerometer; and control means for correcting said desired value in response to outputs from said detection means, whereby said robot arm is driven in accordance with a corrected desired value.
Claim 2
Dependent Claim
137 words
A control device for a robot referenced to an inertial coordinate system, comprising: a robot provided with an arm in a main robot body thereof, said arm being drivable; desired value setting means for setting a desired value expressed in an absolute coordinate system in an inertial system of said arm; detection means for detecting at least one of a velocity and an acceleration output in a robot coordinate system of said main robot body, wherein said detection means comprises an accelerometer mounted in said main robot body and a two-stage integrator for generating both a velocity signal and a position signal from an output from said accelerometer; and control means for correcting said desired value in response to outputs from said detection means, whereby said robot arm is driven in accordance with a corrected desired value.
Claim 3
Dependent Claim
47 words
A control device for a robot in accordance with claim 1, wherein said detection means further comprises a coordinate conversion calculation means for converting a velocity and a position expressed in said robot coordinate system into a velocity and a position expressed in said absolute coordinate system.
Claim 4
Dependent Claim
51 words
A control device for a robot in accordance with claim 1, wherein said detection means further comprises a coordinate conversion calculation means for converting an acceleration, a velocity, and a position expressed in said robot coordinate system into an acceleration, a velocity, and a position expressed in said absolute coordinate system.
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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) | 1996-11-08 | 1997-05-10 | 1997-11-09 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2000-11-08 | 2001-05-10 | 2001-11-09 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2004-11-08 | 2005-05-10 | 2005-11-09 | $7700.00 | Window Closed / Lapsed |