Westerman, Hattori, Daniels & Adrian, LLP
Robot arm control system
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).
WASEDA UNIVERSITY
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B25J B25J B25J G05B G05B B25J B25J G05B G05B G05B
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Yoshihiro Shigeki Alexander Soumya Ritsuki Wei Gonzaro
Sakamoto Sugano Schmitz Bhavaraju Sato Wang Aguirre Dominguez