JP6153372B2 - ロボット装置、ロボット制御方法、プログラム及び記録媒体 - Google Patents

ロボット装置、ロボット制御方法、プログラム及び記録媒体 Download PDF

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JP6153372B2
JP6153372B2 JP2013088442A JP2013088442A JP6153372B2 JP 6153372 B2 JP6153372 B2 JP 6153372B2 JP 2013088442 A JP2013088442 A JP 2013088442A JP 2013088442 A JP2013088442 A JP 2013088442A JP 6153372 B2 JP6153372 B2 JP 6153372B2
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joint
link
antagonistic
force
actuators
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JP2014210326A5 (https=
JP2014210326A (ja
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清志 ▲高▼木
清志 ▲高▼木
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Canon Inc
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Canon Inc
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Priority to JP2013088442A priority Critical patent/JP6153372B2/ja
Priority to US14/251,499 priority patent/US9339929B2/en
Publication of JP2014210326A publication Critical patent/JP2014210326A/ja
Priority to US15/098,230 priority patent/US10183397B2/en
Publication of JP2014210326A5 publication Critical patent/JP2014210326A5/ja
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1628—Program controls characterised by the control loop
    • B25J9/1633—Program controls characterised by the control loop compliant, force, torque control, e.g. combined with position control

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
JP2013088442A 2013-04-19 2013-04-19 ロボット装置、ロボット制御方法、プログラム及び記録媒体 Active JP6153372B2 (ja)

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Application Number Priority Date Filing Date Title
JP2013088442A JP6153372B2 (ja) 2013-04-19 2013-04-19 ロボット装置、ロボット制御方法、プログラム及び記録媒体
US14/251,499 US9339929B2 (en) 2013-04-19 2014-04-11 Robot device, robot control method, program, and recording medium
US15/098,230 US10183397B2 (en) 2013-04-19 2016-04-13 Robot device, robot control method, program, and recording medium

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JP2013088442A JP6153372B2 (ja) 2013-04-19 2013-04-19 ロボット装置、ロボット制御方法、プログラム及び記録媒体

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JP2014210326A JP2014210326A (ja) 2014-11-13
JP2014210326A5 JP2014210326A5 (https=) 2016-06-16
JP6153372B2 true JP6153372B2 (ja) 2017-06-28

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JP (1) JP6153372B2 (https=)

Families Citing this family (11)

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Publication number Priority date Publication date Assignee Title
JP6153372B2 (ja) * 2013-04-19 2017-06-28 キヤノン株式会社 ロボット装置、ロボット制御方法、プログラム及び記録媒体
JP6512216B2 (ja) * 2014-03-14 2019-05-15 ソニー株式会社 ロボットアーム装置、ロボットアーム制御方法及びプログラム
CN108789395B (zh) * 2018-06-07 2021-03-30 上海交通大学 一种基于仿生肌腱的串联粘弹性驱动器
CN109407513B (zh) * 2018-12-14 2020-06-16 江南大学 气动人工肌肉关节的基于迭代反馈整定的跟踪控制方法
CN110936367B (zh) * 2019-11-07 2020-06-19 嘉兴学院 一种气动仿人机器人系统
EP4135936A4 (en) 2020-04-13 2024-05-08 Orangewood Labs Inc. SYSTEM AND/OR METHOD FOR ERROR COMPENSATION IN MECHANICAL TRANSMISSIONS
CN112207819B (zh) * 2020-08-31 2022-05-10 深圳市优必选科技股份有限公司 机器人及其关节控制方法、关节控制装置
CN113305825B (zh) * 2021-05-27 2022-09-20 北京航空航天大学 一种单自由度绳驱动变刚度关节及其测控平台
CN113787508B (zh) * 2021-09-16 2023-01-17 长沙理工大学 一种绳驱动超冗余度机器人的驱动机构
US12128553B2 (en) * 2022-10-18 2024-10-29 Khalifa University of Science and Technology Infinite-rotation infinite-stiffness variable stiffness actuator (IRISVSA) with application for compliant supernumerary robotic limb
DE102023111856B3 (de) 2023-05-06 2024-10-31 Deutsches Zentrum für Luft- und Raumfahrt e.V. Aktuator für ein Robotergelenk, Robotergelenk, Roboter und Verfahren zum Betreiben eines Aktuators

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Publication number Priority date Publication date Assignee Title
JPH0712598B2 (ja) * 1985-04-27 1995-02-15 株式会社ブリヂストン ニユ−マチツク・アクチユエ−タを用いたロボツトア−ムの取付構造
JPH06121943A (ja) * 1992-10-09 1994-05-06 Nippon Seiko Kk 電動伸縮装置
US8082062B2 (en) * 2005-06-10 2011-12-20 Honda Motor Co., Ltd. Regenerative actuation in motion control
JP4415325B2 (ja) * 2005-08-04 2010-02-17 村田機械株式会社 可変弾性機素とこれを用いた関節、車両、及び動的吸振装置
JP5854695B2 (ja) * 2010-09-22 2016-02-09 キヤノン株式会社 ロボット装置の制御方法及びロボット装置
JP6080643B2 (ja) * 2013-03-25 2017-02-15 キヤノン株式会社 ロボット装置、ロボット制御方法、プログラム及び記録媒体
JP6153372B2 (ja) * 2013-04-19 2017-06-28 キヤノン株式会社 ロボット装置、ロボット制御方法、プログラム及び記録媒体

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US9339929B2 (en) 2016-05-17
JP2014210326A (ja) 2014-11-13
US20140316575A1 (en) 2014-10-23
US20160229056A1 (en) 2016-08-11
US10183397B2 (en) 2019-01-22

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