| 发明名称 | Method for controlling two arms of a robot | ||
| 摘要 | A method of controlling two arms of a robot including: a finding-out step of finding out position differences in axial directions of an end of one arm and an end of the other arm; a generating step of generating a virtual force at the end of the other arm based on the position differences that have been found out; and a converting step of converting the generated virtual force into a driving torque for joints of the other arm, using a Jacobian matrix. | ||
| 申请公布号 | US9162356(B2) | 申请公布日期 | 2015.10.20 |
| 申请号 | US201313842553 | 申请日期 | 2013.03.15 |
| 申请人 | HYUNDAI MOTOR COMPANY | 发明人 | Seo Jung Ho;Yang Woo Sung |
| 分类号 | B25J9/00;B25J9/16;A63B21/00 | 主分类号 | B25J9/00 |
| 代理机构 | McDermott Will & Emery LLP | 代理人 | McDermott Will & Emery LLP |
| 主权项 | 1. A method of controlling two wearable arms of a robot comprising: a finding-out step of finding out position differences in axial directions of an end of one arm and an end of the other arm; a generating step of generating, by a controller, a virtual force at the end of the other arm based on the position differences that have been found out; a converting step of converting the generated virtual force into a driving torque for joints of the other arm, using a Jacobian matrix; and an applying step of applying the driving torque to driving units of the joints. | ||
| 地址 | Seoul KR | ||