| 发明名称 | Robot and friction compensation method therefor | ||
| 摘要 | A robot includes a master device including an input unit, the input unit including a first end effector and a first joint, a slave device configured to be controlled by the master device and including a robot arm, the robot arm including a second end effector, a second joint, and a motor configured to drive the second joint, and a controller configured to calculate a friction compensation value to compensate for friction of the second joint based on a speed of the input unit in response to the input unit being in motion, generate a control signal based on the friction compensation value, and transmit the control signal to the motor configured to drive the second joint. | ||
| 申请公布号 | US9132552(B2) | 申请公布日期 | 2015.09.15 |
| 申请号 | US201314089727 | 申请日期 | 2013.11.25 |
| 申请人 | Samsung Electronics Co., Ltd. | 发明人 | Seo Kee Hong;Kwon Young Do;Roh Kyung Shik |
| 分类号 | B25J9/16;B25J3/04 | 主分类号 | B25J9/16 |
| 代理机构 | NSIP Law | 代理人 | NSIP Law |
| 主权项 | 1. A robot comprising: a master device comprising an input unit, the input unit comprising a first end effector and a first joint; a slave device configured to be controlled by the master device and comprising a robot arm, the robot arm comprising a second end effector, a second joint, and a motor configured to drive the second joint; and a controller configured to: calculate a friction compensation value to compensate for friction of the second joint based on a speed of the input unit in response to the input unit being in motion;generate a control signal based on the friction compensation value; andtransmit the control signal to the motor configured to drive the second joint. | ||
| 地址 | Suwon-si KR | ||