| 发明名称 | Method for improving sensitivity of robot | ||
| 摘要 | A method of improving sensitivity of a robot which includes: a calculation step, an induction step and a conversion step. The calculation step calculates angular velocities of joints of a robot. The induction step determines induced accelerations at the end of the robot by converting the angular velocities of the joints into a velocity at the end of the robot, using a Jacobian matrix, and by differentiating the velocity. The conversion step determines forces at a middle portion of the robot by multiplying the induced accelerations at the middle portion of the robot by a weight of the robot, multiplies the forces by an enhancement ratio, and then converts results of the multiplication into necessary torque at the joints, using a Jacobian matrix. | ||
| 申请公布号 | US9073207(B2) | 申请公布日期 | 2015.07.07 |
| 申请号 | US201313846912 | 申请日期 | 2013.03.18 |
| 申请人 | HYUNDAI MOTOR COMPANY | 发明人 | Seo Jung Ho;Yang Woo Sung |
| 分类号 | B25J17/00;B25J9/16 | 主分类号 | B25J17/00 |
| 代理机构 | McDermott Will & Emery LLP | 代理人 | McDermott Will & Emery LLP |
| 主权项 | 1. A method of improving sensitivity of a robot, the method comprising: a calculation step that calculates angular velocities of joints of the robot using encoders at the joints of the robot; an induction step that determines an acceleration at an end of the robot by converting the angular velocities of the joints into a velocity at the end of the robot, using a Jacobian matrix, and by differentiating the velocity; and a conversion step that determines forces at a middle portion of the robot by multiplying induced accelerations at the middle portion by a weight of the robot, multiplies the forces by an enhancement ratio, and then converts results of the multiplication into necessary torque at the joints, using a Jacobian matrix. | ||
| 地址 | Seoul KR | ||