| 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 |
US2014172172(A1) |
申请公布日期 |
2014.06.19 |
| 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 |
B25J9/16 |
主分类号 |
B25J9/16 |
| 代理机构 |
|
代理人 |
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| 主权项 |
1. A method of improving sensitivity of a robot, comprising:
a calculation step that calculates angular velocities of joints of a 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 |
