发明授权
- 专利标题: Power assist device and control method therefor
- 专利标题(中): 动力辅助装置及其控制方法
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申请号: US12919593申请日: 2009-02-26
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公开(公告)号: US08588980B2公开(公告)日: 2013-11-19
- 发明人: Hideyuki Murayama , Naoyuki Takesue , Hideo Fujimoto
- 申请人: Hideyuki Murayama , Naoyuki Takesue , Hideo Fujimoto
- 申请人地址: JP Toyota-Shi JP Nagoya
- 专利权人: Toyota Jidosha Kabushiki Kaisha,National University Corporation Nagoya Institute of Technology
- 当前专利权人: Toyota Jidosha Kabushiki Kaisha,National University Corporation Nagoya Institute of Technology
- 当前专利权人地址: JP Toyota-Shi JP Nagoya
- 代理机构: Kenyon & Kenyon LLP
- 优先权: JP2008-046857 20080227
- 国际申请: PCT/IB2009/000487 WO 20090226
- 国际公布: WO2009/106983 WO 20090903
- 主分类号: G05B15/00
- IPC分类号: G05B15/00 ; G05B19/00 ; G05B9/02 ; G05B19/19 ; B25J9/18
摘要:
A control method for a power assist device provided with an operation handle, a force sensor that detects an operation force applied to the operation handle and an orientation of the operation force, a robot arm, and an actuator. When the orientation of the operation force is detected to be within a predetermined angle range with respect to a preset advancing direction of the operation handle, the actuator is controlled so as to move the operation handle along the advancing direction by employing only a component of the operation force along the advancing direction; and when the orientation of the operation force is detected to be outside the predetermined angle range, the actuator is controlled to move the operation handle by the operation force applied to the operation handle and the orientation of the operation force.
公开/授权文献
- US20110040411A1 POWER ASSIST DEVICE AND CONTROL METHOD THEREFOR 公开/授权日:2011-02-17