Invention Grant
- Patent Title: Robot and friction compensation method therefor
- Patent Title (中): 机器人和摩擦补偿方法
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Application No.: US14089727Application Date: 2013-11-25
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Publication No.: US09132552B2Publication Date: 2015-09-15
- Inventor: Kee Hong Seo , Young Do Kwon , Kyung Shik Roh
- Applicant: Samsung Electronics Co., Ltd.
- Applicant Address: KR Suwon-si
- Assignee: Samsung Electronics Co., Ltd.
- Current Assignee: Samsung Electronics Co., Ltd.
- Current Assignee Address: KR Suwon-si
- Agency: NSIP Law
- Priority: KR10-2012-0133922 20121123
- Main IPC: B25J9/16
- IPC: B25J9/16 ; B25J3/04

Abstract:
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.
Public/Granted literature
- US20140156074A1 ROBOT AND FRICTION COMPENSATION METHOD THEREFOR Public/Granted day:2014-06-05
Information query
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