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    ROBOT ARM APPARATUS, ROBOT ARM CONTROL METHOD, AND PROGRAM
    2.
    发明申请
    ROBOT ARM APPARATUS, ROBOT ARM CONTROL METHOD, AND PROGRAM 审中-公开
    机器人ARM设备，机器人ARM控制方法和程序

    公开(公告)号：US20170007342A1

    公开(公告)日：2017-01-12

    申请号：US15119671

    申请日：2015-02-12

    Applicant: SONY CORPORATION

    Inventor： TAKARA KASAI ,  YASUHISA KAMIKAWA ,  YOHEI KURODA ,  WATARU KOKUBO ,  TOSHIMITSU TSUBOI ,  TETSUHARU FUKUSHIMA ,  YASUHIRO MATSUDA ,  ATSUSHI MIYAMOTO

    IPC: A61B34/32 ,  A61B90/00 ,  A61B34/30

    Abstract: [Object] To enable further improvement in user convenience. [Solution] Provided is a robot arm apparatus including: an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit; and a drive control unit that controls driving of the arm unit by causing each joint unit to be driven cooperatively. The drive control unit uses relative position information of a reference position with respect to the arm unit, the relative position information being based on a state of the arm unit and distance information about a distance between the imaging unit and the reference position, to control the driving of the arm unit in a manner that the reference position is positioned on an optical axis of the imaging unit.

    Abstract translation: [对象]进一步提高用户便利性。 [解决方案]提供一种机器人手臂装置，包括：臂单元，由通过一个或多个接合单元彼此连接的多个链节构成，所述臂单元可连接到成像单元; 以及驱动控制单元，其通过协同地驱动每个接合单元来控制所述臂单元的驱动。 驱动控制单元使用相对于臂单元的参考位置的相对位置信息，相对位置信息基于臂单元的状态和关于成像单元与参考位置之间的距离的距离信息来控制 以参考位置位于成像单元的光轴上的方式驱动臂单元。

    CONTROL APPARATUS AND CONTROL METHOD
    4.
    发明申请
    CONTROL APPARATUS AND CONTROL METHOD 有权

    公开(公告)号：US20210309309A1

    公开(公告)日：2021-10-07

    申请号：US17250598

    申请日：2019-08-07

    Applicant: SONY CORPORATION

    Inventor： YASUNORI KAWANAMI ,  YASUHISA KAMIKAWA

    IPC: B62D57/028 ,  B62D57/032 ,  B25J5/00 ,  B25J9/00 ,  B25J9/16

    Abstract: A control apparatus includes a control unit (29) that controls an orientation of a mobile body (2) equipped with a plurality of leg portions (20) each including at least one joint, each of the leg portions having; a wheel body (2311) that is provided at a leading end of the leg portion and grounds the leg portion; and a pad portion (2312) that is provided on at least one side face of the wheel body and has a higher frictional resistance with respect to a ground surface than that of the wheel body, wherein the control unit controls a braking force that acts on the mobile body from the ground surface by controlling orientations of the leg portions in a pitch axis direction of the mobile body.

    ROBOT ARM APPARATUS, CALIBRATION METHOD, AND PROGRAM
    7.
    发明申请
    ROBOT ARM APPARATUS, CALIBRATION METHOD, AND PROGRAM 审中-公开
    机器人ARM设备，校准方法和程序

    公开(公告)号：US20170066131A1

    公开(公告)日：2017-03-09

    申请号：US15119631

    申请日：2015-02-12

    Applicant: SONY CORPORATION

    Inventor： YASUHISA KAMIKAWA ,  TAKARA KASAI ,  YOHEI KURODA ,  WATARU KOKUBO ,  TOSHIMITSU TSUBOI ,  TETSUHARU FUKUSHIMA ,  YASUHIRO MATSUDA ,  ATSUSHI MIYAMOTO

    IPC: B25J9/16 ,  A61B34/30

    Abstract: [Object] To calibrate an internal model more efficiently and more precisely. [Solution] Provided is a robot arm apparatus including: an arm unit made up of a plurality of links joined by one or a plurality of a joint unit, the arm unit being connectable to an imaging unit. An internal model including at least geometric information about the arm unit and focus position information about the imaging unit is updated using internal model information acquired in a state in which the imaging unit is pointed at a reference point in real space.

    Abstract translation: [对象]更高效，更准确地校准内部模型。 [解决方案]提供一种机器人手臂装置，包括：臂单元，由由一个或多个接合单元连接的多个链节构成，所述臂单元可连接到成像单元。 使用在成像单元指向实际空间中的参考点的状态下获取的内部模型信息来更新包括关于臂单元的至少几何信息和关于成像单元的聚焦位置信息的内部模型。

    LINK STRUCTURE
    8.
    发明申请
    LINK STRUCTURE 有权

    公开(公告)号：US20210291359A1

    公开(公告)日：2021-09-23

    申请号：US17250522

    申请日：2019-07-29

    Applicant: SONY CORPORATION

    Inventor： YASUHISA KAMIKAWA ,  YASUNORI KAWANAMI

    IPC: B25J9/10 ,  F16H25/20 ,  F16H19/04 ,  F16H19/06 ,  F15B15/20

    Abstract: A link structure (1) includes: a first link (2); a target member to be moved (housing) (3) that is provided in the interior of the first link (2), and that is movable in the interior of the first link (2); a movement mechanism (4) that is fixed to the first link (2), and that is configured to cause the target member to be moved (3) to move in movement directions (M1, M2) along the first link (2) in response to power of a power part; and an action part (6) that is provided to the target member to be moved (3), and that is configured to act on a movement of a second link (8) mounted onto the first link (2).

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