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1. 发明专利

JP5370117B2 Control device of the robot 有权
公开(公告)号：JP5370117B2
公开(公告)日：2013-12-18
申请号：JP2009284379
申请日：2009-12-15
申请人：トヨタ自動車株式会社
发明人：玄安藤
IPC分类号： B25J13/08 , G05B7/02 , G05B13/02
摘要： PROBLEM TO BE SOLVED: To provide a robot controller which is a controller for a robot designed for swinging a link connected to a joint, wherein the response speed of the robot in a region other than near a boundary of the range of movement of the joint is improved, while overshooting near the boundary of the rage of movement is suppressed. SOLUTION: The robot controller includes: a feedback controller for making a measured joint angle measured by a sensor follow a target joint angle; and a pole-positioning device for changing the root of a characteristic polynomial of a closed-loop system composed of the feedback controller and a mechanism system of the robot. The pole-positioning device stores predetermined ranges of movement of the joint, which are divided into a first allowable range of movement excluding the boundary of the range of movement, and a second allowable range of movement defining outside of the first allowable range of movement. In addition, the pole-positioning device gives the characteristic polynomial a complex root when the measured joint angle is in the first allowable range of movement, and meanwhile, a real root is given when the measured angle is in the second allowable range of movement. COPYRIGHT: (C)2011,JPO&INPIT

2. 发明专利

JP5316336B2 Inverted type moving body, the control method and control program 有权
公开(公告)号：JP5316336B2
公开(公告)日：2013-10-16
申请号：JP2009215462
申请日：2009-09-17
申请人：トヨタ自動車株式会社
发明人：玄安藤
IPC分类号： B62K17/00 , B25J5/00 , B25J13/00 , B62K3/00 , G05D1/08
摘要： PROBLEM TO BE SOLVED: To provide an inverted moving body stably traveling; and to provide method and program for controlling the same. SOLUTION: The inverted moving body 100 includes a moving body 140 having a load body 201 and a wheel 202 rotatably connected to the load body 201, and performs inversion control of the load body 201 by controlling the drive of the wheel 202. The inverted moving body 100 also includes: a detection means for detecting a state amount of the moving body 140; a command means for creating a command value to bring the moving body 140 into a desired traveling state; an estimation means for estimating a load wheel inter-gravity-center distance L that is the distance between the center of gravity of the load body 201 and the center of gravity of the wheel 202, based on the state amount detected by the detection means; and a control means for performing inversion control by creating a torque command value for driving the wheel 202 based on the state amount detected by the detection means, the command value created by the command means, and the load wheel inter-gravity-center distance L estimated by the estimation means. COPYRIGHT: (C)2011,JPO&INPIT

3. 发明专利

JP5169989B2 Inverted type moving body of the control device 有权
公开(公告)号：JP5169989B2
公开(公告)日：2013-03-27
申请号：JP2009119768
申请日：2009-05-18
申请人：トヨタ自動車株式会社
发明人：玄安藤
IPC分类号： G05D1/08 , B62K3/00 , B62K17/00

4. 发明专利

JP5614232B2 ロボットハンドの制御装置、制御方法、及び制御用プログラム有权
标题翻译：用于机器人手，控制方法，以及控制程序的控制装置
公开(公告)号：JP5614232B2
公开(公告)日：2014-10-29
申请号：JP2010235233
申请日：2010-10-20
申请人：トヨタ自動車株式会社
发明人：玄安藤 , 玄安藤
IPC分类号： B25J13/08

5. 发明专利

JP5556558B2 Control apparatus of the robot arm, control method, and control program 有权
公开(公告)号：JP5556558B2
公开(公告)日：2014-07-23
申请号：JP2010225712
申请日：2010-10-05
申请人：トヨタ自動車株式会社
发明人：玄安藤
IPC分类号： B25J19/06 , B25J13/00

6. 发明专利

JP5540992B2 ERROR device, the control method and control program 有权
公开(公告)号：JP5540992B2
公开(公告)日：2014-07-02
申请号：JP2010184928
申请日：2010-08-20
申请人：トヨタ自動車株式会社
发明人：玄安藤
IPC分类号： A61G5/00 , A61G1/003 , A61G5/04

7. 发明专利

JP5488095B2 Inverted type moving body and a method of controlling the same 有权
公开(公告)号：JP5488095B2
公开(公告)日：2014-05-14
申请号：JP2010065996
申请日：2010-03-23
申请人：トヨタ自動車株式会社
发明人：玄安藤
IPC分类号： B62K17/00 , B62D63/02 , B62K3/00 , G05D1/08

8. 发明专利

JP5447010B2 Motion sickness suppression control apparatus and a method of controlling the same 有权
公开(公告)号：JP5447010B2
公开(公告)日：2014-03-19
申请号：JP2010048298
申请日：2010-03-04
申请人：トヨタ自動車株式会社
发明人：玄安藤
IPC分类号： B62K17/00 , B60L11/18 , B62K3/00
CPC分类号： Y02T10/7005 , Y02T10/7241

9. 发明专利

JP5652043B2 倒立型移動体、その制御方法及び制御プログラム有权
标题翻译：倒立型移动体，控制方法和控制程序
公开(公告)号：JP5652043B2
公开(公告)日：2015-01-14
申请号：JP2010177355
申请日：2010-08-06
申请人：トヨタ自動車株式会社
发明人：玄安藤 , 玄安藤
IPC分类号： B62K17/00 , B60L15/20 , G05D1/02
CPC分类号： Y02T10/7241 , Y02T10/7275

10. 发明专利

JP5316347B2 Articulated robot 有权
公开(公告)号：JP5316347B2
公开(公告)日：2013-10-16
申请号：JP2009230495
申请日：2009-10-02
申请人：トヨタ自動車株式会社
发明人：玄安藤
IPC分类号： B25J19/06
摘要： PROBLEM TO BE SOLVED: To provide a multi-articulated robot for determining abnormality of feedback control. SOLUTION: This multi-articulated robot includes a sensor for detecting respective joint angles and a controller for controlling a joint based on a detection value of the sensor by making a feedback process. The controller calculates an angle of a specific joint by substituting a detected joint angle of the sensor in the other joint angle except for one specific joint by an equation of motion of a preprepared robot, and determines that the feedback control of the specific joint is abnormal when an angle difference between a calculated joint angle and the detected joint angle of the specific joint falls wide of a predetermined allowable range. COPYRIGHT: (C)2011,JPO&INPIT

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