Patents by Inventor Junichiro Ohga

Junichiro Ohga has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Robot controlling device
    Patent number: 8428779
    Abstract: A robot controlling device includes: a position error calculator calculating a position error between an endpoint position of a robot and a position commanded value for the endpoint position; an external force calculator calculating an external force applied to the endpoint position; a force commanded value generator generating a force commanded value for the endpoint position; a force error calculator calculating a force error between the external force and the force commanded value; a storage storing the compliance model for the endpoint position; a first correction amount calculator calculating a first correction amount for the position commanded value, according to the force error, using the compliance model; and a second correction amount calculator calculating a second correction amount for the position commanded value, on the basis of the first order lag compensation for the first correction amount. The position error calculator calculates the position error, using the second correction amount.
    Type: Grant
    Filed: February 16, 2012
    Date of Patent: April 23, 2013
    Assignee: Kabushiki Kaisha Toshiba
    Inventors: Junichiro Ohga, Junji Oaki, Hideki Ogawa
  • ROBOT CONTROLLING DEVICE
    Publication number: 20120150347
    Abstract: A robot controlling device includes: a position error calculator calculating a position error between an endpoint position of a robot and a position commanded value for the endpoint position; an external force calculator calculating an external force applied to the endpoint position; a force commanded value generator generating a force commanded value for the endpoint position; a force error calculator calculating a force error between the external force and the force commanded value; a storage storing the compliance model for the endpoint position; a first correction amount calculator calculating a first correction amount for the position commanded value, according to the force error, using the compliance model; and a second correction amount calculator calculating a second correction amount for the position commanded value, on the basis of the first order lag compensation for the first correction amount. The position error calculator calculates the position error, using the second correction amount.
    Type: Application
    Filed: February 16, 2012
    Publication date: June 14, 2012
    Applicant: KABUSHIKI KAISHA TOSHIBA
    Inventors: Junichiro Ohga, Junji Oaki, Hideki Ogawa