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专利名称：Robot device operation control device and
operation control method
发明人：Satoru Shimizu,Jinichi Yamaguchi,Yoshihiro
Kuroki
申请号：US10498149申请日：20031010
公开号：US20050165507A1公开日：20050728
专利附图：
摘要：A ZMP equilibrium equation stating the relationship of various moments appliedto a robot body of a robot, based on desirable motion data made up by trajectories of
respective parts, imaginarily divided from the robot body, is generated, and momenterrors in a ZMP equilibrium equation are calculated. A priority sequence of the parts, thetarget trajectories of which are corrected to cancel out the moment errors, is set. Thetarget trajectories are corrected from one part to another, in a sequence correspondingto the priority sequence, to compensate the moment errors.
申请人：Satoru Shimizu,Jinichi Yamaguchi,Yoshihiro Kuroki
地址：Kanagawa JP,Tokyo JP,Kanagawa JP
国籍：JP,JP,JP
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