专利内容由知识产权出版社提供
专利名称：ROBOT DEVICE OPERATION CONTROL
DEVICE AND OPERATION CONTROLMETHOD
发明人：Shimizu, Satoru,YAMAGUCHI, Jinichi,Kuroki,
Yoshihiro
申请号：EP03754091.1申请日：20031010公开号：EP1552910A1公开日：20050713
专利附图：
摘要：A ZMP equilibrium equation stating the relationship of various moments applied
to a robot body of a robot, based on desirable motion data made up by trajectories ofrespective 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：Sony Corporation,Yamaguchi, Jinichi
地址：7-35, Kitashinagawa 6-chome, Shinagawa-ku Tokyo 141-0001 JP,5-14-38Tamadaira Hino-shi, Tokyo JP
国籍：JP,JP
代理机构：Horner, David Richard
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