Robot apparatus

Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control

Reexamination Certificate

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Details

C700S247000, C700S248000, C700S249000, C700S258000, C700S260000, C318S568100, C318S568110, C318S568120, C318S568160, C318S568210, C318S568220, C318S568240, C318S568250, C318S611000, C901S001000, C901S009000, C901S010000, C901S016000, C901S025000, C901S042000, C901S047000

Reexamination Certificate

active

07324872

ABSTRACT:
An external force estimation system for estimating an external force acting upon a robot apparatus which includes a machine body which in turn includes a plurality of movable joints is disclosed which includes a distribution type contacting state detection section, an actuator current state measurement section, a motion state measurement section, a motion equation setting section, a known term calculation section, and an external force estimation section.

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