Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2008-01-29
2008-01-29
Black, Thomas (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
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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Black Thomas
Frommer William S.
Frommer & Lawrence & Haug LLP
Marc McDieunel
Presson Thomas F.
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