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AssigneeKorea Institute of Science and Technology
InventorsMun-Sang Kim, Sung-Chul Kang, Chang-Hyun Cho, Hyun-Oh Shin, Jea-Sun Kim, Yo-Ha Hwang
Estimating the term…
A working robot, which is able to perform a required operation by locating a tool on a working position of a moving object, comprises a robot body moving with the object according to the movement of the object with more than one degree of freedom; an actuator mounted on a free end of the robot body and including a tool mounting unit, on which the tool is mounted, connected by a passive joint which reacts passively to small displacement of the object for locating the tool on the working position; and a control device for controlling the robot body, the actuator, and the tool.
A working robot comprising:
An actuator for a working robot comprising:
A method for controlling a working robot, wherein a velocity of a robot body is controlled by being synchronized with a moving velocity of a moving object of working, an actuator including a tool mounting unit is mounted at a free end of the robot body according to a displacement form and direction of said moving object of working, the actuator is controlled so that the tool mounting unit is located according to a displacement form and direction of said moving object of working so as to minimize a tracking error of the robot body, and the robot body and the actuator are moved simultaneously.
Dependencies are inferred from the claim text.