ALEXANDRIA, Va., June 10 -- United States Patent no. 12,290,926, issued on May 6.
"Robot control based on equivalent mass matrix" was invented by Keita Shimamoto (Fukuoka, Japan) and Toshiyuki Murakami (Yokohama, Japan).
According to the abstract* released by the U.S. Patent & Trademark Office: "A robot control system includes circuitry configured to: acquire velocity of a robot in a working space in which the robot processes a workpiece based on a force control axis and a position control axis, the velocity being along the force control axis; select an equivalent mass matrix representing a relationship between acceleration and force in the working space, based on the acquired velocity, from a first equivalent mass matrix corresponding to...