Arm control apparatus, arm control method, arm control program, robot, and integrated electronic circuit for arm control
First Claim
Patent Images
1. An arm control apparatus for controlling a position and an orientation of a touch panel display, the apparatus comprising:
- a touch position information acquiring unit that acquires a position on a screen of the touch panel display touched by a person;
a touch force information acquiring unit that acquires a force on the screen touched by the person;
a torque calculating unit that calculates a torque to be applied to the touch panel display based on the position acquired by the touch position information acquiring unit and the force acquired by the touch force information acquiring unit;
a stiffness parameter information generating unit that generates information about a stiffness parameter for controlling the arm so that the position and the orientation of the touch panel display do not change based on the torque calculated by the torque calculating unit; and
an arm control unit that controls the arm based on the information about the stiffness parameter generated by the stiffness parameter information generating unit.
3 Assignments
0 Petitions
Accused Products
Abstract
In a touch panel display with an arm, a torque calculating unit calculates a torque to be loaded on a touch panel display based on a position acquired by a touch position information acquiring unit and a force acquired by a touch force information acquiring unit, and a stiffness parameter information generating unit generates information about a stiffness parameter for controlling an arm so that the position and the orientation of the touch panel display do not change based on the calculated torque. An arm control unit controls the arm based on the generated information about the stiffness parameter.
-
Citations
18 Claims
-
1. An arm control apparatus for controlling a position and an orientation of a touch panel display, the apparatus comprising:
-
a touch position information acquiring unit that acquires a position on a screen of the touch panel display touched by a person; a touch force information acquiring unit that acquires a force on the screen touched by the person; a torque calculating unit that calculates a torque to be applied to the touch panel display based on the position acquired by the touch position information acquiring unit and the force acquired by the touch force information acquiring unit; a stiffness parameter information generating unit that generates information about a stiffness parameter for controlling the arm so that the position and the orientation of the touch panel display do not change based on the torque calculated by the torque calculating unit; and an arm control unit that controls the arm based on the information about the stiffness parameter generated by the stiffness parameter information generating unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
-
-
16. An arm control method for controlling a position and an orientation of a touch panel display, the method comprising:
-
acquiring a position on a screen of the touch panel display touched by a person through a touch position information acquiring unit, acquiring a force on the screen touched by the person through a touch force information acquiring unit; calculating a torque to be applied to the touch panel display through a torque calculating unit based on the position acquired by the touch position information acquiring unit and the force acquired by the touch force information acquiring unit; generating information about a stiffness parameter for controlling the arm through a stiffness parameter information generating unit so that the position and the orientation of the touch panel display do not change based on the torque calculated by the torque calculating unit; and controlling the arm through an arm control unit based on the information about the stiffness parameter generated by the stiffness parameter information generating unit.
-
-
17. A computer-readable recording medium including an arm control program for controlling a position and an orientation of a touch panel display, the program allows
a computer to function as: -
a touch position information acquiring unit that acquires a position on a screen of the touch panel display touched by a person; a touch force information acquiring unit that acquires a force on the screen touched by the person; a torque calculating unit that calculates a torque to be applied to the touch panel display based on the position acquired by the touch position information acquiring unit and the force acquired by the touch force information acquiring unit; a stiffness parameter information generating unit that generates information about a stiffness parameter for controlling the arm so that the position and the orientation of the touch panel display do not change based on the torque calculated by the torque calculating unit; and an arm control unit that controls the arm based on the information about the stiffness parameter generated by the stiffness parameter information generating unit.
-
-
18. An arm control integrated electronic circuit for controlling a position and an orientation of a touch panel display, the circuit configured to:
-
acquires a position on a screen of the touch panel display touched by a person through a touch position information acquiring unit; acquires a force on the screen touched by the person through a touch force information acquiring unit; calculates a torque to be applied to the touch panel display through a torque calculating unit based on the position acquired by the touch position information acquiring unit and the force acquired by the touch force information acquiring unit; generates information about a stiffness parameter for controlling the arm through a stiffness parameter information generating unit so that the position and the orientation of the touch panel display do not change based on the torque calculated by the torque calculating unit; and controls the arm through an arm control unit based on the information about the stiffness parameter generated by the stiffness parameter information generating unit.
-
Specification