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1. 发明申请

US20120072026A1 ROBOT SYSTEM CONTROLLING METHOD, ROBOT SYSTEM, AND CONTROL APPARATUS FOR QUADRUPEDAL ROBOT 有权
标题翻译：机器人系统控制方法，机器人系统以及四面体机器人的控制装置
公开(公告)号：US20120072026A1
公开(公告)日：2012-03-22
申请号：US13230127
申请日：2011-09-12
申请人： Kiyoshi Takagi
发明人： Kiyoshi Takagi
IPC分类号： B25J13/08
CPC分类号： B25J9/1633 , B25J9/1075 , B25J9/1641 , G05B2219/39201 , G05B2219/39452 , G05B2219/39454 , Y10S901/01 , Y10S901/09
摘要： An object of the present invention is to provide a robot system controlling method and robot system which perform link angle control and joint stiffness control through feedback control.
摘要翻译：本发明的目的是提供一种通过反馈控制进行连杆角度控制和关节刚度控制的机器人系统控制方法和机器人系统。

2. 发明授权

US09925665B2 Robot system controlling method, robot system, and control apparatus for quadrupedal robot 有权
公开(公告)号：US09925665B2
公开(公告)日：2018-03-27
申请号：US14593610
申请日：2015-01-09
申请人： CANON KABUSHIKI KAISHA
发明人： Kiyoshi Takagi
IPC分类号： B25J9/16 , B25J9/10
CPC分类号： B25J9/1633 , B25J9/1075 , B25J9/1641 , G05B2219/39201 , G05B2219/39452 , G05B2219/39454 , Y10S901/01 , Y10S901/09
摘要： An object of the present invention is to provide a robot system controlling method and robot system which perform link angle control and joint stiffness control through feedback control.

3. 发明授权

EP0577084B1 Micromanipulator apparatus including an operating system 失效
标题翻译：与操作系统显微操作设备
公开(公告)号：EP0577084B1
公开(公告)日：1997-12-29
申请号：EP93110378
申请日：1993-06-29
申请人： SHIMADZU CORP
发明人： TOGAWA YOSHIYUKI
IPC分类号： B25J7/00 , B25J9/18 , B25J13/06 , G02B21/32 , G05B19/409
CPC分类号： G05B19/409 , G05B2219/35438 , G05B2219/35463 , G05B2219/35466 , G05B2219/36119 , G05B2219/39452 , G05B2219/45182

4. 发明申请

US20150127163A1 ROBOT SYSTEM CONTROLLING METHOD, ROBOT SYSTEM, AND CONTROL APPARATUS FOR QUADRUPEDAL ROBOT 审中-公开
标题翻译：机器人系统控制方法，机器人系统以及四面体机器人的控制装置
公开(公告)号：US20150127163A1
公开(公告)日：2015-05-07
申请号：US14593610
申请日：2015-01-09
申请人： CANON KABUSHIKI KAISHA
发明人： Kiyoshi Takagi
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B25J9/1075 , B25J9/1641 , G05B2219/39201 , G05B2219/39452 , G05B2219/39454 , Y10S901/01 , Y10S901/09
摘要： An object of the present invention is to provide a robot system controlling method and robot system which perform link angle control and joint stiffness control through feedback control.
摘要翻译：本发明的目的是提供一种通过反馈控制进行连杆角度控制和关节刚度控制的机器人系统控制方法和机器人系统。

5. 发明授权

US08958915B2 Robot system controlling method, robot system, and control apparatus for quadrupedal robot 有权
标题翻译：机器人系统控制方法，机器人系统，四足机器人控制装置
公开(公告)号：US08958915B2
公开(公告)日：2015-02-17
申请号：US13230127
申请日：2011-09-12
申请人： Kiyoshi Takagi
发明人： Kiyoshi Takagi
IPC分类号： B25J13/08 , B25J9/10 , B25J9/16
CPC分类号： B25J9/1633 , B25J9/1075 , B25J9/1641 , G05B2219/39201 , G05B2219/39452 , G05B2219/39454 , Y10S901/01 , Y10S901/09
摘要： An object of the present invention is to provide a robot system controlling method and robot system which perform link angle control and joint stiffness control through feedback control.
摘要翻译：本发明的目的是提供一种通过反馈控制进行连杆角度控制和关节刚度控制的机器人系统控制方法和机器人系统。

6. 发明授权

US5325289A Operating system for uniplanar translation of micromanipulator instruments 失效
标题翻译：微操纵器仪器的单面平移操作系统
公开(公告)号：US5325289A
公开(公告)日：1994-06-28
申请号：US083937
申请日：1993-06-28
申请人： Yoshiyuki Togawa
发明人： Yoshiyuki Togawa
IPC分类号： B25J7/00 , B25J9/18 , B25J13/06 , G02B21/32 , G05B19/409 , G06F15/46 , G05B19/18
CPC分类号： G05B19/409 , G05B2219/35438 , G05B2219/35463 , G05B2219/35466 , G05B2219/36119 , G05B2219/39452 , G05B2219/45182
摘要： In micromanipulator apparatus having fine instrument mechanism translation drivers movable along three axes within a defined space, an operating system directing uniplanar movement of the translation drivers. The system is realized in operating apparatus including a mouse as an operational data input device which, via an analogue movement thereof generating drive data, directs a correspondingly mapped uniplanar movement of the fine instrument translation drivers concerning two of the three axes, in an actual selection from a repeating sequence of dual combinations via a click button of the mouse. A controller, accordingly responsive to the drive and axes selection data input from the mouse, commands, via output to the translation drivers, movement in a plane through the two axes actually in selection. Thus operational movement and data input via the mouse effect constantly uniplanar translation of the fine instrument mechanisms, the plane of translation being continuously switchable among three planes of movement. Stable operative control of complicated micromanipulator movements, especially in micrometer increments, is furthermore enabled to be single-handed, such that two micromanipulating fine instrument mechanisms can be operated by an operator using both hands to handle the pair of corresponding mouse devices.
摘要翻译：在具有可在限定空间内沿三个轴移动的精细仪器机构平移驱动器的显微操纵器装置中，指示翻译驱动器的单面运动的操作系统。该系统在包括作为操作数据输入装置的鼠标的操作装置中实现，该操作数据输入装置经由其产生驱动数据的模拟运动，在实际选择中引导与三个轴中的两个相对应的精细仪器转换驱动器的相应映射的单平面运动从双重组合的重复序列通过鼠标的点击按钮。控制器响应于从鼠标输入的驱动和轴选择数据，经由输出到翻译驱动器，通过实际选择的两个轴在平面中的运动。因此，通过鼠标的操作运动和数据输入不断地对精细仪器机构进行单面平移，平移平面可在三个运动平面之间连续切换。复杂的微操纵器运动的稳定操作控制特别是以微米为单位进一步使得能够单手操作，使得操作者可以使用两只手操作两个微操纵的精细仪器机构来处理该对相应的鼠标装置。

7. 发明公开

EP0577084A3 Operating system for uniplanar translation of micromanipulator instruments 失效
标题翻译：操作系统显微仪器的二维平移。
公开(公告)号：EP0577084A3
公开(公告)日：1994-11-09
申请号：EP93110378.2
申请日：1993-06-29
申请人： SHIMADZU CORPORATION
发明人： Togawa, Yoshiyuki
IPC分类号： B25J7/00
CPC分类号： G05B19/409 , G05B2219/35438 , G05B2219/35463 , G05B2219/35466 , G05B2219/36119 , G05B2219/39452 , G05B2219/45182
摘要： In micromanipulator apparatus having fine instrument mechanism translation drivers movable along three axes within a defined space, an operating system directing uniplanar movement of the translation drivers. The system is realized in operating apparatus including a mouse as an operational data input device which, via an analogue movement thereof generating drive data, directs a correspondingly mapped uniplanar movement of the fine instrument translation drivers concerning two of the three axes, in an actual selection from a repeating sequence of dual combinations via a click button of the mouse. A controller, accordingly responsive to the drive and axes selection data input from the mouse, commands, via output to the translation drivers, movement in a plane through the two axes actually in selection. Thus operational movement and data input via the mouse effect constantly uniplanar translation of the fine instrument mechanisms, the plane of translation being continuously switchable among three planes of movement. Stable operative control of complicated micromanipulator movements, especially in micrometer increments, is furthermore enabled to be single-handed, such that two micromanipulating fine instrument mechanisms can be operated by an operator using both hands to handle the pair of corresponding mice.

8. 发明公开

EP0577084A2 Operating system for uniplanar translation of micromanipulator instruments 失效
标题翻译：用于显微操纵器械单面平移的操作系统
公开(公告)号：EP0577084A2
公开(公告)日：1994-01-05
申请号：EP93110378.2
申请日：1993-06-29
申请人： SHIMADZU CORPORATION
发明人： Togawa, Yoshiyuki
IPC分类号： B25J7/00
CPC分类号： G05B19/409 , G05B2219/35438 , G05B2219/35463 , G05B2219/35466 , G05B2219/36119 , G05B2219/39452 , G05B2219/45182
摘要： In micromanipulator apparatus having fine instrument mechanism translation drivers movable along three axes within a defined space, an operating system directing uniplanar movement of the translation drivers. The system is realized in operating apparatus including a mouse as an operational data input device which, via an analogue movement thereof generating drive data, directs a correspondingly mapped uniplanar movement of the fine instrument translation drivers concerning two of the three axes, in an actual selection from a repeating sequence of dual combinations via a click button of the mouse. A controller, accordingly responsive to the drive and axes selection data input from the mouse, commands, via output to the translation drivers, movement in a plane through the two axes actually in selection. Thus operational movement and data input via the mouse effect constantly uniplanar translation of the fine instrument mechanisms, the plane of translation being continuously switchable among three planes of movement. Stable operative control of complicated micromanipulator movements, especially in micrometer increments, is furthermore enabled to be single-handed, such that two micromanipulating fine instrument mechanisms can be operated by an operator using both hands to handle the pair of corresponding mice.
摘要翻译：在具有可在限定空间内沿三个轴线移动的精密仪器机构平移驱动器的微操纵器装置中，操作系统引导平移驱动器的单平面移动。该系统在包括作为操作数据输入装置的鼠标的操作设备中实现，该操作数据输入装置经由其生成驱动数据的模拟运动将精细仪器转换驱动器关于三个轴中的两个轴的相应映射的单面运动指引到实际选择中从双重组合的重复序列通过鼠标的点击按钮。相应地，响应于从鼠标输入的驱动和轴选择数据的控制器经由输出向平移驱动器命令实际上在选择中通过两个轴的平面中的移动。因此，通过鼠标效果进行的操作性移动和数据输入不断对精细乐器机构进行单平面平移，平移平面可在三个移动平面之间不断切换。此外，复杂的显微操作器运动的稳定操作控制，特别是以微米为增量，能够单手操作，使得操作员可以使用两只手操作一对相应的小鼠来操作两个显微操作的精密器械机构。

9. 发明专利

JP2012086354A Robot system controlling method, and robot system 有权
标题翻译：机器人系统控制方法和机器人系统
公开(公告)号：JP2012086354A
公开(公告)日：2012-05-10
申请号：JP2011175521
申请日：2011-08-11
申请人： Canon Inc , キヤノン株式会社
发明人： TAKAGI KIYOSHI
IPC分类号： B25J13/08
CPC分类号： B25J9/1633 , B25J9/1075 , B25J9/1641 , G05B2219/39201 , G05B2219/39452 , G05B2219/39454 , Y10S901/01 , Y10S901/09
摘要： PROBLEM TO BE SOLVED: To perform link angle control and joint stiffness control through feedback control.SOLUTION: A swing angle detection sensor 1 detects a swing angle θof a link 1. A subtractor 3 calculates a deviation of the swing angle θfrom a target swing angle r. A PID controller 5 performs PID control operation to a value indicating the deviation and outputs a torque command value T. A saturation circuit 7 corrects the torque command value Tso that, when r denotes a length of a moment arm and Udenotes a stiffness command value, the torque command value Tsatisfies a relation of |T|≤U×r and outputs it. A drive force command value calculation section 8 obtains drive force command values u, uused for control of a pair of actuators from calculation formulae of u=(U+T/r)/2 and u=(U-T/r)/2. The respective actuators contract by the control using the respective drive force command values u, u.
摘要翻译：要解决的问题：通过反馈控制来执行连杆角度控制和关节刚度控制。旋转角度检测传感器1检测连杆1的摆动角θ 1 。减法器3计算摆动角θ a 的“POST”> 1 。 PID控制器5对指示偏差的值进行PID控制，输出转矩指令值T 1 。饱和电路7校正转矩指令值T 1 ，当r表示力矩臂的长度，U 1 表示刚度指令值，转矩指令值T 1 满足¾T 1 ¾≤U 1 ×r并输出。驱动力指令值计算部8获得用于控制一对致动器的驱动力指令值u f1 ，u e1 从 f1 =（U 1 + T 1 / =（U 1 -T 1 / R）/ 2。相应的执行器通过使用相应的驱动力命令值u f1 ，u e1 的控制器收缩。版权所有（C）2012，JPO＆INPIT

10. 发明专利

JP5854695B2 ロボット装置の制御方法及びロボット装置有权
公开(公告)号：JP5854695B2
公开(公告)日：2016-02-09
申请号：JP2011175521
申请日：2011-08-11
申请人：キヤノン株式会社
发明人： ▲高▼木清志
IPC分类号： B25J13/08
CPC分类号： B25J9/1633 , B25J9/1075 , B25J9/1641 , G05B2219/39201 , G05B2219/39452 , G05B2219/39454 , Y10S901/01 , Y10S901/09

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