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11. 发明申请

US20100191374A1 SECONDARY POSITION FEEDBACK CONTROL OF A ROBOT 有权
标题翻译：机器人的二次位置反馈控制
公开(公告)号：US20100191374A1
公开(公告)日：2010-07-29
申请号：US12693537
申请日：2010-01-26
申请人： Jason Tsai , Eric Wong , Jianming Tao , H. Dean McGee , Hadi Akeel
发明人： Jason Tsai , Eric Wong , Jianming Tao , H. Dean McGee , Hadi Akeel
IPC分类号： G05B19/18
CPC分类号： G05B19/404 , G05B2219/37297
摘要： A method of and apparatus for achieving dynamic robot accuracy includes a control system utilizing a dual position loop control. An outer position loop uses secondary encoders on the output side of the gear train of a robot joint axis, while the inner position loop uses the primary encoder attached to the motor. Both single and dual loop control can be used on the same robot and tooling axes.
摘要翻译：实现动态机器人精度的方法和装置包括利用双位置环控制的控制系统。外部位置回路在机器人关节轴线的齿轮系的输出侧使用二次编码器，而内部位置回路使用连接到电机的主编码器。单循环控制和双回路控制都可以在同一个机器人和加工轴上使用。

12. 发明申请

US20090204258A1 DYNAMIC SPACE CHECK FOR MULTI-ARM SYSTEM MOVING ON A RAIL 有权
标题翻译：用于多臂系统移动的动态空间检查
公开(公告)号：US20090204258A1
公开(公告)日：2009-08-13
申请号：US12296992
申请日：2007-04-13
申请人： Jianming Tao , H. Dean McGee , Chi-Keng Tsai , Hadi Abu Akeel
发明人： Jianming Tao , H. Dean McGee , Chi-Keng Tsai , Hadi Abu Akeel
IPC分类号： G05B19/418
CPC分类号： B25J9/1674 , G05B2219/39083 , Y10S901/02
摘要： A system and method for controlling motion interference avoidance for a plurality of robots are disclosed, the system and method including a dynamic space check system wherein an efficiency of operation is maximized and a potential for interference or collision is minimized.
摘要翻译：公开了一种用于控制多个机器人的运动干扰避免的系统和方法，所述系统和方法包括动态空间检查系统，其中操作效率最大化并且干扰或碰撞的可能性最小化。

13. 发明授权

US6064168A Method of controlling robot movement 失效
标题翻译：控制机器人运动的方法
公开(公告)号：US6064168A
公开(公告)日：2000-05-16
申请号：US039095
申请日：1998-03-13
申请人： Jianming Tao , Jason Tsai , H. Dean McGee
发明人： Jianming Tao , Jason Tsai , H. Dean McGee
IPC分类号： B23K9/127 , B25J9/16 , B25J9/18 , B23K9/12 , B25J15/02 , G05B19/33
CPC分类号： B25J9/1607 , B23K9/127 , G05B2219/39573
摘要： A method of controlling movement of a robot includes moving only the wrist portion about two of the wrist axes to achieve a repeated and cyclical movement, such as a back-and-forth movement of the tool relative to a preselected path. Since only the wrist is moved, the range of available tool positions can be determined. In most instances, the desired position of the tool as it deviates from the path is outside of the range of available tool positions, given that only the wrist will move. The method of this invention includes determining a target position within the range of available positions that best corresponds to the desired position of the tool. A unique inverse kinematics solution, which includes fixing one of the wrist axes, is used to determine the wrist orientation required to place the tool into the target position.
摘要翻译：一种控制机器人运动的方法包括仅绕手腕轴上的两个腕部移动手腕部分，以实现重复和循环运动，例如工具相对于预选路径的前后移动。由于只有手腕移动，可以确定可用刀具位置的范围。在大多数情况下，只要手腕移动，工具偏离路径的期望位置就在可用刀具位置的范围之外。本发明的方法包括确定在与工具的期望位置最佳对应的可用位置的范围内的目标位置。一个独特的逆运动学解决方案，包括固定一个腕轴，用于确定将刀具放置到目标位置所需的手腕方位。

14. 发明授权

US06243621B1 Method of determining workpiece positions including coordinated motion 失效
标题翻译：确定工件位置的方法，包括协调运动
公开(公告)号：US06243621B1
公开(公告)日：2001-06-05
申请号：US09039114
申请日：1998-03-13
申请人： Jianming Tao , Jason Tsai , Robert A. Bolhouse
发明人： Jianming Tao , Jason Tsai , Robert A. Bolhouse
IPC分类号： G06F1900
CPC分类号： B25J9/1694 , G05B2219/40383 , G05B2219/40625
摘要： A method of determining position information of a workpiece relative to a robot includes the ability to move the workpiece into a variety of orientations relative to the robot during the touch sensing location procedure. The position information is then used for performing a robot operation including coordinated motion. A coordinated reference frame is defined with respect to a moveable positioner that supports the workpiece. Known kinematic relationships between the positioner and the robot are used to control operation of the robot within the coordinated reference frame throughout the touch sensing location procedure. By moving the workpiece relative to the robot during the touch sensing location procedure, a greater variety of workpieces can be processed and relatively complicated workpiece configurations can be accurately determined. The robot operating parameters are modified according to the determined position information.
摘要翻译：确定工件相对于机器人的位置信息的方法包括在触摸感测定位过程期间将工件相对于机器人移动到各种取向的能力。然后，位置信息用于执行包括协调运动的机器人操作。相对于支撑工件的可移动定位器来定义协调的参考框架。定位器和机器人之间的已知运动学关系用于在整个触摸感测定位过程中控制协调参考系中机器人的操作。通过在触摸感测位置程序期间相对于机器人移动工件，可以处理更多种类的工件，并且可以准确地确定相对复杂的工件配置。机器人操作参数根据确定的位置信息进行修改。

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