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21. 发明申请

US20170232613A1 APPARATUS AND METHODS FOR HAPTIC TRAINING OF ROBOTS 审中-公开
公开(公告)号：US20170232613A1
公开(公告)日：2017-08-17
申请号：US15464104
申请日：2017-03-20
申请人： Brain Corporation
发明人： Filip Ponulak , Moslem Kazemi , Patryk Laurent , Oleg Sinyavskiy , Eugene zhikevich
IPC分类号： B25J9/16 , G05D1/02 , G05D1/00
CPC分类号： B25J9/163 , B25J9/161 , G05B2219/36418 , G05B2219/36425 , G05B2219/40499 , G05D1/005 , G05D1/0088 , G05D1/0221 , G05D2201/02 , G06N3/008 , G06N3/049 , G06N99/005
摘要： Robotic devices may be trained by a trainer guiding the robot along a target trajectory using physical contact with the robot. The robot may comprise an adaptive controller configured to generate control commands based on one or more of the trainer input, sensory input, and/or performance measure. The trainer may observe task execution by the robot. Responsive to observing a discrepancy between the target behavior and the actual behavior, the trainer may provide a teaching input via a haptic action. The robot may execute the action based on a combination of the internal control signal produced by a learning process of the robot and the training input. The robot may infer the teaching input based on a comparison of a predicted state and actual state of the robot. The robot's learning process may be adjusted in accordance with the teaching input so as to reduce the discrepancy during a subsequent trial.

22. 发明申请

US20040193321A1 Method and a system for programming an industrial robot 有权
标题翻译：用于编程工业机器人的方法和系统
公开(公告)号：US20040193321A1
公开(公告)日：2004-09-30
申请号：US10743316
申请日：2003-12-23
发明人： Ole Arnt Anfindsen , Charlotte Skourup , Thomas Pettersen , John Pretlove
IPC分类号： G06F019/00
CPC分类号： B25J9/1664 , G05B19/425 , G05B2219/36401 , G05B2219/36418 , G05B2219/36425 , G05B2219/36452
摘要： A method for programming an industrial robot having a tool, to perform a process on an object while following a robot path defined by a number of waypoints. The method comprises: obtaining configuration data including configuration data for the tool, configuration data for the robot path and information about the position and orientation of the object in relation to the robot, obtaining a sequence of waypoints, which defines the process in relation to the object, the waypoints comprises information about desired positions of the tool in relation to the object and desired positions of process events in relation to the object, obtaining at least one distance for adjusting the position of a waypoint, deciding whether an obtained waypoint should be modified or not, based on the obtained information about the waypoints, generating a modified sequence of waypoints by modifying the waypoints in the obtained sequence of waypoints, based on said decision, the obtained distance and the obtained information about the waypoints and generating the actual robot path based on the modified sequence of waypoints and the obtained configuration data.
摘要翻译：一种用于编程具有工具的工业机器人的方法，用于在遵循由多个航点定义的机器人路径的同时对对象执行处理。该方法包括：获得包括工具的配置数据，机器人路径的配置数据和关于对象相对于机器人的位置和取向的信息的配置数据，获得一系列路点，其定义与对象，航路点包括关于目标的工具的期望位置和关于物体的过程事件的期望位置的信息，获得用于调整航点的位置的至少一个距离，决定是否应当修改所获得的航路点基于所获得的关于航点的信息，基于所述决定，获得的距离和获得的关于航点的信息并生成实际的机器人路径的信息，通过修改所获得的航路点序列中的航路点来生成修改的航路点序列基于修改的航路点序列和获得的配置数据。

23. 发明授权

US10635074B2 Robust intuitive operating method by touching a manipulator 有权
公开(公告)号：US10635074B2
公开(公告)日：2020-04-28
申请号：US15559926
申请日：2016-03-21
申请人： KUKA Deutschland GmbH
发明人： Günter Schreiber , Bettina Pfaff
IPC分类号： G05B19/19 , G05B19/423 , B25J9/16 , G05B11/01 , G05B23/02
CPC分类号： G05B19/19 , B25J9/1633 , G05B11/01 , G05B19/423 , G05B23/02 , G05B2219/36418 , G05B2219/36483 , G05B2219/39001
摘要： A method for controlling a manipulator includes releasing the manipulator in reaction to a release request by an operator, wherein the recognition of the release request involves monitoring the variation over time of a measured value that is characteristic of a state of the manipulator. Increased robustness of the recognition of the release request results.

24. 发明授权

US10003717B2 Document processing device and communication control method considering operation information 有权
公开(公告)号：US10003717B2
公开(公告)日：2018-06-19
申请号：US15252344
申请日：2016-08-31
申请人： Konica Minolta, Inc.
发明人： Noritsugu Matsutani
IPC分类号： H04N1/32 , H04N1/00 , G06F3/0488 , G06F3/01 , G06K9/00
CPC分类号： H04N1/32683 , G05B2219/36418 , G06F3/014 , G06F3/0488 , G06F3/04883 , G06F2203/04101 , G06K9/00335 , G06K9/00355 , G06K9/00389 , H04N1/00127 , H04N1/00381 , H04N1/00411 , H04N1/00424 , H04N2201/0055 , H04N2201/0094
摘要： A document processing device including a touchscreen type operation panel and configured to be capable of communicating with a terminal device, a position of the terminal device being likely to move in accordance with operation by a user includes: a communication unit configured to transmit and receive a radio wave to and from the terminal device to perform communication; a communication intensity detection unit configured to detect communication intensity of the terminal device received at the communication unit; an operation information detection unit configured to detect operation information of input operation when the input operation for the operation panel is performed; and a data transfer amount control unit configured to control a data transfer amount in the communication between the terminal device and the communication unit based on the communication intensity detected by the communication intensity detection unit and the operation information detected by the operation information detection unit.

25. 发明授权

US09592608B1 Methods and systems for providing feedback during teach mode 有权
标题翻译：在教学模式下提供反馈的方法和系统
公开(公告)号：US09592608B1
公开(公告)日：2017-03-14
申请号：US14570183
申请日：2014-12-15
申请人： X Development LLC
发明人： Jeffrey Thomas Bingham , Rob Wilson
IPC分类号： B25J9/22 , B25J9/16 , B25J9/00
CPC分类号： B25J9/0081 , B25J9/1674 , G05B19/423 , G05B2219/36418 , G05B2219/36419 , Y10S901/04
摘要： Example implementations may relate to a robotic system that provides feedback. The robotic system is configured to receive information related to a path in an environment of the robotic system. The robotic system is also configured to initiate a recording process for storing data related to motion of a component in the environment. The robotic system is additionally configured to detect, during the recording process, movement of the component along the path in the environment, where the movement results from application of an external force to the robotic system. The robotic system is further configured to determine, during the recording process, deviation of the movement away from the path by at least a threshold amount and responsively provide feedback including one or more of (i) resisting the deviation of the movement away from the path and (ii) guiding the at least one component back towards the path.
摘要翻译：示例实现可以涉及提供反馈的机器人系统。机器人系统被配置为在机器人系统的环境中接收与路径相关的信息。机器人系统还被配置为启动用于存储与环境中的组件的运动有关的数据的记录过程。机器人系统另外配置成在记录过程期间检测组件沿着环境中的路径的移动，其中运动由外力施加到机器人系统。所述机器人系统进一步被配置为在记录过程期间确定所述运动偏离所述路径至少阈值量并且响应地提供包括以下一个或多个的反馈：（i）抵抗所述运动偏离所述路径的偏差和（ii）将所述至少一个部件引导回所述路径。

26. 发明申请

US20170070641A1 DOCUMENT PROCESSING DEVICE AND COMMUNICATION CONTROL METHOD THEREFOR 有权
标题翻译：文件处理装置及其通信控制方法
公开(公告)号：US20170070641A1
公开(公告)日：2017-03-09
申请号：US15252344
申请日：2016-08-31
申请人： Konica Minolta, Inc.
发明人： Noritsugu MATSUTANI
IPC分类号： H04N1/32 , H04N1/00
CPC分类号： H04N1/32683 , G05B2219/36418 , G06F3/014 , G06F3/0488 , G06F3/04883 , G06F2203/04101 , G06K9/00335 , G06K9/00355 , G06K9/00389 , H04N1/00127 , H04N1/00381 , H04N1/00411 , H04N2201/0055 , H04N2201/0094
摘要： A document processing device including a touchscreen type operation panel and configured to be capable of communicating with a terminal device, a position of the terminal device being likely to move in accordance with operation by a user includes: a communication unit configured to transmit and receive a radio wave to and from the terminal device to perform communication; a communication intensity detection unit configured to detect communication intensity of the terminal device received at the communication unit; an operation information detection unit configured to detect operation information of input operation when the input operation for the operation panel is performed; and a data transfer amount control unit configured to control a data transfer amount in the communication between the terminal device and the communication unit based on the communication intensity detected by the communication intensity detection unit and the operation information detected by the operation information detection unit.
摘要翻译：一种文件处理装置，包括触摸屏式操作面板，被配置为能够与终端装置通信，所述终端装置可能根据用户的操作而移动的位置包括：通信单元，被配置为发送和接收无线电波到终端设备进行通信; 通信强度检测单元，被配置为检测在通信单元处接收的终端设备的通信强度; 操作信息检测单元，被配置为当执行所述操作面板的输入操作时，检测输入操作的操作信息; 以及数据传送量控制单元，被配置为基于由通信强度检测单元检测到的通信强度和由操作信息检测单元检测到的操作信息来控制终端设备和通信单元之间的通信中的数据传送量。

27. 发明申请

US20110178638A1 CONTROL APPARATUS AND CONTROL METHOD FOR ROBOT ARM, ROBOT, CONTROL PROGRAM FOR ROBOT ARM, AND INTEGRATED ELECTRONIC CIRCUIT FOR CONTROLLING ROBOT ARM 有权
标题翻译：用于机器人ARM的机器人，机器人，机器人控制程序的控制装置和控制方法以及用于控制机器人ARM的集成电子电路
公开(公告)号：US20110178638A1
公开(公告)日：2011-07-21
申请号：US13073027
申请日：2011-03-28
申请人： Yuko Tsusaka , Yasunao Okazaki
发明人： Yuko Tsusaka , Yasunao Okazaki
IPC分类号： B25J9/02
CPC分类号： B25J13/085 , B25J9/1633 , G05B19/423 , G05B2219/36418 , G05B2219/36432 , G05B2219/36489 , G05B2219/37357 , G05B2219/39325 , G05B2219/39343 , G05B2219/40411
摘要： A control apparatus for a robot arm that is provided with an operation information database in which pieces of information relating to operations of the robot arm are stored; a force detection unit that detects a force of a person; and an operation correction unit that corrects the operation information of the operation information database in accordance with the force of the person.
摘要翻译：一种机器人手臂的控制装置，其具有操作信息数据库，其中存储有与所述机器人手臂的操作有关的信息; 力检测单元，其检测人的力; 以及操作校正单元，其根据人的力量来校正操作信息数据库的操作信息。

28. 发明专利

JP4531123B2 Control apparatus and control method for a robot arm, a robot, a control program of a robot arm, and the robot arm control integrated electronics 有权
公开(公告)号：JP4531123B2
公开(公告)日：2010-08-25
申请号：JP2010061729
申请日：2010-03-18
申请人：パナソニック株式会社
发明人：安直岡▲崎▼ , 優子津坂
IPC分类号： B25J9/22 , B25J13/08
CPC分类号： B25J13/085 , B25J9/1633 , G05B19/423 , G05B2219/36418 , G05B2219/36432 , G05B2219/36489 , G05B2219/37357 , G05B2219/39325 , G05B2219/39343 , G05B2219/40411
摘要： A control apparatus (70) for a robot arm (5) that is provided with an operation information database (17) in which pieces of information relating to operations of the robot arm are stored; a force detection unit (53) that detects a force of a person (4); and an operation correction unit (20) that corrects the operation information of the operation information database in accordance with the force of the person.

30. 发明公开

EP3277467A1 A METHOD FOR CONTROLLING AN INDUSTRIAL ROBOT BY TOUCH 有权
标题翻译：一种通过触摸来控制工业机器人的方法
公开(公告)号：EP3277467A1
公开(公告)日：2018-02-07
申请号：EP15713476.8
申请日：2015-03-31
申请人： ABB Schweiz AG
发明人： JERREGÅRD, Henrik , GROTH, Tomas
IPC分类号： B25J9/16 , G05B19/423
CPC分类号： B25J9/1633 , B25J9/1656 , B25J9/1664 , G05B19/423 , G05B2219/36418 , G05B2219/41387
摘要： A robot and method for controlling an industrial robot, which has a first robot arm, a second robot arm, a joint defining a kinematic pair between the first and second robot arms, an actuator for generating relative movement between the first and second robot arms, and a robot controller for controlling the movements of the actuator. The method includes the steps of: determining a presence of a first torque indication at the actuator to be interpreted as a first command to the robot controller; repeatedly obtaining an external torque value (τext) to obtain an external torque behavior; comparing the external torque behavior with the first torque indication; and executing a robot function corresponding to the first command upon detecting that the external torque behavior corresponds to the first torque indication. The obtained external torque behavior depends on a reference torque value (τref) obtained from a dynamic model of the robot.

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