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51. 发明授权

US08271134B2 Robot having learning control function 有权
标题翻译：具有学习控制功能的机器人
公开(公告)号：US08271134B2
公开(公告)日：2012-09-18
申请号：US13029550
申请日：2011-02-17
申请人： Tetsuaki Kato , Masakazu Ichinose , Kiyonori Inaba
发明人： Tetsuaki Kato , Masakazu Ichinose , Kiyonori Inaba
IPC分类号： G05B19/04 , G05B19/18
CPC分类号： B25J9/163 , G05B2219/39295 , G05B2219/39298 , G05B2219/43203
摘要： A robot having a learning control function is disclosed. The robot includes a robot mechanism unit with a sensor on a part to be positionally controlled and a control unit for controlling the operation of the robot mechanism unit. The control unit includes a normal control unit for controlling the operation of the robot mechanism unit, and a learning control unit for operating the robot mechanism unit according to a task program and carrying out the learning to calculate the learning correction amount in order that position of the part of the robot mechanism unit to be controlled which is detected by the sensor approaches a target trajectory or a target position assigned for the normal control unit. The learning control unit calculates the maximum speed override that can be set with in the learning operation, and carries out the learning to calculate the learning correction amount while increasing the speed override a plurality of times until the maximum speed override is reached.
摘要翻译：公开了具有学习控制功能的机器人。机器人包括：机器人机构单元，其具有要位置控制的部件上的传感器;以及用于控制机器人机构单元的操作的控制单元。控制单元包括用于控制机器人机构单元的操作的正常控制单元和用于根据任务程序操作机器人机构单元的学习控制单元，并且执行学习以计算学习校正量，以便将位置由传感器检测到的要被控制的机器人机构单元的部分接近被分配给正常控制单元的目标轨迹或目标位置。学习控制单元计算在学习操作中可以设置的最大速度倍率，并且在增加倍率倍数的同时进行学习以计算学习校正量，直到达到最大速度倍率。

52. 发明授权

US07610785B2 Work positioning device 失效
标题翻译：工作定位装置
公开(公告)号：US07610785B2
公开(公告)日：2009-11-03
申请号：US12170505
申请日：2008-07-10
申请人： Ichio Akami , Koichi Ishibashi , Teruyuki Kubota , Tetsuaki Kato , Jun Sato , Tatsuya Takahashi
发明人： Ichio Akami , Koichi Ishibashi , Teruyuki Kubota , Tetsuaki Kato , Jun Sato , Tatsuya Takahashi
IPC分类号： B21D11/22 , B21D43/11
CPC分类号： B21D5/02 , B21D43/003
摘要： Regarding predetermined positioning criteria (M1, M2), ((G1, G2), (N1, or N2), (K1, K2)), there is provided image processing means (40B) for obtaining by image processing, measured values (CD1, CD2) ((GD1, GD2), (ND1, or ND2), (KD1, KD2)) and reference values (CR1, CR2) ((GR1, GR2), (NR1, or NR2), (KR1, KR2)), and for moving a work (W) in a manner that the measured values (CD1, CD2) ((GD1, GD2), (ND1, or ND2), (KD1, KD2)) and the reference values (CR1, CR2) ((GR1, GR2), (NR1, or NR2), (KR1, KR2)) coincide with each other, thereby positioning the work (W) at a predetermined position.
摘要翻译：关于预定的定位标准（M1，M2），（（G1，G2），（N1或N2），（K1，K2）），提供了用于通过图像处理获得测量值，（CD1），（CD2），（GD1，GD2），（ND1或ND2），（KD1，KD2））和参考值（CR1，CR2）（（GR1，GR2），（NR1或NR2）），并且以测量值（CD1，CD2）（（GD1，GD2），（ND1或ND2），（KD1，KD2））和参考值（CR1，CR2）的方式移动工件（W））（（GR1，GR2），（NR1或NR2），（KR1，KR2））彼此重合，从而将工件（W）定位在预定位置。

53. 发明申请

US20080303473A1 ROBOT CONTROL APPARATUS 审中-公开
标题翻译：机器人控制装置
公开(公告)号：US20080303473A1
公开(公告)日：2008-12-11
申请号：US12132879
申请日：2008-06-04
申请人： Tetsuaki KATO , Teruki Kuroshita
发明人： Tetsuaki KATO , Teruki Kuroshita
IPC分类号： G05B19/416 , B25J9/04
CPC分类号： B25J9/1628 , G05B2219/41012 , G05B2219/41028
摘要： A robot control apparatus for soft control operation of a robot has position and velocity control loops for each control axis of the robot. The position control gain and the velocity control gain of a specified control axis in soft control operation is set lower than those of the other control axes. The orientation of the forward end of the robot arm to be assumed while following an external force, i.e., the orientation thereof immediately before starting the follow-up operation is determined. The position command or the velocity command for the control axes other than the specified control axis, which are determined based on the present position of the specified control axis moved by the external force applied to the forward end of the robot arm, the direction to follow the external force and the orientation immediately before starting the follow-up operation, is applied to the control loop of the particular control axis.
摘要翻译：用于机器人的软控制的机器人控制装置具有用于机器人的每个控制轴的位置和速度控制回路。软控制运行中的指定控制轴的位置控制增益和速度控制增益设定为低于其他控制轴的位置控制增益和速度控制增益。确定在紧随外力之后假设的机器人手臂的前端的取向，即其在开始跟随操作之前的方位。基于由施加到机器人手臂的前端的外力移动的指定控制轴的当前位置确定的除指定控制轴之外的控制轴的位置命令或速度指令，跟随方向将外力和立即开始后续操作的方向应用于特定控制轴的控制回路。

54. 发明授权

US07181294B2 Vibration control device 失效
标题翻译：振动控制装置
公开(公告)号：US07181294B2
公开(公告)日：2007-02-20
申请号：US11101497
申请日：2005-04-08
申请人： Ryo Nihei , Tetsuaki Kato , Soichi Arita
发明人： Ryo Nihei , Tetsuaki Kato , Soichi Arita
IPC分类号： G05B13/02
CPC分类号： G05D19/02 , B60G2202/25 , B60G2400/206 , B60G2600/09 , B60G2600/124 , B60G2600/1872 , B60G2600/1873 , B60G2800/162 , F16F7/1005 , F16F15/02
摘要： A control device for controlling the motion of a movable part in a machine while suppressing vibration generated in the movable part. The control device includes a state-variable estimating section for estimating a state variable of a controlled system in the machine and outputting an estimated state variable; a reference model for outputting an ideal controlled variable for the controlled system; a compensator for calculating a compensation value for correcting a control input for the controlled system, based on a difference between the estimated state variable and the ideal controlled variable; and a feedback control section for determining the control input, based on a deviation between a desired command value and one of the estimated state variable and the ideal controlled variable. A corrected control input obtained by correcting the control input determined through the feedback control section by using the compensation value calculated through the compensator is input to the controlled system as well as to the state-variable estimating section and the reference model.
摘要翻译：一种用于在抑制可动部产生的振动的同时控制机器中的可动部的动作的控制装置。控制装置包括：状态变量估计部，用于估计机器中受控系统的状态变量并输出估计状态变量; 用于输出受控系统的理想控制变量的参考模型; 基于所述估计状态变量与所述理想受控变量之间的差来计算用于校正所述受控系统的控制输入的补偿值的补偿器; 以及反馈控制部分，用于基于期望指令值与估计状态变量和理想受控变量之一之间的偏差来确定控制输入。通过使用通过补偿器计算的补偿值来校正通过反馈控制部分确定的控制输入而获得的校正控制输入被输入到受控系统以及状态变量估计部分和参考模型。

55. 发明申请

US20060271240A1 Device, program, recording medium and method for correcting taught point 有权
公开(公告)号：US20060271240A1
公开(公告)日：2006-11-30
申请号：US11441020
申请日：2006-05-26
申请人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
发明人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
IPC分类号： G06F19/00
CPC分类号： G05B19/4083 , B25J9/1664 , G05B2219/36404 , G05B2219/40385 , G05B2219/45104
摘要： A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.

56. 发明申请

US20050168186A1 Servomotor control device for robot and robot having the device 审中-公开
标题翻译：具有该装置的机器人和机器人的伺服电动机控制装置
公开(公告)号：US20050168186A1
公开(公告)日：2005-08-04
申请号：US11049080
申请日：2005-02-03
申请人： Shunsuke Matsubara , Yasusuke Iwashita , Tetsuaki Kato
发明人： Shunsuke Matsubara , Yasusuke Iwashita , Tetsuaki Kato
IPC分类号： B25J9/10 , H02P6/06 , H02P21/00 , H02P27/04 , H02P7/00
CPC分类号： H02P21/22
摘要： A servomotor control device for a robot which can adjust the characteristics of maximum torque and/or continuous rated output of the servomotor and a robot with easy maintenance. The robot is commanded to execute one cycle of taught motion. During the cycle, a maximum torque required for the servomotor is calculated by a torque command or the like. When the maximum torque lacks, a field weakening current correction value is increased for increasing d-phase current and the maximum torque. Further, lack of continuous rated output may be judged by detected temperature of the servomotor. When a lack of continuous rated output occurs, the correction value is decreased to decrease the d-phase current so as to adjust the characteristic of continuous rated output. Although the servomotors have the same specification, the characteristic of each of the servomotors may be optimized corresponding to the axis by adjusting the field weakening current (or the d-phase current). As the hardware such as the control devices have the same specification, manufacture, maintenance and control of the robot may become easier.
摘要翻译：一种用于机器人的伺服电机控制装置，其可以调节伺服电动机的最大扭矩和/或连续额定输出的特性以及容易维护的机器人。命令机器人执行教学动作的一个循环。在该循环期间，通过转矩指令等计算伺服电动机所需的最大转矩。当最大扭矩不足时，为减小d相电流和最大转矩而增大磁场弱化电流校正值。此外，通过伺服电动机的检测温度可以判断缺乏连续的额定输出。当发生缺乏连续额定输出时，减小校正值以减小d相电流，从而调整连续额定输出的特性。虽然伺服电机具有相同的规格，但是可以通过调节弱磁电流（或d相电流）来对应于轴线来优化每个伺服电动机的特性。由于诸如控制装置的硬件具有相同的规格，所以机器人的制造，维护和控制可能变得更容易。

57. 发明授权

US06507165B2 Controller for machine 失效
标题翻译：机器控制器
公开(公告)号：US06507165B2
公开(公告)日：2003-01-14
申请号：US09779496
申请日：2001-02-09
申请人： Tetsuaki Kato , Toru Shirahata , Kaname Matsumoto , Hiroyuki Kawamura
发明人： Tetsuaki Kato , Toru Shirahata , Kaname Matsumoto , Hiroyuki Kawamura
IPC分类号： G05B602
CPC分类号： B25J9/1641 , G05B5/01 , G05B19/416 , G05B2219/41238 , G05B2219/42062
摘要： A controller for a machine such as a robot and a machine tool having an electric motor as a driving source of the machine, capable of suppressing a natural vibration of the machine and/or an attachment attached to the machine. A frequency or a cycle of the natural vibration of an end effector of the robot as the attachment or the machine itself is determined and a coefficient of a filter for suppressing an amplitude of the natural vibration is altered in accordance with the measured frequency or cycle of the natural vibration. In the case of suppressing a natural vibration of the end effector attached to the robot, frequencies or cycles of natural vibrations of various end effectors in accordance with an operation status of the end effector are determined and stored, and the coefficient of the filter is set in accordance with the stored frequency or cycle of the natural vibration in accordance with the end effector attached to the robot and the operation status. In the case of suppressing a natural vibration of the machine, the natural frequency of the machine is always detected and the coefficient of the filter is automatically altered in accordance with the detected natural frequency, to thereby suppressing an amplitude of the natural vibration of the machine having the natural frequency varying due to variation of load and aging of the machine.
摘要翻译：用于诸如机器人和机器的机器的控制器，其具有电动机作为机器的驱动源，能够抑制机器的固有振动和/或附着到机器上的附件。确定作为附件或机器本身的机器人的末端执行器的自然振动的频率或周期，并且根据测量的频率或周期来改变用于抑制自然振动幅度的滤波器的系数自然振动。在抑制机器人附近的末端执行器的固有振动的情况下，确定并存储根据末端执行器的运行状态的各种末端执行器的自然振动的频率或周期，并设定滤波器的系数按照存储的频率或周期的自然振动，根据附加到机器人的末端执行器和操作状态。在抑制机器的固有振动的情况下，始终检测机器的固有频率，并且根据检测到的固有频率自动改变滤波器的系数，从而抑制机器的自然振动的振幅具有由于机器的负载和老化的变化引起的固有频率变化。

58. 发明授权

US06236011B1 Method and apparatus for detecting an abnormal load on a servo gun shaft 有权
标题翻译：用于检测伺服枪轴上的异常负载的方法和装置
公开(公告)号：US06236011B1
公开(公告)日：2001-05-22
申请号：US09284388
申请日：1999-04-13
申请人： Tetsuaki Kato , Soichi Arita
发明人： Tetsuaki Kato , Soichi Arita
IPC分类号： B23K1125
CPC分类号： B23K11/31 , B23K11/252 , B23K11/255 , B23K11/36
摘要： A method of and apparatus for detecting an abnormal load on a servo gun axis, capable of quickly detecting sticking of a welding tip to an object of welding before movement of a robot, without adversely affecting the object. A load applied to a servomotor for driving a welding tip of a welding gun is detected by an observer. An abnormal load signal is output when the estimated disturbance load deviates from a range defined by a reference &bgr; (&bgr;>0). A determination as to whether or not the estimated disturbance load is larger than the reference value +&bgr; is not made during a period of time from the start of a closing motion of the welding gun until the estimated disturbance load becomes smaller than a set value &agr;. When the welding tip is stuck to a workpiece, a negative estimated disturbance load smaller than −&bgr; is derived and an abnormal load Signal is outputted.
摘要翻译：一种用于检测伺服枪轴上的异常负载的方法和装置，其能够在机器人移动之前快速检测焊接尖端对焊接物体的粘附，而不会不利地影响物体。由观察者检测施加到用于驱动焊枪的焊接尖端的伺服电动机的负载。当估计的扰动负载偏离由参考β（β> 0）定义的范围时，输出异常负载信号。关于估计的扰动负荷是否大于参考值+β的确定不是在从焊枪的关闭运动开始到估计的扰动负载变得小于设定值α的时间段之前进行的。当焊嘴粘贴在工件上时，导出小于-beta的负估计干扰负荷，并输出异常负载信号。

59. 发明授权

US06188194B1 Controller for automatic machine 失效
标题翻译：自动机控制器
公开(公告)号：US06188194B1
公开(公告)日：2001-02-13
申请号：US09412506
申请日：1999-10-05
申请人： Atsushi Watanabe , Tetsuaki Kato
发明人： Atsushi Watanabe , Tetsuaki Kato
IPC分类号： G05B1132
CPC分类号： G05B9/02 , G05B19/406 , G05B2219/34306 , G05B2219/42277 , G05B2219/50181 , Y02P70/163
摘要： An automatic machine has a plurality of axes driven by servo motors. The controller for controlling this automatic machine confirms that a compulsory power disconnection mode is engaged, releases the brakes and starts power supply to servo amplifiers. At a prescribed time after power supply to said servo amplifiers has started, the power supply to the servo amplifiers is halted compulsorily. Alternatively, the power supply to the servo amplifiers is halted compulsorily at a prescribed time after power supply to the servo amplifiers has started and after initial movement commands have been input to the servo controllers.
摘要翻译：自动机具有由伺服马达驱动的多个轴。用于控制该自动机的控制器确认强制断电模式被接合，释放制动并开始向伺服放大器供电。在开始向所述伺服放大器供电之后的规定时间内，强制停止向伺服放大器供电。或者，在向伺服放大器供电已经开始并且在初始移动命令已被输入到伺服控制器之后，在规定的时间强制停止对伺服放大器的电源。

60. 发明授权

US6140788A Method and system for controlling robot 失效
标题翻译：机器人的控制方法和控制系统
公开(公告)号：US6140788A
公开(公告)日：2000-10-31
申请号：US142620
申请日：1998-09-10
申请人： Atsushi Watanabe , Tetsuaki Kato , Yukinobu Tsuchida
发明人： Atsushi Watanabe , Tetsuaki Kato , Yukinobu Tsuchida
IPC分类号： B25J19/06 , B25J9/16 , B25J9/18 , G05B13/02 , G05B19/19 , G05D3/00 , G05D3/12 , G05B19/408 , G05B19/18
CPC分类号： B25J9/1687
摘要： A robot which holds a workpiece (W) to be loaded with chuck (CH) moves on a programmed path from a tool center point to a point Q in response to a command. When a force sensor detects the contact between the distal end face of the workpiece (W) and a workpiece fixing surface (H), a loop gain of a servo control system is changed into a lower value. In consequence, the attitude of the workpiece (W) is corrected by means of a reaction force received from the workpiece fixing surface (H) and reaction forces from chucking members (CH1 to CH4), whereupon chucking is completed.
摘要翻译： PCT No.PCT / JP98 / 00314 Sec。 371日期：1998年9月10日 102（e）1998年9月10日PCT PCT。1998年1月27日PCT公布。 WO98 / 33100PC出版物日期1998年7月30日保持装载有卡盘（CH）的工件（W）的机器人在编程路径上从工具中心点到点Q响应于命令移动。当力传感器检测到工件（W）的远端面与工件固定面（H）之间的接触时，伺服控制系统的环路增益变为较低的值。因此，通过从工件固定面（H）接收的反作用力和夹紧构件（CH1〜CH4）的反作用力来校正工件（W）的姿态，从而夹紧完成。

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