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51. 发明授权

US08396594B2 Robot, control device for robot, and control method of robot 有权
标题翻译：机器人，机器人控制装置，机器人控制方法
公开(公告)号：US08396594B2
公开(公告)日：2013-03-12
申请号：US13241579
申请日：2011-09-23
申请人： Yasunao Okazaki
发明人： Yasunao Okazaki
IPC分类号： G05B15/00 , B25J9/06 , B25J13/08
CPC分类号： G05B19/423 , G05B2219/36429 , G05B2219/39325
摘要： A robot is provided with a multi-joint robot arm, an external force detection unit that is installed in the arm, and detects an external force, a joint movable-state calculation unit that calculates a movable state of a joint of the arm, an external force conversion unit which, based on the movable state calculated by the joint movable-state calculation unit, converts the external force detected by the external force detection unit to a converted external force, and a control unit that controls the arm based on the converted external force so as to regulate the operation of the arm.
摘要翻译：机器人设置有多关节机器人臂，外力检测单元，其安装在臂中并检测外力;关节可动状态计算单元，其计算臂的关节的移动状态，外力转换单元，其基于由关节可动状态计算单元计算出的可动状态，将由外力检测单元检测出的外力转换为转换后的外力;以及控制单元，其基于经转换的外力调节手臂的操作。

52. 发明授权

US08253367B2 Control apparatus, control method, and control program for elastic actuator drive mechanism 有权
标题翻译：弹性执行器驱动机构的控制装置，控制方法和控制程序
公开(公告)号：US08253367B2
公开(公告)日：2012-08-28
申请号：US13366638
申请日：2012-02-06
申请人： Mayumi Komatsu , Yasunao Okazaki
发明人： Mayumi Komatsu , Yasunao Okazaki
IPC分类号： G05B11/01
CPC分类号： B25J9/1075 , B25J9/142 , G05B2219/39454 , G05B2219/42293 , G05B2219/42306
摘要： An abnormality determination unit that determines whether or not an output measurement unit is abnormal is provided, and whether or not the output measurement unit is abnormal is determined. When the output measurement unit is abnormal, an elastic actuator is controlled based on a desired internal state decision unit and an internal state error compensation unit. Accordingly, it becomes possible to control the elastic actuator to continuously operate to a predetermined position without instantaneously stopping even when the output measurement unit is abnormal.
摘要翻译：确定输出测量单元是否异常的异常确定单元被确定，并且确定输出测量单元是否异常。当输出测量单元异常时，基于期望的内部状态判定单元和内部状态误差补偿单元来控制弹性致动器。因此，即使输出测量单元异常，也可以使弹性致动器不间断地连续地操作到预定位置。

53. 发明申请

US20120133318A1 CONTROL APPARATUS, CONTROL METHOD, AND CONTROL PROGRAM FOR ELASTIC ACTUATOR DRIVE MECHANISM 有权
标题翻译：控制装置，控制方法和弹性致动器驱动机构的控制程序
公开(公告)号：US20120133318A1
公开(公告)日：2012-05-31
申请号：US13366638
申请日：2012-02-06
申请人： Mayumi Komatsu , Yasunao Okazaki
发明人： Mayumi Komatsu , Yasunao Okazaki
IPC分类号： G05B9/02
CPC分类号： B25J9/1075 , B25J9/142 , G05B2219/39454 , G05B2219/42293 , G05B2219/42306
摘要： An abnormality determination unit that determines whether or not an output measurement unit is abnormal is provided, and whether or not the output measurement unit is abnormal is determined. When the output measurement unit is abnormal, an elastic actuator is controlled based on a desired internal state decision unit and an internal state error compensation unit. Accordingly, it becomes possible to control the elastic actuator to continuously operate to a predetermined position without instantaneously stopping even when the output measurement unit is abnormal.
摘要翻译：确定输出测量单元是否异常的异常确定单元被确定，并且确定输出测量单元是否异常。当输出测量单元异常时，基于期望的内部状态判定单元和内部状态误差补偿单元来控制弹性致动器。因此，即使输出测量单元异常，也可以使弹性致动器不间断地连续地操作到预定位置。

54. 发明授权

US08175749B2 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：机器人手臂，机器人，机器人手臂控制程序及控制机器人手臂综合电路的控制装置及控制方法
公开(公告)号：US08175749B2
公开(公告)日：2012-05-08
申请号：US12863475
申请日：2009-02-24
申请人： Yuko Tsusaka , Yasunao Okazaki
发明人： Yuko Tsusaka , Yasunao Okazaki
IPC分类号： G05B19/04 , G05B19/18
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 includes 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：用于机器人手臂的控制装置包括操作信息数据库，其中存储有与机器人手臂的操作有关的信息，检测人的力的力检测单元和校正人的操作信息的操作校正单元操作信息数据库按照人的力量。

55. 发明授权

US08170719B2 Control apparatus and control method for robot arm, robot, control program for robot arm, and integrated electronic circuit for controlling robot arm 有权
公开(公告)号：US08170719B2
公开(公告)日：2012-05-01
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： G05B19/04 , G05B19/18
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 includes 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.

56. 发明授权

US07888900B2 Apparatus and method for robot handling control 有权
标题翻译：机器人处理控制的装置和方法
公开(公告)号：US07888900B2
公开(公告)日：2011-02-15
申请号：US12233079
申请日：2008-09-18
申请人： Shusasku Okamoto , Masamichi Nakagawa , Yasunao Okazaki , Takashi Anezaki , Tamao Okamoto
发明人： Shusasku Okamoto , Masamichi Nakagawa , Yasunao Okazaki , Takashi Anezaki , Tamao Okamoto
IPC分类号： G05B19/04
CPC分类号： B25J9/1612 , B25J13/083
摘要： A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.
摘要翻译：机器人臂设置有用于抓握物体的末端执行器和用于检测作用在末端执行器上的力的力传感器。在末端执行器抓住物体的状态下，当由力传感器检测到的作用在末端执行器上的力的变化时，输出用于释放抓住物体的末端执行器的力的信号。终端执行者掌握的物体可以被拿走，好像物体由人转移到人身上。

57. 发明授权

US07798036B2 Joint driving device 有权
标题翻译：联动装置
公开(公告)号：US07798036B2
公开(公告)日：2010-09-21
申请号：US12355219
申请日：2009-01-16
申请人： Yasunao Okazaki
发明人： Yasunao Okazaki
IPC分类号： B25J17/00
CPC分类号： F15B15/103 , B25J9/1075 , B25J9/142 , Y10T74/20329 , Y10T74/2036
摘要： A first elastic body actuator and a second elastic body actuator are used for driving a first configuration member and a second configuration member to swing them with respect to each other. One end portion of the first elastic body actuator is secured to the first configuration member and the other end portion of the first elastic body actuator is secured to the second configuration member, and one end portion of the second elastic body actuator is secured to the first configuration member and the other end portion of the second elastic body actuator is secured to the second configuration member, such that the position at which the other end portion of the second elastic body actuator is secured to the second configuration member and the position at which the one end portion of the first elastic body actuator is secured to the second configuration member are substantially symmetric about a rotational joint. The interval between the portion of the first elastic body actuator, which is secured to the second configuration member, and the portion of the second elastic body actuator, which is secured to the second configuration member, is moved by a securing-position variable mechanism.
摘要翻译：第一弹性体致动器和第二弹性体致动器用于驱动第一构造构件和第二构造构件以使它们相对于彼此摆动。第一弹性体致动器的一个端部被固定到第一构造构件，并且第一弹性体致动器的另一个端部固定到第二构造构件，并且第二弹性体致动器的一个端部固定到第一弹性体致动器构成构件和第二弹性体致动器的另一端部固定到第二构造构件，使得第二弹性体致动器的另一端部固定到第二构造构件的位置和第一弹性体致动器的固定到第二构造构件的一个端部基本上关于旋转接头对称。固定在第二配置构件上的第一弹性体致动器的部分与第二弹性体致动器的固定到第二构造构件的部分之间的间隔被固定位置可变机构移动。

58. 发明授权

US07747351B2 Apparatus and method for controlling robot arm, and robot and program 有权
标题翻译：用于控制机器人手臂，机器人和程序的装置和方法
公开(公告)号：US07747351B2
公开(公告)日：2010-06-29
申请号：US12594696
申请日：2008-06-24
申请人： Yuko Tsusaka , Yasunao Okazaki
发明人： Yuko Tsusaka , Yasunao Okazaki
IPC分类号： G06F19/00
CPC分类号： B25J9/0003 , B25J9/1676 , G05B2219/36429 , G05B2219/39478
摘要： A control device for a robot arm is designed such that, based on information on a transportation state database in which information on a transportation state of a person operating the arm is recorded, an impedance setting unit sets a mechanical impedance set value of the arm, and an impedance control unit controls a mechanical impedance value of the arm to the mechanical impedance set value thus set.
摘要翻译：设计用于机器人手臂的控制装置，其特征在于，基于记录有操作所述手臂的人的运送状态的信息的运送状态数据库的信息，阻抗设定部设定所述手臂的机械阻抗设定值，并且阻抗控制单元将臂的机械阻抗值控制为由此设定的机械阻抗设定值。

59. 发明申请

US20070144299A1 Joint driving device 有权
标题翻译：联动装置
公开(公告)号：US20070144299A1
公开(公告)日：2007-06-28
申请号：US11711757
申请日：2007-02-28
申请人： Yasunao Okazaki
发明人： Yasunao Okazaki
IPC分类号： G05G11/00
CPC分类号： F15B15/103 , B25J9/1075 , B25J9/142 , Y10T74/20329 , Y10T74/2036
摘要： A first elastic body actuator and a second elastic body actuator are used for driving a first configuration member and a second configuration member to swing them with respect to each other, wherein one end portion of the first elastic body actuator is secured to the first configuration member and the other end portion of the first elastic body actuator is secured to the second configuration member, and one end portion of the second elastic body actuator is secured to the first configuration member and the other end portion of the second elastic body actuator is secured to the second configuration member, such that the position at which the other end portion of the second elastic body actuator is secured to the second configuration member and the position at which the one end portion of the first elastic body actuator is secured to the second configuration member are substantially symmetric about a rotational joint. The interval between the portion of the first elastic body actuator which is secured to the second configuration member and the portion of the second elastic body actuator which is secured to the second configuration member is moved by a securing-position variable mechanism.
摘要翻译：第一弹性体致动器和第二弹性体致动器用于驱动第一构造构件和第二构造构件以相对于彼此摆动，其中第一弹性体致动器的一个端部固定到第一构造构件并且第一弹性体致动器的另一端部固定到第二构造构件，并且第二弹性体致动器的一个端部固定到第一构造构件，并且第二弹性体致动器的另一个端部固定到第二构造构件，使得第二弹性体致动器的另一端部固定到第二构造构件的位置和第一弹性体致动器的一个端部固定到第二构造构件的位置基本上对称关于旋转接头。固定在第二构成构件上的第一弹性体致动器的部分与固定于第二构成构件的第二弹性体致动器的部分之间的间隔由固定位置可变机构移动。

60. 发明授权

US06861928B2 Dielectric resonator filter 有权
标题翻译：介质谐振滤波器
公开(公告)号：US06861928B2
公开(公告)日：2005-03-01
申请号：US10628545
申请日：2003-07-28
申请人： Yasunao Okazaki , Michio Okajima , Akira Enokihara , Toshiaki Nakamura , Minoru Tachibana , Kunihiko Minami
发明人： Yasunao Okazaki , Michio Okajima , Akira Enokihara , Toshiaki Nakamura , Minoru Tachibana , Kunihiko Minami
IPC分类号： H01P1/208 , H01P7/10
CPC分类号： H01P7/10 , H01P1/2084
摘要： A dielectric resonator filter comprises dielectric resonators, an enclosure having a main body, a lid, and partition walls, interstage-coupling tuning windows, interstage-coupling tuning bolts, input/output terminals, and input/output coupling probes. Resonance-frequency tuning members each composed of a conductor plate and a bolt coupled integrally thereto are attached to the enclosure lid. Undesired-mode suppressing means such as rings attached to the bolts of the resonance-frequency tuning members or bolts attached to the conductor plates or to the enclosure lid are disposed in an undesired-mode excitation space, whereby the occurrence of a disturbed characteristic in the pass band (or stop band) is suppressed.
摘要翻译：介质谐振器滤波器包括介质谐振器，具有主体，盖子和分隔壁的壳体，级间耦合调谐窗口，级间耦合调谐螺栓，输入/输出端子和输入/输出耦合探头。谐振频率调谐构件分别由导体板和一体地连接在其上的螺栓构成。不连续模式抑制装置，例如附接到谐振频率调谐构件的螺栓上的环或附接到导体板或封闭盖的螺栓，设置在不期望的模式激励空间中，由此在通带（或阻带）被抑制。

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