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81. 发明申请

WO2007121357A2 DYNAMIC SPACE CHECK FOR MULTI-ARM SYSTEM MOVING ON A RAIL 审中-公开
标题翻译：用于多臂系统移动的动态空间检查
公开(公告)号：WO2007121357A2
公开(公告)日：2007-10-25
申请号：PCT/US2007/066638
申请日：2007-04-13
申请人： FANUC ROBOTICS AMERICA, INC. , TAO, Jianming , MCGEE, H., Dean , TSAI, Chi-Keng , AKEEL, Hadi, Abu
发明人： TAO, Jianming , MCGEE, H., Dean , TSAI, Chi-Keng , AKEEL, Hadi, Abu
IPC分类号： G06F1/00
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。

82. 发明申请

WO2004114037A2 MULTIPLE ROBOT ARM TRACKING AND MIRROR JOG 审中-公开
标题翻译：多机器人跟踪和镜像
公开(公告)号：WO2004114037A2
公开(公告)日：2004-12-29
申请号：PCT/US2004/019506
申请日：2004-06-18
申请人： FANUC ROBOTICS AMERICA, INC. , CHANG, Tien, L. , MCGEE, H., Dean , WONG, Eric , CHENG, Sai-Kai , TSAI, Jason
发明人： CHANG, Tien, L. , MCGEE, H., Dean , WONG, Eric , CHENG, Sai-Kai , TSAI, Jason
IPC分类号： G05B19/427
CPC分类号： G05B19/427 , B25J9/1669 , G05B2219/36454 , G05B2219/37572 , G05B2219/39083 , G05B2219/39122 , G05B2219/39135 , G05B2219/39136 , G05B2219/39445
摘要： A system for performing the method of this invention includes a leader having a robot arm able to articulate about first axes and supporting an end effector. A follower includes a robot arm able to articulate about respective second axes. Servo motors articulate the leader arm about the first axes and the follower arm about the second axes. A user interface allows a user to jog the arm of the leader and to program movement of the arms for automatic execution such that the end effector reaches predetermined positions. A controller, operatively connected to the servo motors and the user interface, controls operation of the servo motors, moves the arm of the leader in accordance with the programmed movement, and moves the arm of the follower such that it tracks or mirrors movement of the leader.
摘要翻译：用于执行本发明的方法的系统包括具有能够围绕第一轴线铰接并支撑端部执行器的机器人臂的引导件。跟随器包括能够关于相应的第二轴线铰接的机器人手臂。伺服电机围绕第一轴线和从动臂围绕第二轴关节引导臂。用户界面允许用户对所述引导件的臂进行点动，并且编程所述臂的移动以进行自动执行，使得所述末端执行器到达预定位置。控制器可操作地连接到伺服电动机和用户接口，控制伺服电机的操作，根据编程的运动移动引导器的臂，并移动跟随器的臂，使其跟踪或反映领导。

83. 发明申请

WO1994009950A1 DOUBLE ARM ROBOT OPERATING METHOD 审中-公开
标题翻译：双臂机器人操作方法
公开(公告)号：WO1994009950A1
公开(公告)日：1994-05-11
申请号：PCT/JP1993001578
申请日：1993-10-29
申请人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO , TAKECHI, Hiroaki;
发明人： KABUSHIKI KAISHA KOMATSU SEISAKUSHO
IPC分类号： B25J19/06
CPC分类号： B25J9/1682 , G05B2219/39083
摘要： In a double arm robot having a carry-in-side arm for carrying a work into a working machine and a carry-out-side arm for carrying out a work from the working machine, both of which arms are provided on both sides of one support post so that these arms are operated with a mutual interference region provided, a double arm robot operating method characterized in that a signal for discriminating the condition (1) of the arms not gripping a work and positioned out of the mutual interference region, the condition (2) of the arms gripping a work and positioned out of the mutual interference region, the condition (3) of the arms gripping a work and positioned in the mutual interference region and the condition (4) of the arms not gripping a work and positioned in the mutual interference region from one another is outputted for each arm so as to move one arm out of the two to a position in the interference region after it has been ascertained with reference to this condition signal outputted for the other arm that the latter arm is out of the interference region. According to this arrangement, one arm is moved in the interference region after the condition of the other arm has been ascertained, whereby the interference of the arms with each other can be prevented. Similarly, the interference of an arm of a double arm robot with that of an adjacent double arm robot can be prevented, and the passing of a work from one arm to the other and the delivering of a work between the arms can be done without causing one arm from interfering with the other. Even when a plurality of working machines and a plurality of double arm robots are used, they can be used as a production line or independently, i.e., they can be applied to works flexibly. Moreover, works can be carried into and from a plurality of working machines by one double arm robot without causing the arms to interfere with each other.
摘要翻译：在具有用于将作业搬入工作机械的携带侧臂的双臂机器人和用于从作业机器进行作业的搬出侧臂的情况下，两臂设置在一侧的两侧支撑柱，使得这些臂以提供的相互干涉区域操作;双臂机器人操作方法，其特征在于，用于区分不夹持工件并位于相互干涉区域之外的臂的状态（1）的信号，手臂夹持工件并位于相互干涉区域之外的条件（2），手臂夹持工件并位于相互干涉区域中的条件（3）和不夹持工件的臂的状态（4）对于每个臂输出相互干涉区域中的每个臂，以便在已经根据输出的该条件信号确定已经确定了干扰区域之后，将两个臂中的一个臂移动到干涉区域中的一个位置 r另一个臂，后一个臂离开干扰区域。根据该结构，在确定了另一个臂的状态之后，一个臂在干涉区域中移动，由此可以防止臂彼此的干涉。类似地，可以防止双臂机器人的臂与相邻的双臂机器人的臂的干涉，并且可以在不造成工作的情况下将工件从一个臂传递到另一个臂和另一个臂之间的传送一个手臂干扰另一个。即使当使用多台加工机械和多台双臂机器人时，也可以将其作为生产线或独立使用，也可以灵活应用。此外，可以通过一个双臂机器人将工件运送到多个工作机器中，而不会使臂彼此干涉。

84. 发明申请

WO1993025356A1 METHOD OF MANUAL FEEDING BY ROBOT 审中-公开
标题翻译：手动进给机器人的方法
公开(公告)号：WO1993025356A1
公开(公告)日：1993-12-23
申请号：PCT/JP1993000787
申请日：1993-06-11
申请人： FANUC LTD , TERADA, Tomoyuki , KAIHORI, Hirotsugu
发明人： FANUC LTD
IPC分类号： B25J13/00
CPC分类号： B25J9/1656 , G05B19/425 , G05B2219/36471 , G05B2219/39083
摘要： Even when many robots are arranged densely, each robot can be instructed efficiently and safely. While a manual feed instruction is being inputted in a controller B, the current position coordinates of the characteristic points Pi and Qj defined for robots A1 and A2 are successively simulated, updated and stored in a RAM. The distance R between the characteristic point Pi (i = 1 to the final value) and the characteristic point Qj (j = 1 to the final value) is obtained in succession. Each time a smaller distance R between the characteristic points is calculated, the value of this distance is stored in a register Rmin. Thus, the shortest distance between the robots A1 and A2 are calculated (step S1 to S12). In accordance with the shortest distance Rmin, the actual manual feeding speed V is increased or decreased (step S13 and S14).
摘要翻译：即使许多机器人密集地布置，也可以高效安全地指示每个机器人。当在控制器B中输入手动进给指令时，为机器人A1和A2定义的特征点Pi和Qj的当前位置坐标被连续模拟，更新并存储在RAM中。获得特征点Pi（i = 1到最终值）与特征点Qj（j = 1到最终值）之间的距离R。每当计算特征点之间的较小距离R时，该距离的值被存储在寄存器Rmin中。因此，计算机器人A1和A2之间的最短距离（步骤S1至S12）。根据最短距离Rmin，实际手动进给速度V增加或减小（步骤S13和S14）。

85. 发明申请

US20190213770A1 RENDERING TOOL INFORMATION AS GRAPHIC OVERLAYS ON DISPLAYED IMAGES OF TOOLS 审中-公开
公开(公告)号：US20190213770A1
公开(公告)日：2019-07-11
申请号：US16351444
申请日：2019-03-12
申请人： Intuitive Surgical Operations, Inc.
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian David Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
IPC分类号： G06T11/60 , B25J9/16 , G06T11/40 , A61B34/37 , A61B34/30 , A61B90/00 , G05B19/42
CPC分类号： G06T11/60 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06T11/40 , Y02P90/265
摘要： An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.

86. 发明申请

US20180225855A1 RENDERING TOOL INFORMATION AS GRAPHIC OVERLAYS ON DISPLAYED IMAGES OF TOOLS 审中-公开
公开(公告)号：US20180225855A1
公开(公告)日：2018-08-09
申请号：US15946408
申请日：2018-04-05
申请人： Intuitive Surgical Operations, Inc.
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian D. Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
IPC分类号： G06T11/60 , B25J9/16 , A61B34/30 , A61B34/37 , A61B90/00 , G05B19/42 , G06T11/40 , A61B34/00 , A61B34/20
CPC分类号： G06T11/60 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06T11/40 , Y02P90/265
摘要： An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.

87. 发明授权

US10008017B2 Rendering tool information as graphic overlays on displayed images of tools 有权
公开(公告)号：US10008017B2
公开(公告)日：2018-06-26
申请号：US13768047
申请日：2013-02-15
申请人： Intuitive Surgical Operations, Inc.
发明人： Brandon D. Itkowitz , Daniel J. Halabe , Tao Zhao , Simon P. DiMaio , Christopher J. Hasser , Catherine J. Mohr , Paul W. Mohr , David Q. Larkin , Brian David Hoffman , Wenyi Zhao
IPC分类号： G06T11/60 , G06T11/40 , B25J9/16 , G05B19/42 , A61B90/00 , A61B34/30 , A61B34/37 , A61B34/20 , A61B34/00
CPC分类号： G06T11/60 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06T11/40 , Y02P90/265
摘要： An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.

88. 发明授权

US10005185B2 Flexible cycle time-optimized sharing of a working space for robots 有权
公开(公告)号：US10005185B2
公开(公告)日：2018-06-26
申请号：US14933168
申请日：2015-11-05
申请人： KUKA Roboter GmbH
发明人： Bettina Pfaff , Thomas Neff , Marcus Hansen , Michael Wolf , Christian Fremuth-Paeger , Thomas Heinrich
IPC分类号： B25J9/16 , B25J9/00
CPC分类号： B25J9/1682 , B25J9/0087 , B25J9/1676 , G05B2219/39083 , G05B2219/39091 , G05B2219/39098 , G05B2219/40475 , Y10S901/08
摘要： The invention relates to a method and a system for controlling a robot, which non-simultaneously shares a working space with another robot. On the basis of a determined residual period, in which the working space remains occupied, the path planning of a robot is adjusted in a cycle time-optimized manner, in order to avoid a deceleration at the working space limit and a wait for the working space to be vacated.

89. 发明授权

US09981386B2 Method for controlling a manipulator device 有权
公开(公告)号：US09981386B2
公开(公告)日：2018-05-29
申请号：US15229340
申请日：2016-08-05
申请人： OLYMPUS CORPORATION
发明人： Takahiro Komuro , Masatoshi Iida
IPC分类号： G05B19/04 , G05B19/18 , B25J9/16 , A61B34/30 , A61B34/35 , A61B34/37 , A61B1/00
CPC分类号： B25J9/1682 , A61B1/00006 , A61B1/00149 , A61B1/0016 , A61B34/30 , A61B34/35 , A61B34/37 , A61B2034/301 , B25J9/1676 , G05B2219/39083 , G05B2219/45118
摘要： A manipulator-device controlling method including: a step of receiving manipulation signals for manipulators; a step of calculating a target position of a joint on the basis of the manipulation signals; steps of calculating a maximum distance between the manipulators when the joint is assumed to be placed at the target position; a step of comparing the maximum distance with a predetermined threshold; a step of moving the joint to the target position in the case in which the maximum distance is equal to or less than the predetermined threshold; and a step of stopping the movement of the joint in the case in which the maximum distance is greater than the predetermined threshold.

90. 发明申请

US20180079078A1 ROBOT SIMULATION DEVICE 审中-公开
公开(公告)号：US20180079078A1
公开(公告)日：2018-03-22
申请号：US15678577
申请日：2017-08-16
申请人： FANUC CORPORATION
发明人： Yoshiharu NAGATSUKA , Norio TAKEI
IPC分类号： B25J9/16
CPC分类号： B25J9/1671 , B25J9/1682 , G05B2219/36071 , G05B2219/39083
摘要： A robot simulation device includes a robot-information acquiring unit that performs communication with control units of a plurality of robots included in a robot system and acquires hardware information and software information on the plurality of robots, a change determining unit that determines, on the basis of the acquired software information, whether an operation program is changed, and an evaluating unit that, when the change determining unit determines that the operation program is changed, performs a simulation of operations of the plurality of robots using the hardware information and the software information acquired by the robot-information acquiring unit and evaluates the operation program.

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