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1. 发明申请

WO2012066025A1 METHOD AND MEANS FOR CONTROLLING A ROBOT 审中-公开
标题翻译：控制机器人的方法和手段
公开(公告)号：WO2012066025A1
公开(公告)日：2012-05-24
申请号：PCT/EP2011/070228
申请日：2011-11-16
申请人： UNIVERSAL ROBOTS ApS , ØSTERGAARD, Esben Hallundbæk
发明人： ØSTERGAARD, Esben Hallundbæk
IPC分类号： G05B19/401
CPC分类号： G05D3/00 , B25J9/1656 , G05B19/401 , G05B2219/36322 , G05B2219/36401 , Y10S901/27
摘要： The present invention relates to a user friendly method for programming a robot, where the method comprises placing the robot at a given position P0 in the surroundings and using a portion or point P of the robot (for instance the point to which a tool is attached during use of the robot) to define one or more geometrical features relative to the surroundings of the robot and establishing a relationship between the geometrical features and first coordinates of a robot-related coordinate system, whereby the robot can subsequently be instructed to carry out movements of specified portions of the robot relative to said surroundings by reference to said one or more geometrical features. By these means it becomes easy for users that are not experts in robot programming to program and use the robot. The geometrical features can according to the invention be stored in storage means and used subsequently also in other settings than the specific setting in which the programming took place.
摘要翻译：本发明涉及一种用于编程机器人的用户友好的方法，其中所述方法包括将机器人放置在周围的给定位置P0处并且使用机器人的一部分或点P（例如，工具附接的点在使用机器人期间）定义相对于机器人周围环境的一个或多个几何特征，并且建立机器人相关坐标系的几何特征和第一坐标之间的关系，由此可随后指示机器人执行运动通过参考所述一个或多个几何特征，相对于所述周围环境的机器人的指定部分。通过这些方式，不是机器人编程专家的用户对于机器人进行编程和使用变得容易。根据本发明的几何特征可以存储在存储装置中，并且随后也在除了进行编程的具体设置之外的其他设置中使用。

2. 发明申请

US20130255426A1 PROGRAMMABLE ROBOT AND USER INTERFACE 有权
标题翻译：可编程机器人和用户界面
公开(公告)号：US20130255426A1
公开(公告)日：2013-10-03
申请号：US13827824
申请日：2013-03-14
申请人： UNIVERSAL ROBOTS APS
发明人： Kristian KASSOW , Esben Hallundbæk Østergaard , Kasper Støy
IPC分类号： B25J18/00
CPC分类号： B25J18/00 , B25J9/1671 , B25J19/0004 , G05B2219/37138 , Y10S901/23 , Y10T74/20317 , Y10T74/20329
摘要： A programmable robot system includes a robot provided with a number of individual arm sections, where adjacent sections are interconnected by a joint. The system furthermore includes a controllable drive mechanism provided in at least some of the joints and a control system for controlling the drive. The robot system is furthermore provided with user a interface mechanism including a mechanism for programming the robot system, the user interface mechanism being either provided externally to the robot, as an integral part of the robot or as a combination hereof, and a storage mechanism co-operating with the user interface mechanism and the control system for storing information related to the movement and further operations of the robot and optionally for storing information relating to the surroundings.
摘要翻译：可编程机器人系统包括设置有多个单独臂部分的机器人，其中相邻部分通过接头互连。该系统还包括设置在至少一些接头中的可控驱动机构和用于控制驱动器的控制系统。机器人系统还具有用户接口机构，该接口机构包括用于对机器人系统进行编程的机构，用户接口机构作为机器人的一部分或作为其组合的组合，或者作为机器人的组成部分提供，或者作为组合， - 与用户界面机构和用于存储与机器人的移动和进一步操作相关的信息的控制系统，并且可选地用于存储与周围环境相关的信息。

3. 发明申请

US20130231778A1 Method and Means for Controlling a Robot 审中-公开
标题翻译：控制机器人的方法和手段
公开(公告)号：US20130231778A1
公开(公告)日：2013-09-05
申请号：US13885233
申请日：2011-11-16
申请人： Esben Hallundbæk Østergaard
发明人： Esben Hallundbæk Østergaard
IPC分类号： G05D3/00
CPC分类号： G05D3/00 , B25J9/1656 , G05B19/401 , G05B2219/36322 , G05B2219/36401 , Y10S901/27
摘要： The present invention relates to a user friendly method for programming a robot, where the method comprises placing the robot at a given position P0 in the surroundings and using a portion or point P of the robot (for instance the point to which a tool is attached during use of the robot) to define one or more geometrical features relative to the surroundings of the robot and establishing a relationship between the geometrical features and first coordinates of a robot-related coordinate system, whereby the robot can subsequently be instructed to carry out movements of specified portions of the robot relative to said surroundings by reference to said one or more geometrical features. By these means it becomes easy for users that are not experts in robot programming to program and use the robot. The geometrical features can according to the invention be stored in storage means and used subsequently also in other settings than the specific setting in which the programming took place.
摘要翻译：本发明涉及一种用于编程机器人的用户友好的方法，其中所述方法包括将机器人放置在周围的给定位置P0处并且使用机器人的一部分或点P（例如，工具附接的点在使用机器人期间）定义相对于机器人周围环境的一个或多个几何特征，并且建立机器人相关坐标系的几何特征和第一坐标之间的关系，由此随后可以指示机器人执行运动通过参考所述一个或多个几何特征相对于所述周围环境的机器人的指定部分。通过这些方式，不是机器人编程专家的用户对于机器人进行编程和使用变得容易。根据本发明的几何特征可以存储在存储装置中，并且随后也在除了进行编程的具体设置之外的其他设置中使用。

4. 发明授权

US08614559B2 Programmable robot and user interface 有权
公开(公告)号：US08614559B2
公开(公告)日：2013-12-24
申请号：US13827824
申请日：2013-03-14
申请人： Universal Robots ApS
发明人： Kristian Kassow , Esben Hallundbæk Østergaard , Kasper Støy
IPC分类号： B25J9/18
CPC分类号： B25J18/00 , B25J9/1671 , B25J19/0004 , G05B2219/37138 , Y10S901/23 , Y10T74/20317 , Y10T74/20329
摘要： A programmable robot system includes a robot provided with a number of individual arm sections, where adjacent sections are interconnected by a joint. The system furthermore includes a controllable drive mechanism provided in at least some of the joints and a control system for controlling the drive. The robot system is furthermore provided with user a interface mechanism including a mechanism for programming the robot system, the user interface mechanism being either provided externally to the robot, as an integral part of the robot or as a combination hereof, and a storage mechanism co-operating with the user interface mechanism and the control system for storing information related to the movement and further operations of the robot and optionally for storing information relating to the surroundings.

5. 发明专利

RU2587104C2 СПОСОБ И СРЕДСТВО УПРАВЛЕНИЯ РОБОТОМ 未知
公开(公告)号：RU2587104C2
公开(公告)日：2016-06-10
申请号：RU2013125348
申请日：2011-11-16
申请人： UNIVERSAL ROBOTS APS
发明人： ESTERGAARD ESBEN KHALLUNDBEK
IPC分类号： G05B19/401 , B25J9/16
摘要： Изобретениеотноситсяк способуобученияроботаи способууправленияобученнымроботом, обеспечивающимудобноеи легкоеиспользованиеробота. Дляобученияроботапомещаютегов заданноеположениеРвобластирабочегоместаотносительнообъектовв окруженииробота. ИспользуютчастьилиточкуР манипулятораробота, напримерточку, ккоторойприкрепленинструментприиспользованииробота, дляопределенияодногоилинесколькихгеометрическихпризнаковотносительноуказанныхобъектовв окруженииробота. Устанавливаютсвязьмеждууказаннымигеометрическимипризнакамии первымикоординатамисвязаннойс роботомсистемыкоординат. Причемроботвыполненс возможностьювыполнения, вслучаепоступлениясоответствующейкоманды, перемещениязаданныхчастейроботаотносительноуказанногоокруженияпосредствомссылкинауказанныеодинилинесколькогеометрическихпризнаков. Геометрическиепризнакимогутбытьсохраненыв запоминающемустройствеи использованывпоследствиитакжеи придругихнастройках, отличающихсяотконкретныхнастроек, прикоторыхпроизводилосьобучение. 2 н. и 8 з.п. ф-лы, 1 ил.

6. 发明专利

ES2548037T3 Método y medios para controlar un robot 未知
公开(公告)号：ES2548037T3
公开(公告)日：2015-10-13
申请号：ES11784999
申请日：2011-11-16
申请人： UNIVERSAL ROBOTS APS
发明人： ØSTERGAARD ESBEN HALLUNDBÆK
IPC分类号： G05D3/00 , G05B19/401
摘要： Un método para programar un robot incluyendo un brazo de robot, incluyendo el método colocar el robot en una posición dada P0 con relación a objetos en el entorno del robot y usar una porción o punto P situado en el brazo de robot para definir una o varias características geométricas con relación a dichos objetos en el entorno del robot por medio de sensores que se usan para controlar los motores/uniones del brazo de robot y establecer una relación entre dichas características geométricas y primeras coordenadas de un sistema de coordenadas relacionadas con robot, por lo que al robot se le puede ordenar posteriormente que lleve a cabo movimientos de porciones específicas del robot con relación a dicho entorno por referencia a dicha una o varias características geométricas.

7. 发明专利

MX2013005425A METODOS Y MEDIOS PARA CONTROLAR UN ROBOT. 未知
公开(公告)号：MX2013005425A
公开(公告)日：2013-08-21
申请号：MX2013005425
申请日：2011-11-16
申请人： UNIVERSAL ROBOTS APS
发明人： OESTERGAARD ESBEN HALLUNDBAEK
IPC分类号： G05B19/401
摘要： La presente invención se relaciona con un método amable con el usuario para programar un robot o autómata, donde el método comprende colocar el robot en una posición dada P0 en los alrededores y usar una porción o punto P del robot (por ejemplo el punto en el cual va a ser conectada una herramienta durante el uso del robot) para definir una o más características geométricas con relación a los alrededores del robot y establecer una relación entre las características geométricas y las primeras coordenadas de un sistema coordinado relacionado con el robot, por lo que el robot puede posteriormente ser instruido para llevar a cabo movimientos de porciones especificas del robot con relación a los alrededores con referencia a una o más características geométricas. Por esos medios se vuelve fácil a los usuarios que no sean expertos en programación de robots programar y usar el robot. Las características geométricas pueden de acuerdo con la invención ser almacenadas en medios de almacenamiento y usadas posteriormente también en otros escenarios diferentes a los escenarios específicos en los cuales tome lugar la programación.

8. 发明授权

US08779715B2 Programmable robot and user interface 有权
标题翻译：可编程机器人和用户界面
公开(公告)号：US08779715B2
公开(公告)日：2014-07-15
申请号：US12281528
申请日：2007-03-02
申请人： Kristian Kassow , Esben Hallundbæk Østergaard , Kasper Støy
发明人： Kristian Kassow , Esben Hallundbæk Østergaard , Kasper Støy
IPC分类号： G05B19/04
CPC分类号： B25J18/00 , B25J9/1671 , B25J19/0004 , G05B2219/37138 , Y10S901/23 , Y10T74/20317 , Y10T74/20329
摘要： A programmable robot system includes a robot provided with a number of individual arm sections, where adjacent sections are interconnected by a joint. The system furthermore includes a controllable drive mechanism provided in at least some of the joints and a control system for controlling the drive mechanism. The robot system is furthermore provided with user a interface mechanism including a mechanism for programming the robot system, the user interface mechanism being either provided externally to the robot, as an integral part of the robot or as a combination hereof, and a storage mechanism co-operating with the user interface mechanism and the control system for storing information related to the movement and further operations of the robot and optionally for storing information relating to the surroundings.
摘要翻译：可编程机器人系统包括设置有多个单独臂部分的机器人，其中相邻部分通过接头互连。该系统还包括设置在至少一些接头中的可控驱动机构和用于控制驱动机构的控制系统。机器人系统还具有用户接口机构，该接口机构包括用于对机器人系统进行编程的机构，用户接口机构作为机器人的一部分或作为其组合的组合，或者作为机器人的组成部分提供，或者作为组合， - 与用户界面机构和用于存储与机器人的移动和进一步操作相关的信息的控制系统，并且可选地用于存储与周围环境相关的信息。

9. 发明授权

EP2641136B1 METHOD AND MEANS FOR CONTROLLING A ROBOT 有权转让
标题翻译：方法和装置控制机器人
公开(公告)号：EP2641136B1
公开(公告)日：2015-07-22
申请号：EP11784999.2
申请日：2011-11-16
申请人： Universal Robots ApS
发明人： ØSTERGAARD, Esben Hallundbæk
IPC分类号： G05D3/00 , G05B19/401
CPC分类号： G05D3/00 , B25J9/1656 , G05B19/401 , G05B2219/36322 , G05B2219/36401 , Y10S901/27
摘要： The present invention relates to a user friendly method for programming a robot, where the method comprises placing the robot at a given position Pro in the surroundings and using a portion or point P of the robot (for instance the point to which a tool is attached during use of the robot) to define one or more geometrical features relative to the surroundings of the robot and establishing a relationship between the geometrical features and first coordinates of a robot-related coordinate system, whereby the robot can subsequently be instructed to carry out movements of specified portions of the robot relative to said surroundings by reference to said one or more geometrical features. By these means it becomes easy for users that are not experts in robot programming to program and use the robot. The geometrical features can according to the invention be stored in storage means and used subsequently also in other settings than the specific setting in which the programming took place.

10. 发明公开

EP2641136A1 METHOD AND MEANS FOR CONTROLLING A ROBOT 有权转让
标题翻译：方法和装置控制机器人
公开(公告)号：EP2641136A1
公开(公告)日：2013-09-25
申请号：EP11784999.2
申请日：2011-11-16
申请人： Universal Robots ApS
发明人： ØSTERGAARD, Esben Hallundbæk
IPC分类号： G05B19/401
CPC分类号： G05D3/00 , B25J9/1656 , G05B19/401 , G05B2219/36322 , G05B2219/36401 , Y10S901/27
摘要： The present invention relates to a user friendly method for programming a robot, where the method comprises placing the robot at a given position P0 in the surroundings and using a portion or point P of the robot (for instance the point to which a tool is attached during use of the robot) to define one or more geometrical features relative to the surroundings of the robot and establishing a relationship between the geometrical features and first coordinates of a robot-related coordinate system, whereby the robot can subsequently be instructed to carry out movements of specified portions of the robot relative to said surroundings by reference to said one or more geometrical features. By these means it becomes easy for users that are not experts in robot programming to program and use the robot. The geometrical features can according to the invention be stored in storage means and used subsequently also in other settings than the specific setting in which the programming took place.

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