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1. 发明授权

US09144904B2 Method and system for automatically preventing deadlock in multi-robot systems 有权
标题翻译：自动防止多机器人系统中的死锁的方法和系统
公开(公告)号：US09144904B2
公开(公告)日：2015-09-29
申请号：US13462234
申请日：2012-05-02
申请人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
发明人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , B25J9/1676 , G05B2219/39135 , G05B2219/40442 , G05B2219/40477 , G05B2219/40492
摘要： A system and method for controlling avoiding collisions and deadlocks in a workcell containing multiple robots automatically determines the potential deadlock conditions and identifies a way to avoid these conditions. Deadlock conditions are eliminated by determining the deadlock-free motion statements prior to execution of the motions that have potential deadlock conditions. This determination of deadlock-free motion statements can be done offline, outside normal execution, or it can be done during normal production execution. If there is sufficient CPU processing time available, the determination during normal production execution provides the most flexibility to respond to dynamic conditions such as changes in I/O timing or the timing of external events or sequences. For minimal CPU impact the determination is done offline where many permutations of programming sequences can be analyzed and an optimized sequence of execution may be found.
摘要翻译：用于控制避免包含多个机器人的工作单元中的碰撞和死锁的系统和方法自动确定潜在的死锁状况并且识别避免这些条件的方式。通过在执行具有潜在的死锁条件的运动之前确定无死锁动作语句来消除死锁条件。这种无死锁运动语句的确定可以在正常执行之外脱机完成，也可以在正常的生产执行期间完成。如果有足够的CPU处理时间可用，则在正常生产执行期间的确定提供了响应动态条件（例如I / O定时改变或外部事件或序列的定时）的最大灵活性。为了最小的CPU影响，离线执行确定，可以分析编程序列的多个排列，并且可以找到优化的执行顺序。

2. 发明申请

US20120215351A1 METHOD AND SYSTEM FOR AUTOMATICALLY PREVENTING DEADLOCK IN MULTI-ROBOT SYSTEMS 有权
标题翻译：用于自动防止多机器人系统中死机的方法和系统
公开(公告)号：US20120215351A1
公开(公告)日：2012-08-23
申请号：US13462234
申请日：2012-05-02
申请人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
发明人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
IPC分类号： G05B19/418
CPC分类号： B25J9/1666 , B25J9/1676 , G05B2219/39135 , G05B2219/40442 , G05B2219/40477 , G05B2219/40492
摘要： A system and method for controlling avoiding collisions and deadlocks in a workcell containing multiple robots automatically determines the potential deadlock conditions and identifies a way to avoid these conditions. Deadlock conditions are eliminated by determining the deadlock-free motion statements prior to execution of the motions that have potential deadlock conditions. This determination of deadlock-free motion statements can be done offline, outside normal execution, or it can be done during normal production execution. If there is sufficient CPU processing time available, the determination during normal production execution provides the most flexibility to respond to dynamic conditions such as changes in I/O timing or the timing of external events or sequences. For minimal CPU impact the determination is done offline where many permutations of programming sequences can be analyzed and an optimized sequence of execution may be found.
摘要翻译：用于控制避免包含多个机器人的工作单元中的碰撞和死锁的系统和方法自动确定潜在的死锁状况并且识别避免这些条件的方式。通过在执行具有潜在的死锁条件的运动之前确定无死锁动作语句来消除死锁条件。这种无死锁运动语句的确定可以在正常执行之外脱机完成，也可以在正常的生产执行期间完成。如果有足够的CPU处理时间可用，则在正常生产执行期间的确定提供了响应动态条件（例如I / O定时改变或外部事件或序列的定时）的最大灵活性。为了最小的CPU影响，离线执行确定，可以分析编程序列的多个排列，并且可以找到优化的执行顺序。

3. 发明授权

US06356807B1 Method of determining contact positions, calibration parameters, and reference frames for robot assemblies 有权
标题翻译：确定接触位置的方法，校准参数和机器人组件的参考框架
公开(公告)号：US06356807B1
公开(公告)日：2002-03-12
申请号：US09639436
申请日：2000-08-12
申请人： H. Dean McGee , Eric C. Lee
发明人： H. Dean McGee , Eric C. Lee
IPC分类号： G05B1904
CPC分类号： B25J9/1692 , G05B2219/39021 , G05B2219/39024 , G05B2219/39032 , Y10T29/49769 , Y10T29/53009 , Y10T29/53087
摘要： A method of determining contact positions of a robot relative to a workpiece in a workspace of the robot. The method utilizes the contact positions to determine a location of the workpiece in the robot workspace. The method also monitors an integral operating parameter within the robot, such as motor torque, to determine the contact positions of the robot relative to the workpiece and to locate the workpiece.
摘要翻译：一种在机器人的工作空间中确定机器人相对于工件的接触位置的方法。该方法利用接触位置来确定工件在机器人工作空间中的位置。该方法还监视机器人内的整体操作参数，例如电机扭矩，以确定机器人相对于工件的接触位置并定位工件。

4. 发明授权

US06313595B1 Method of controlling an intelligent assist device in a plurality of distinct workspaces 有权
公开(公告)号：US06313595B1
公开(公告)日：2001-11-06
申请号：US09767978
申请日：2001-01-23
申请人： Peter Swanson , H. Dean McGee
发明人： Peter Swanson , H. Dean McGee
IPC分类号： G05B1919
摘要： A method of controlling a powered manipulator in a plurality of workspaces is disclosed. The manipulator includes a handle, a motor, a force sensor, and is in combination with a processor controlling the manipulator. The method includes the steps of imparting force on the control handle, sensing direction and magnitude of the force, and sending data of the force to the processor. The data is processed to establish movement commands for the manipulator. The processor is programmed to establish at least one virtual constraint in a first workspace for limiting movement of the manipulator to prevent an operator from moving the manipulator to a limit of this workspace. After the manipulator is moved in this workspace, the manipulator is relocated from the first workspace into a second workspace different from the first workspace where the manipulator is then moved again. To limit movement of the manipulator in the second workspace, the at least one virtual constraint established in the first workspace is repositioned to the second workspace.

5. 发明授权

US6064168A Method of controlling robot movement 失效
标题翻译：控制机器人运动的方法
公开(公告)号：US6064168A
公开(公告)日：2000-05-16
申请号：US039095
申请日：1998-03-13
申请人： Jianming Tao , Jason Tsai , H. Dean McGee
发明人： Jianming Tao , Jason Tsai , H. Dean McGee
IPC分类号： B23K9/127 , B25J9/16 , B25J9/18 , B23K9/12 , B25J15/02 , G05B19/33
CPC分类号： B25J9/1607 , B23K9/127 , G05B2219/39573
摘要： A method of controlling movement of a robot includes moving only the wrist portion about two of the wrist axes to achieve a repeated and cyclical movement, such as a back-and-forth movement of the tool relative to a preselected path. Since only the wrist is moved, the range of available tool positions can be determined. In most instances, the desired position of the tool as it deviates from the path is outside of the range of available tool positions, given that only the wrist will move. The method of this invention includes determining a target position within the range of available positions that best corresponds to the desired position of the tool. A unique inverse kinematics solution, which includes fixing one of the wrist axes, is used to determine the wrist orientation required to place the tool into the target position.
摘要翻译：一种控制机器人运动的方法包括仅绕手腕轴上的两个腕部移动手腕部分，以实现重复和循环运动，例如工具相对于预选路径的前后移动。由于只有手腕移动，可以确定可用刀具位置的范围。在大多数情况下，只要手腕移动，工具偏离路径的期望位置就在可用刀具位置的范围之外。本发明的方法包括确定在与工具的期望位置最佳对应的可用位置的范围内的目标位置。一个独特的逆运动学解决方案，包括固定一个腕轴，用于确定将刀具放置到目标位置所需的手腕方位。

6. 发明申请

US20090199690A1 METHOD OF CONTROLLING A ROBOT FOR SMALL SHAPE GENERATION 有权
标题翻译：控制小型造型机器人的方法
公开(公告)号：US20090199690A1
公开(公告)日：2009-08-13
申请号：US12369266
申请日：2009-02-11
申请人： Yi Sun , H. Dean McGee , Jason Tsai , Hadi Akeel
发明人： Yi Sun , H. Dean McGee , Jason Tsai , Hadi Akeel
IPC分类号： B25J9/16 , G06F19/00 , G05B19/00 , B26D5/08
CPC分类号： B25J9/1664 , B25J11/0055 , B25J11/006 , B26D5/005 , B26F1/3806 , B26F3/004 , Y10T83/0572 , Y10T83/0591 , Y10T83/869
摘要： A method of controlling robot motion for small shape generation is provided. The method includes the steps of: a) providing a robot having a plurality of interconnected distal links with a respective plurality major axes and a respective plurality of minor axes, the robot having a controller for moving the robot to a starting position and along a path including a series of interpolated positions to be followed relative a workpiece; b) moving the robot to the starting position; c) determining a next interpolated position on the path, wherein the robot remains fixed in position about at least one of the major axes and a location and an approach vector of the next interpolated position can be achieved; and d) moving the robot to the next interpolated position. A method where the robot remains fixed in position about all major axes is also provided.
摘要翻译：提供了一种控制小型生成机器人运动的方法。该方法包括以下步骤：a）提供具有多个相互连接的远端连杆的机器人，所述多个互连的远端连杆具有相应的多个主轴和相应的多个短轴，所述机器人具有用于将所述机器人移动到起始位置并沿着路径包括相对于工件跟随的一系列内插位置; b）将机器人移动到起始位置; c）确定所述路径上的下一内插位置，其中所述机器人保持固定在围绕所述主轴中的至少一个轴线的位置，并且可以实现所述下一个内插位置的位置和接近矢量; 和d）将机器人移动到下一个内插位置。还提供了一种机器人保持固定在所有长轴上的位置的方法。

7. 发明授权

US06845295B2 Method of controlling a robot through a singularity 有权
标题翻译：通过奇点控制机器人的方法
公开(公告)号：US06845295B2
公开(公告)日：2005-01-18
申请号：US10382387
申请日：2003-03-06
申请人： Sai-Kai Cheng , Di Xiao , Chi-Keng Tsai , H. Dean McGee , Min-Ren Jean
发明人： Sai-Kai Cheng , Di Xiao , Chi-Keng Tsai , H. Dean McGee , Min-Ren Jean
IPC分类号： B25J9/18 , G05B19/4103 , G06F19/00
CPC分类号： G05B19/4103 , G05B2219/34169 , G05B2219/40333
摘要： A method of controlling a robot (32) includes the steps of selecting an initial configuration from at least one of a first, second, and third sets to position a TCP at a starting point (44) along a path (33) and selecting a final configuration different than the initial configuration to position the TCP at an ending point (46). Next, the TCP moves from the starting point (44) while maintaining the initial configuration, approaches the singularity between a first point (48) and a second point (50), and selects one of the axes in response to reaching the first point (48). The angle for the selected axis is interpolated from the first point (48) to the second point (50). After the interpolation, the angles about the remaining axes are determined and positions the arms in the final configuration when the TCP reaches the second point (50) and moves to the ending point (46) while maintaining the final configuration.
摘要翻译：一种控制机器人（32）的方法包括以下步骤：从第一，第二和第三组中的至少一个中选择初始配置，以沿着路径（33）在起点（44）定位TCP，并选择一个最终配置与初始配置不同，以将TCP定位在终点（46）。接下来，TCP在保持初始配置的同时从起始点（44）移动，接近第一点（48）和第二点（50）之间的奇异点，并且响应于到达第一点而选择一个轴 48）。所选择的轴的角度从第一点（48）插入第二点（50）。在插补之后，当TCP到达第二点（50）并移动到终点（46）同时保持最终配置时，确定关于剩余轴的角度并将臂定位在最终配置中。

8. 发明授权

US06516248B2 Robot calibration system and method of determining a position of a robot relative to an electrically-charged calibration object 失效
公开(公告)号：US06516248B2
公开(公告)日：2003-02-04
申请号：US09876620
申请日：2001-06-07
申请人： H. Dean McGee , Eric Lee , Frank Garza
发明人： H. Dean McGee , Eric Lee , Frank Garza
IPC分类号： G05B1904
CPC分类号： B25J9/1692 , G05B2219/37413 , G05B2219/39021 , G05B2219/39026
摘要： A robot calibration system for calibrating a robot and a method of determining a position of the robot to calibrate the robot are disclosed. The system includes an electrical ground defining a return for an electrical circuit. The robot, which is electrically connected to the ground, includes an arm having a tool surface operating within a robot workspace. The system also includes an electrical supply and a detection device. The electrical supply defines a source for the circuit and provides a charge and a reference voltage to the system. The detection device communicates with the electrical supply to detect variations in either the charge, the reference voltage, or both. The system further includes a calibration object. The calibration object is electrically insulated from the ground and is electrically connected to the electrical supply. The calibration object receives the charge and the reference voltage from the electrical supply to determine the position of the robot relative to the calibration object when the tool surface moves toward the calibration object to electrically interact with the calibration object.

9. 发明授权

US6070109A Robot calibration system 失效
标题翻译：机器人校准系统
公开(公告)号：US6070109A
公开(公告)日：2000-05-30
申请号：US37446
申请日：1998-03-10
申请人： H. Dean McGee , Hadi A. Akeel , Chi-Keng Tsai , Eric Lee , Min-Ren Jean , Sai-Kai Cheng
发明人： H. Dean McGee , Hadi A. Akeel , Chi-Keng Tsai , Eric Lee , Min-Ren Jean , Sai-Kai Cheng
IPC分类号： B25J9/16 , G05B15/00 , G05B19/00
CPC分类号： B25J9/1692 , G05B2219/39009 , G05B2219/40621
摘要： A robot calibration system includes a calibration sensor that provides an indication of when a first reference point that remains fixed relative to a robot base is a fixed distance from a second reference point that is located on the robot arm. The robot arm is moved through a plurality of orientations and each time that the fixed distance between the two reference points is achieved, robot joint position information is determined. The preferred calibration sensor includes a string that extends between the two reference points and activates a signal generator each time that the string is taut as caused by the orientation of the robot arm. The generated signal indicates that the two reference points are separated by the fixed distance. The determined robot joint positions are then used to determine a calibration factor which varies depending on the needs of a particular situation. Example calibration factors are useful for correcting errors in robot kinematic information, locating the workcell reference frame and locating the tool center point reference frame.
摘要翻译：机器人校准系统包括校准传感器，其提供关于何时相对于机器人基座保持固定的第一参考点与位于机器人手臂上的第二参考点的固定距离的指示。机器人臂移动多个取向，并且每当实现两个参考点之间的固定距离时，确定机器人关节位置信息。优选的校准传感器包括在两个参考点之间延伸的弦线，并且每当由于机器人手臂的取向引起弦线拉紧时激活信号发生器。生成的信号表示两个参考点被分开固定距离。然后，所确定的机器人关节位置用于确定根据特定情况的需要而变化的校准因子。示例校准因子可用于校正机器人运动信息中的错误，定位工作单元参考系和定位刀具中心点参考系。

10. 发明授权

US5373221A Method and system for estimating robot tool center point speed 失效
标题翻译：估算机器人工具中心点速度的方法和系统
公开(公告)号：US5373221A
公开(公告)日：1994-12-13
申请号：US99729
申请日：1993-07-30
申请人： H. Dean McGee , David W. Osborn , John D. Butkiewicz
发明人： H. Dean McGee , David W. Osborn , John D. Butkiewicz
IPC分类号： B25J9/18 , G05B19/416 , G05B19/42 , B25J9/10 , B25J9/22
CPC分类号： G05B19/416 , G05B2219/41217 , G05B2219/41231 , G05B2219/41373 , G05B2219/45065 , G05B2219/49056 , G05B2219/49164
摘要： A method and system is disclosed for estimating a speed of a robot tool center point at a specified time. The method includes the step of receiving an input signal representing the specified time for which the speed estimate is desired. The method also includes the step of processing individual motion segment data to create a blended Cartesian velocity vector. The individual motion segment data represents at least one robot motion segment. The method finally includes the step of transmitting an output signal based on a scalar magnitude of the blended Cartesian velocity vector. The output signal represents the speed of the robot Tool Center Point at the specified time.
摘要翻译：公开了一种用于在指定时间估计机器人工具中心点的速度的方法和系统。该方法包括接收表示期望速度估计的指定时间的输入信号的步骤。该方法还包括处理单个运动段数据以创建混合笛卡儿速度矢量的步骤。各运动段数据表示至少一个机器人运动段。该方法最终包括基于混合笛卡尔速度矢量的标量大小来发送输出信号的步骤。输出信号表示机器人工具中心点在指定时间的速度。

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