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1. 发明授权

US08843234B2 Dynamic space check for multi-arm system moving on a rail 有权
标题翻译：多臂系统在轨道上移动的动态空间检查
公开(公告)号：US08843234B2
公开(公告)日：2014-09-23
申请号：US12296992
申请日：2007-04-13
申请人： Jianming Tao , H. Dean McGee , Chi-Keng Tsai , Hadi Abu Akeel
发明人： Jianming Tao , H. Dean McGee , Chi-Keng Tsai , Hadi Abu Akeel
IPC分类号： G05B19/18 , B25J9/16
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。

2. 发明授权

US06243621B1 Method of determining workpiece positions including coordinated motion 失效
标题翻译：确定工件位置的方法，包括协调运动
公开(公告)号：US06243621B1
公开(公告)日：2001-06-05
申请号：US09039114
申请日：1998-03-13
申请人： Jianming Tao , Jason Tsai , Robert A. Bolhouse
发明人： Jianming Tao , Jason Tsai , Robert A. Bolhouse
IPC分类号： G06F1900
CPC分类号： B25J9/1694 , G05B2219/40383 , G05B2219/40625
摘要： A method of determining position information of a workpiece relative to a robot includes the ability to move the workpiece into a variety of orientations relative to the robot during the touch sensing location procedure. The position information is then used for performing a robot operation including coordinated motion. A coordinated reference frame is defined with respect to a moveable positioner that supports the workpiece. Known kinematic relationships between the positioner and the robot are used to control operation of the robot within the coordinated reference frame throughout the touch sensing location procedure. By moving the workpiece relative to the robot during the touch sensing location procedure, a greater variety of workpieces can be processed and relatively complicated workpiece configurations can be accurately determined. The robot operating parameters are modified according to the determined position information.
摘要翻译：确定工件相对于机器人的位置信息的方法包括在触摸感测定位过程期间将工件相对于机器人移动到各种取向的能力。然后，位置信息用于执行包括协调运动的机器人操作。相对于支撑工件的可移动定位器来定义协调的参考框架。定位器和机器人之间的已知运动学关系用于在整个触摸感测定位过程中控制协调参考系中机器人的操作。通过在触摸感测位置程序期间相对于机器人移动工件，可以处理更多种类的工件，并且可以准确地确定相对复杂的工件配置。机器人操作参数根据确定的位置信息进行修改。

3. 发明申请

US20060287769A1 Robot multi-arm control system 有权
标题翻译：机器人多臂控制系统
公开(公告)号：US20060287769A1
公开(公告)日：2006-12-21
申请号：US11381589
申请日：2006-05-04
申请人： Akihiro Yanagita , Jianming Tao , Tien Chang , Ho Wong , H. McGee , Chi-Keng Tsai , Sai-Kai Cheng , Steven Nickel , Hadi Akeel
发明人： Akihiro Yanagita , Jianming Tao , Tien Chang , Ho Wong , H. McGee , Chi-Keng Tsai , Sai-Kai Cheng , Steven Nickel , Hadi Akeel
IPC分类号： G06F19/00
CPC分类号： B25J9/1682 , B25J9/1669 , G05B2219/33097 , G05B2219/33144 , G05B2219/33274 , G05B2219/34397 , G05B2219/34398 , G05B2219/39129 , G05B2219/40307
摘要： A robot multi-arm control system includes robot controllers that communicate via a network to transmit synchronization information from a master controller to one or more slave controllers in order to coordinate manufacturing processes. The system accounts for the network communication delay when synchronizing the event timing for process and motion synchronization.
摘要翻译：机器人多臂控制系统包括机器人控制器，其通过网络通信以将同步信息从主控制器传送到一个或多个从属控制器，以便协调制造过程。同步处理和运动同步的事件定时时，系统会考虑网络通信延迟。

4. 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。

5. 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。

6. 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。

7. 发明授权

US08315738B2 Multi-arm robot system interference check via three dimensional automatic zones 有权
标题翻译：多臂机器人系统通过三维自动区域进行干扰检查
公开(公告)号：US08315738B2
公开(公告)日：2012-11-20
申请号：US12124430
申请日：2008-05-21
申请人： Tien L. Chang , H. Dean McGee , Ho Cheung Wong , Jianming Tao , Jason Tsai
发明人： Tien L. Chang , H. Dean McGee , Ho Cheung Wong , Jianming Tao , Jason Tsai
IPC分类号： G05B15/00
CPC分类号： B25J9/1666 , G05B2219/39135 , G05B2219/40442 , G05B2219/40492
摘要： A system and method for controlling avoiding collisions in a workcell containing multiple robots is provided. The system includes a sequence of instructions residing on a controller for execution thereon to perform an interference check automatic zone method. The interference check automatic zone method includes the steps of: determining a first portion of a common space that is occupied during a movement of a first robot along a first programmed path; determining a second portion of the common space that is occupied during a movement of a second robot along a second programmed path; comparing the first portion and the second portion to determine if an overlap exists therebetween; and moving the first robot and the second robot in response to whether or not the overlap exists.
摘要翻译：提供一种用于控制避免包含多个机器人的工作单元中的冲突的系统和方法。该系统包括驻留在控制器上用于执行其上的指令序列以执行干扰检查自动区域方法。干涉检查自动区域方法包括以下步骤：确定在第一机器人沿着第一编程路径移动期间被占用的公共空间的第一部分; 确定在第二机器人沿着第二编程路径移动期间被占用的公共空间的第二部分; 比较第一部分和第二部分以确定它们之间是否存在重叠; 并且响应于是否存在重叠来移动第一机器人和第二机器人。

8. 发明授权

US08046102B2 Control method for synchronous high speed motion stop for multi-top loaders across controllers 有权
标题翻译：跨控制器的多顶装载机的同步高速运动停止控制方法
公开(公告)号：US08046102B2
公开(公告)日：2011-10-25
申请号：US11750082
申请日：2007-05-17
申请人： Jianming Tao , H. Dean McGee , Chi-Keng Tsai , Ho Cheung Wong , Ian Orr , Richard Motley
发明人： Jianming Tao , H. Dean McGee , Chi-Keng Tsai , Ho Cheung Wong , Ian Orr , Richard Motley
IPC分类号： B25J9/16 , B25J19/06
CPC分类号： B25J9/1666 , G05B19/4061 , G05B2219/39088 , G05B2219/39097
摘要： A synchronous high speed motion stop for a series of multi-top loaders residing on “n” controllers on one rail achieves effective detection of the servo-error status and shut off of the trailing controller's servo power within 3 ITP time. The control method reduces the unnecessary error recovery because it only shuts off its immediate trailing controller without aborting its leading controller, allowing the leading controller to complete the cycle tasks. The cascade control method produces a synchronous high-speed motion stop for the robots across the controllers and effectively prevents the collision between the robots.
摘要翻译：一个轨道上“n”个控制器上的一系列多顶装载机的同步高速运动停止可以有效检测伺服误差状态，并在3 ITP时间内关闭拖尾控制器的伺服电源。控制方法减少了不必要的错误恢复，因为它只会在不中断其前导控制器的情况下关闭其直接拖动控制器，从而允许前台控制器完成循环任务。级联控制方法为机器人跨越控制器产生同步高速运动停止，并有效防止机器人之间的碰撞。

9. 发明授权

US07860609B2 Robot multi-arm control system 有权
标题翻译：机器人多臂控制系统
公开(公告)号：US07860609B2
公开(公告)日：2010-12-28
申请号：US11381589
申请日：2006-05-04
申请人： Akihiro Yanagita , Jianming Tao , Tien L. Chang , Ho Cheung Wong , H. Dean McGee , Chi-Keng Tsai , Sai-Kai Cheng , Steven E. Nickel , Hadi Akeel
发明人： Akihiro Yanagita , Jianming Tao , Tien L. Chang , Ho Cheung Wong , H. Dean McGee , Chi-Keng Tsai , Sai-Kai Cheng , Steven E. Nickel , Hadi Akeel
IPC分类号： G06F19/00 , G06F15/16
CPC分类号： B25J9/1682 , B25J9/1669 , G05B2219/33097 , G05B2219/33144 , G05B2219/33274 , G05B2219/34397 , G05B2219/34398 , G05B2219/39129 , G05B2219/40307
摘要： A robot multi-arm control system includes robot controllers that communicate via a network to transmit synchronization information from a master controller to one or more slave controllers in order to coordinate manufacturing processes. The system accounts for the network communication delay when synchronizing the event timing for process and motion synchronization.
摘要翻译：机器人多臂控制系统包括机器人控制器，其通过网络通信以将同步信息从主控制器传送到一个或多个从属控制器，以便协调制造过程。同步处理和运动同步的事件定时时，系统会考虑网络通信延迟。

10. 发明申请

US20100191374A1 SECONDARY POSITION FEEDBACK CONTROL OF A ROBOT 有权
标题翻译：机器人的二次位置反馈控制
公开(公告)号：US20100191374A1
公开(公告)日：2010-07-29
申请号：US12693537
申请日：2010-01-26
申请人： Jason Tsai , Eric Wong , Jianming Tao , H. Dean McGee , Hadi Akeel
发明人： Jason Tsai , Eric Wong , Jianming Tao , H. Dean McGee , Hadi Akeel
IPC分类号： G05B19/18
CPC分类号： G05B19/404 , G05B2219/37297
摘要： A method of and apparatus for achieving dynamic robot accuracy includes a control system utilizing a dual position loop control. An outer position loop uses secondary encoders on the output side of the gear train of a robot joint axis, while the inner position loop uses the primary encoder attached to the motor. Both single and dual loop control can be used on the same robot and tooling axes.
摘要翻译：实现动态机器人精度的方法和装置包括利用双位置环控制的控制系统。外部位置回路在机器人关节轴线的齿轮系的输出侧使用二次编码器，而内部位置回路使用连接到电机的主编码器。单循环控制和双回路控制都可以在同一个机器人和加工轴上使用。

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