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1. 发明授权

US07751939B2 Method and apparatus to correct static deflection in a handling robot 失效
标题翻译：纠正处理机器人静态偏转的方法和装置
公开(公告)号：US07751939B2
公开(公告)日：2010-07-06
申请号：US11181728
申请日：2005-07-15
申请人： Phil Joo Cho , Jae Chul Hwang
发明人： Phil Joo Cho , Jae Chul Hwang
IPC分类号： G05B19/19 , G05B13/00
CPC分类号： B25J9/1638 , G05B2219/39176 , G05B2219/39469 , G05B2219/39486
摘要： An apparatus and method of optimally correcting a static deflection caused by a weight of an end effector coupled to a robot arm or a load on the end effector when the end effector is activated to handle a large sheet of glass. A deflection angle of the end effector is corrected by inserting a compensation member into a joint of the robot arm, and the static deflection caused by the weight of the handling robot when conveying the sheet of glass is also corrected in real time.
摘要翻译：一种当端部执行器被启动以处理大片玻璃板时，最佳地校正由末端执行器的重量耦合到机器人臂或端部执行器上的负载引起的静态偏转的装置和方法。通过将补偿构件插入机器人手臂的关节来校正端部执行器的偏转角度，并且在输送玻璃板时由搬运机器人的重量引起的静态偏转也被实时校正。

2. 发明申请

US20060049790A1 ROBOT CONTROL APPARATUS AND CONTROL METHOD THEREOF 失效
标题翻译：机器人控制装置及其控制方法
公开(公告)号：US20060049790A1
公开(公告)日：2006-03-09
申请号：US11147171
申请日：2005-06-08
申请人： Seung-won Yang , Phil-joo Cho
发明人： Seung-won Yang , Phil-joo Cho
IPC分类号： B25J5/00
CPC分类号： B25J9/1648 , G05B2219/40488
摘要： A robot control apparatus to control an operation path of a robot includes an interpolator including a rough interpolation processor to output a rough velocity signal of no-acceleration and no-deceleration according to input commands, a plurality of acceleration/deceleration processors to receive the rough velocity signal from the rough interpolation processor and to perform acceleration and deceleration in sequence, and an inverse kinematics processor to transform the velocity signal received from the acceleration/deceleration processor into a joint velocity signal for the robot, and a controller to control the robot according to the accelerated/decelerated velocity signal received from the interpolator. In a robot control apparatus and a control method thereof, precision about an operation path of a robot is improved.
摘要翻译：用于控制机器人的操作路径的机器人控制装置包括：内插器，包括粗略插值处理器，用于根据输入命令输出无加速度和无减速度的粗速度信号;多个加速/减速处理器，用于接收粗略来自粗插入处理器的速度信号和依次执行加速和减速;以及逆运动学处理器，用于将从加速/减速处理器接收的速度信号变换成用于机器人的联合速度信号，以及控制器，用于根据到从内插器接收的加速/减速速度信号。在机器人控制装置及其控制方法中，提高了机器人的操作路径的精度。

3. 发明授权

US07042185B2 Robot control apparatus and control method thereof 失效
标题翻译：机器人控制装置及其控制方法
公开(公告)号：US07042185B2
公开(公告)日：2006-05-09
申请号：US11147171
申请日：2005-06-08
申请人： Seung-won Yang , Phil-joo Cho
发明人： Seung-won Yang , Phil-joo Cho
IPC分类号： G05B19/416
CPC分类号： B25J9/1648 , G05B2219/40488
摘要： A robot control apparatus to control an operation path of a robot includes an interpolator including a rough interpolation processor to output a rough velocity signal of no-acceleration and no-deceleration according to input commands, a plurality of acceleration/deceleration processors to receive the rough velocity signal from the rough interpolation processor and to perform acceleration and deceleration in sequence, and an inverse kinematics processor to transform the velocity signal received from the acceleration/deceleration processor into a joint velocity signal for the robot, and a controller to control the robot according to the accelerated/decelerated velocity signal received from the interpolator. In a robot control apparatus and a control method thereof, precision about an operation path of a robot is improved.
摘要翻译：用于控制机器人的操作路径的机器人控制装置包括内插器，其包括粗插值处理器，用于根据输入命令输出无加速度和无减速度的粗速度信号;多个加速/减速处理器，用于接收粗略来自粗插入处理器的速度信号和依次执行加速和减速;以及逆运动学处理器，用于将从加速/减速处理器接收的速度信号变换成用于机器人的联合速度信号，以及控制器，用于根据到从内插器接收的加速/减速速度信号。在机器人控制装置及其控制方法中，提高了机器人的操作路径的精度。

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