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1. 发明授权

US6019606A Robot teaching machine 失效
标题翻译：机器人教学机
公开(公告)号：US6019606A
公开(公告)日：2000-02-01
申请号：US967111
申请日：1997-11-10
申请人： Katsumi Yamamoto , Tadashi Koyama , Shinichi Sugita , Toshiro Itaya
发明人： Katsumi Yamamoto , Tadashi Koyama , Shinichi Sugita , Toshiro Itaya
IPC分类号： B25J9/22 , G05B19/42 , G05B19/427 , G09B9/08
CPC分类号： G05B19/427
摘要： A robot teaching machine according to the present invention includes a guiding tool having a first angle sensor, a coordinate detector having a plurality of rotating portions and a second angle sensor for detecting a rotational angle of each of the rotating portions, a first motion transfer member for detecting a distance between the guiding tool and the coordinate detector that are connected with each other, a second motion transfer member for connecting the guiding tool and the coordinate detector and detecting an attitude of the guiding tool, and a coordinate converter for deriving a three-dimensional position and an attitude of the guiding tool from values detected by the first and the second angle sensors, respectively. The first motion transfer member and the second motion transfer member independently work for providing precise guiding data.
摘要翻译：根据本发明的机器人教学机包括具有第一角度传感器，具有多个旋转部分的坐标检测器和用于检测每个旋转部分的旋转角度的第二角度传感器的引导工具，第一运动传递部件用于检测彼此连接的引导工具和坐标检测器之间的距离，用于连接引导工具和坐标检测器并检测引导工具的姿态的第二运动传递部件，以及用于导出三维分别由第一和第二角度传感器检测到的值的引导工具的姿态和姿态。第一运动传递构件和第二运动传递构件独立地用于提供精确的引导数据。

2. 发明授权

US5020001A Robot controller 失效
标题翻译：机器人控制器
公开(公告)号：US5020001A
公开(公告)日：1991-05-28
申请号：US407585
申请日：1989-09-15
申请人： Katsumi Yamamoto , Tadashi Koyama , Toshio Aono , Toshiro Itaya
发明人： Katsumi Yamamoto , Tadashi Koyama , Toshio Aono , Toshiro Itaya
IPC分类号： B23Q15/013 , B25J9/10 , B25J9/18 , G05B19/408 , G05B19/4103 , G05B19/425
CPC分类号： G05B19/4086 , G05B19/425 , G05B2219/36446 , G05B2219/36458 , G05B2219/50353
摘要： A robot controller for having a workpiece held by a robot and having the workpiece machined by moving it relative to a stationary tool. The robot controller can control the velocity of relative motion, against the tool, of a machining point on the workpiece. At each teaching point, a transformation matrix is calculated to convert a position matrix of the flange center as teaching data (i.e., 4.times.4 matrix giving position and attitude in homogeneous coordinates) into a position matrix of the tool tip. Between two adjacent teaching points, interpolation points are set according to a specified velocity. Transformation matrices applicable to the two teaching points are put to interpolation calculations to provide a transformation matrix at each interpolation point. An inverse matrix of the transformation matrix at each interpolation point is applied to the position matrix for the tool tip. This allows the position matrix for the flange center keyed to each interpolation point to be calculated. Using the position matrix for the flange center, rotation angles on the controllable axes of the robot are calculated. With the distance between interpolation points set based on a given velocity, the machining velocity at any machining point may be controlled.
摘要翻译：一种机器人控制器，用于具有由机器人保持的工件，并且通过相对于固定工具移动所述工件来加工所述工件。机器人控制器可以控制工件上加工点相对于工具的相对运动速度。在每个教导点，计算变换矩阵，以将作为示教数据（即，将均匀坐标中的4×4矩阵赋予位置和姿态）的法兰中心的位置矩阵转换成刀尖的位置矩阵。在两个相邻的教学点之间，根据指定的速度设置插值点。将适用于两个教学点的变换矩阵进行插值计算，以在每个插值点提供变换矩阵。将每个插补点处的变换矩阵的逆矩阵应用于刀尖的位置矩阵。这允许计算与每个插补点对应的凸缘中心的位置矩阵。使用位置矩阵作为法兰中心，计算机器人可控轴上的旋转角度。通过基于给定速度设置的插补点之间的距离，可以控制任何加工点处的加工速度。

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