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1. 发明授权

US07904202B2 Method and system to provide improved accuracies in multi-jointed robots through kinematic robot model parameters determination 有权
标题翻译：通过运动机器人模型参数确定提高多关节机器人精度的方法和系统
公开(公告)号：US07904202B2
公开(公告)日：2011-03-08
申请号：US11666187
申请日：2005-10-25
申请人： Wally C. Hoppe
发明人： Wally C. Hoppe
IPC分类号： G06F19/00
CPC分类号： B25J9/1692 , G05B2219/37123 , G05B2219/39015 , G05B2219/39022 , G05B2219/40527
摘要： A method and system to provide improved accuracies in multi jointed robots through kinematic robot model parameters determination are disclosed. The present invention calibrates multi-jointed robots by using the chain rule for differentiation in the Jacobian derivation for variations in calculated poses of reference points of a reference object as a function of variations in robot model parameters. The present invention also uses two such reference objects and the known distance therebetween to establish a length scale, thus avoiding the need to know one link length of the robot. In addition, the present invention makes use of iterative methods to find the optimum solution for improved accuracy of the resultant model parameters. Furthermore, the present invention provides for determination of the end joint parameters of the robot, including parameters defining the tool attachment mechanism frame, which allows for interchange of tools without subsequent calibration.
摘要翻译：公开了一种通过运动学机器人模型参数确定提高多关节机器人精度的方法和系统。本发明通过使用雅可比派系中用于区分的链规则来校准多关节机器人，用于参考对象的参考点的计算姿势的变化作为机器人模型参数的变化的函数。本发明还使用两个这样的参考对象和它们之间的已知距离来建立长度尺度，从而避免需要知道机器人的一个链接长度。此外，本发明利用迭代方法找到最终解决方案，以提高所得到的模型参数的精度。此外，本发明提供了确定机器人的端部接头参数，包括限定工具附接机构框架的参数，其允许在不后续校准的情况下交换工具。

2. 发明授权

US4581070A Multiphase backing materials for piezoelectric broadband transducers 失效
公开(公告)号：US4581070A
公开(公告)日：1986-04-08
申请号：US638077
申请日：1984-08-06
申请人： Yoseph Bar-Cohen , David A. Stubbs , Wally C. Hoppe
发明人： Yoseph Bar-Cohen , David A. Stubbs , Wally C. Hoppe
IPC分类号： G10K11/00 , G10K11/16 , B22F3/00 , B22F3/12 , B22F3/24
CPC分类号： G10K11/165 , G10K11/002 , Y10S428/929 , Y10T428/12014 , Y10T428/12181
摘要： An acoustical transducer is provided with an acoustically absorbant backing material having an acoustical impedance precisely matching the impedance of the piezoelectric element in the transducer. The backing material is a multiphase mixture of selected materials, such as a low melting point alloy (InPb) and one or more powders having high impedance characteristics (tungsten and copper). The slope of the curve impedance versus volume fraction of the backing components is low, thus allowing the impedance of the material to be precisely controlled. The backing material is preferably electrically conductive and is fuzed to one surface of the piezoelectric element to further improve the output characteristics of the transducer.

3. 发明授权

US4482835A Multiphase backing materials for piezoelectric broadband transducers 失效
标题翻译：用于压电宽带换能器的多相背衬材料
公开(公告)号：US4482835A
公开(公告)日：1984-11-13
申请号：US493099
申请日：1983-05-09
申请人： Yoseph Bar-Cohen , David A. Stubbs , Wally C. Hoppe
发明人： Yoseph Bar-Cohen , David A. Stubbs , Wally C. Hoppe
IPC分类号： G10K11/00 , G10K11/16 , H01L41/08
CPC分类号： G10K11/165 , G10K11/002
摘要： An acoustical transducer is provided with an acoustically absorbant backing material having an acoustical impedance precisely matching the impedance of the piezoelectric element in the transducer. The backing material is a multiphase mixture of selected materials, such as a low melting point alloy (InPb) and one or more powders having high impedance characteristics (tungsten and copper). The slope of the curve impedance versus volume fraction of the backing components is low, thus allowing the impedance of the material to be precisely controlled. The backing material is preferably electrically conductive and is fuzed to one surface of the piezoelectric element to further improve the output characteristics of the transducer.
摘要翻译：声学传感器设置有吸声背衬材料，其具有与换能器中的压电元件的阻抗精确匹配的声阻抗。背衬材料是所选材料的多相混合物，例如低熔点合金（InPb）和一种或多种具有高阻抗特性（钨和铜）的粉末。曲线阻抗对背衬组件的体积分数的斜率较低，从而允许材料的阻抗被精确控制。背衬材料优选是导电的并且被固定到压电元件的一个表面以进一步改善换能器的输出特性。

4. 发明授权

US4582680A Multiphase backing materials for piezoelectric broadband transducers 失效
标题翻译：用于压电宽带换能器的多相背衬材料
公开(公告)号：US4582680A
公开(公告)日：1986-04-15
申请号：US638076
申请日：1984-08-06
申请人： Yoseph Bar-Cohen , David A. Stubbs , Wally C. Hoppe
发明人： Yoseph Bar-Cohen , David A. Stubbs , Wally C. Hoppe
IPC分类号： G10K11/00 , G10K11/16 , B22F3/00 , B22F3/12 , B22F3/24
CPC分类号： G10K11/165 , G10K11/002 , Y10T29/42
摘要： An acoustical transducer is provided with an acoustically absorbant backing material having an acoustical impedance precisely matching the impedance of the piezoelectric element in the transducer. The backing material is a multiphase mixture of selected materials, such as a low melting point alloy (InPb) and one or more powders having high impedance characteristics (tungsten and copper). The slope of the curve impedance versus volume fraction of the backing components is low, thus allowing the impedance of the material to be precisely controlled. The backing material is preferably electrically conductive and is fuzed to one surface of the piezoelectric element to further improve the output characteristics of the transducer.
摘要翻译：声学传感器设置有吸声背衬材料，其具有与换能器中的压电元件的阻抗精确匹配的声阻抗。背衬材料是所选材料的多相混合物，例如低熔点合金（InPb）和一种或多种具有高阻抗特性（钨和铜）的粉末。曲线阻抗对背衬组件的体积分数的斜率较低，从而允许材料的阻抗被精确控制。背衬材料优选是导电的并且被固定到压电元件的一个表面以进一步改善换能器的输出特性。

5. 发明申请

US20080188986A1 Method and System to Provide Improved Accuracies in Multi-Jointed Robots Through Kinematic Robot Model Parameters Determination 有权
标题翻译：通过运动机器人模型参数确定提供多关节机器人精度的方法与系统
公开(公告)号：US20080188986A1
公开(公告)日：2008-08-07
申请号：US11666187
申请日：2005-10-25
申请人： Wally C. Hoppe
发明人： Wally C. Hoppe
IPC分类号： G05B19/02 , B25J9/16
CPC分类号： B25J9/1692 , G05B2219/37123 , G05B2219/39015 , G05B2219/39022 , G05B2219/40527
摘要： A method and system to provide improved accuracies in multi jointed robots through kinematic robot model parameters determination are disclosed. The present invention calibrates multi-jointed robots by using the chain rule for differentiation in the Jacobian derivation for variations in calculated poses of reference points of a reference object as a function of variations in robot model parameters. The present invention also uses two such reference objects and the known distance therebetween to establish a length scale, thus avoiding the need to know one link length of the robot. In addition, the present invention makes use of iterative methods to find the optimum solution for improved accuracy of the resultant model parameters. Furthermore, the present invention provides for determination of the end joint parameters of the robot, including parameters defining the tool attachment mechanism frame, which allows for interchange of tools without subsequent calibration.
摘要翻译：公开了一种通过运动学机器人模型参数确定提高多关节机器人精度的方法和系统。本发明通过使用雅可比派系中用于区分的链规则来校准多关节机器人，用于参考对象的参考点的计算姿势的变化作为机器人模型参数的变化的函数。本发明还使用两个这样的参考对象和它们之间的已知距离来建立长度尺度，从而避免需要知道机器人的一个链接长度。此外，本发明利用迭代方法找到最终解决方案，以提高所得到的模型参数的精度。此外，本发明提供了确定机器人的端部接头参数，包括限定工具附接机构框架的参数，其允许在不后续校准的情况下交换工具。

6. 发明授权

US4854156A Pneumatic surface-following control system 失效
标题翻译：气动表面跟踪控制系统
公开(公告)号：US4854156A
公开(公告)日：1989-08-08
申请号：US292789
申请日：1989-01-03
申请人： James D. Hoeffel , Richard E. Elliott , Wally C. Hoppe , James S. Nevitt
发明人： James D. Hoeffel , Richard E. Elliott , Wally C. Hoppe , James S. Nevitt
IPC分类号： G01B7/02 , G01B13/00
CPC分类号： G01B7/023 , G01B13/00 , Y10S33/02
摘要： An apparatus for maintaining the end of a probe carrying a sensor, such as an eddy current probe, a predetermined distance from a workpiece includes a housing in which a piston is permitted to move. Air under pressure, introduced into a first chamber formed within the housing, acts on a first surface of the piston to urge it toward the workpiece. An air bearing is used to permit the almost friction free axial movement of the piston within the housing. Some of the air passes from the first chamber through a restricted opening in the piston into a second chamber and is vented toward the workpiece. The pressure in the second chamber will vary as a function of the distance of the end of the probe to the workpiece surface. The piston is provided with a second, larger, surface area exposed to the variable pressure in the second chamber, and as a result, the piston is urged away from the workpiece. The pressures acting in the two surfaces work together to maintain the piston, and the sensor, a constant distance from the workpiece.
摘要翻译：用于保持携带距离工件预定距离的传感器（例如涡流探针）的探头的端部的装置包括允许活塞允许移动的壳体。被引入形成在壳体内的第一腔室中的空气作用在活塞的第一表面上以将其推向工件。空气轴承用于允许活塞在壳体内几乎无摩擦的轴向运动。一些空气从第一室通过活塞中的限制开口进入第二室，并朝向工件排气。第二腔室中的压力将随着探针端部到工件表面的距离而变化。活塞设置有暴露于第二室中的可变压力的第二较大的表面区域，结果，活塞被迫远离工件。作用在两个表面上的压力一起工作，以保持活塞和传感器与工件的距离恒定。

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