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1. 发明授权

US06822412B1 Method for calibrating and programming of a robot application 失效
标题翻译：机器人应用程序的校准和编程方法
公开(公告)号：US06822412B1
公开(公告)日：2004-11-23
申请号：US10458810
申请日：2003-06-11
申请人： Zhongxue Gan , Gregory Rossano , Xiongzi Li , Yunquan Sun , Quing Tang , Torgny Brogårdh , Häkan Brantmark
发明人： Zhongxue Gan , Gregory Rossano , Xiongzi Li , Yunquan Sun , Quing Tang , Torgny Brogårdh , Häkan Brantmark
IPC分类号： B25J904
CPC分类号： G05B19/4083 , B25J9/1692 , G05B2219/36504 , G05B2219/39021 , G05B2219/39022
摘要： A method for programming of a robot application comprising an industrial robot having a robot coordinate system, a tool having a tool coordinate system and a work object (3) to be processed by the tool. The application is programmed by means of a position-measuring unit (15) adapted for measuring positions relative a measuring coordinate system (db). The programming method comprises: selecting an object reference structure (25) on the object, defining a mathematical model for the object reference structure, defining an object coordinate system (o2), providing measurements by the position-measuring unit on the surface of the object reference structure, determining the object coordinate system in relation to the measuring coordinate system (db) by best fit between said measurements and said mathematical model of the object reference structure.
摘要翻译：一种用于机器人应用程序编程的方法，包括具有机器人坐标系的工业机器人，具有工具坐标系的工具和由工具处理的工件（3）。应用程序通过位置测量单元（15）进行编程，位置测量单元适用于相对测量坐标系（db）测量位置。编程方法包括：在对象上选择对象参考结构（25），定义对象参考结构的数学模型，定义对象坐标系（o2），通过位置测量单元在对象表面上提供测量参考结构，通过所述测量与对象参考结构的所述数学模型之间的最佳拟合来确定与测量坐标系（db）相关的对象坐标系。

2. 发明授权

US06836702B1 Method for fine tuning of a robot program 有权
标题翻译：微调机器人程序的方法
公开(公告)号：US06836702B1
公开(公告)日：2004-12-28
申请号：US10458785
申请日：2003-06-11
申请人： Torgny Brogårdh , Håkan Brantmark , Zhongxue Gan , Gregory Rossano , Xiongzi Li , Yunquan Sun , Quing Tang
发明人： Torgny Brogårdh , Håkan Brantmark , Zhongxue Gan , Gregory Rossano , Xiongzi Li , Yunquan Sun , Quing Tang
IPC分类号： G06F1900
CPC分类号： B25J9/1664 , B23K26/04 , B23K26/0884 , B25J9/1692 , G05B19/4083 , G05B19/425 , G05B2219/36404 , G05B2219/36407
摘要： A method for fine tuning of a robot program for a robot application comprising an industrial robot, a tool and a work object to be processed by the tool along a path comprising a number of desired poses on the work object, the robot program comprises a number of program instructions containing programmed poses corresponding to the desired poses, wherein the method comprises: defining a fine tuning coordinate system Xft, Yft, Zft, selecting one of said programmed poses pi, calculating said selected pose in the fine tuning coordinate system, producing program instructions for said selected pose in the fine tuning coordinate system, running said one or more program instructions by the robot, determining the difference between the pose obtained after running the program instructions and the desired pose, adjusting the fine tuning coordinate system in dependence of said difference, producing program instructions for said selected pose in the adjusted fine tuning coordinate system Xft′, Yft′, Zft′.
摘要翻译：一种用于机器人应用的机器人程序的微调方法，所述机器人程序包括工业机器人，工具和工具，所述工具由所述工具沿着包括所述工件上的多个所需姿势的路径处理，所述机器人程序包括：包含与期望姿势相对应的程序化姿势的程序指令，其中该方法包括：定义微调坐标系Xft，Yft，Zft，选择所述编程姿态pi中的一个，在微调坐标系中计算所述选定姿势，产生程序用于在微调坐标系中的所述选定姿态的指令，由机器人运行所述一个或多个程序指令，确定在运行程序指令之后获得的姿态与所需姿势之间的差异，根据所述姿势调整微调坐标系在调整的微调坐标系Xft'，Yft'中产生用于所述选定姿态的程序指令，，Zft'。

3. 发明授权

US08407661B2 Method and system for creating HMI applications for an automation process 有权
标题翻译：为自动化过程创建HMI应用程序的方法和系统
公开(公告)号：US08407661B2
公开(公告)日：2013-03-26
申请号：US12181003
申请日：2008-07-28
申请人： Jianjun Wang , Xiongzi Li , Carlos Martinez , Thomas Fuhlbrigge
发明人： Jianjun Wang , Xiongzi Li , Carlos Martinez , Thomas Fuhlbrigge
IPC分类号： G06F9/44
CPC分类号： G06F8/38 , Y02P90/265
摘要： There is described a method and system for developing for an automation process a screen viewable on a target computer that has user interface objects. A development computer has a set of common design time components from a general purpose software development kit that also has a databinding facility and a set of customization components. Those components have an interface that allows access to the available for use automation process data objects and a process object picker that act as a user interface to the databinding facility to allow the browsing of a subset of the available for use data objects and selecting of one or more of the objects in the subset for binding by the databinding facility either to one or more members of the user interface objects or one or more of the user interface objects or a combination of the same.
摘要翻译：描述了一种用于为自动化过程开发可在具有用户界面对象的目标计算机上查看的屏幕的方法和系统。开发计算机具有一组通用设计时间组件，通用软件开发工具包也具有数据绑定功能和一组定制组件。这些组件具有允许访问可用于使用的自动化过程数据对象的接口和作为数据绑定设施的用户界面的过程对象选择器，以允许浏览可用数据对象的子集并选择一个或更多的子集中的对象，用于由数据绑定设施绑定到用户界面对象的一个或多个成员或一个或多个用户界面对象或其组合。

4. 发明申请

US20100023141A1 Method And System For Creating HMI Applications For An Automation Process 有权
标题翻译：自动化过程创建HMI应用的方法和系统
公开(公告)号：US20100023141A1
公开(公告)日：2010-01-28
申请号：US12181003
申请日：2008-07-28
申请人： Jianjun Wang , Xiongzi Li , Carlos Martinez , Thomas Fuhlbrigge
发明人： Jianjun Wang , Xiongzi Li , Carlos Martinez , Thomas Fuhlbrigge
IPC分类号： G05B19/00
CPC分类号： G06F8/38 , Y02P90/265
摘要： There is described a method and system for developing for an automation process a screen viewable on a target computer that has user interface objects. A development computer has a set of common design time components from a general purpose software development kit that also has a databinding facility and a set of customization components. Those components have an interface that allows access to the available for use automation process data objects and a process object picker that act as a user interface to the databinding facility to allow the browsing of a subset of the available for use data objects and selecting of one or more of the objects in the subset for binding by the databinding facility either to one or more members of the user interface objects or one or more of the user interface objects or a combination of the same.
摘要翻译：描述了一种用于为自动化过程开发可在具有用户界面对象的目标计算机上查看的屏幕的方法和系统。开发计算机具有一组通用设计时间组件，通用软件开发工具包也具有数据绑定功能和一组定制组件。这些组件具有允许访问可用于使用的自动化过程数据对象的接口和作为数据绑定设施的用户界面的过程对象选择器，以允许浏览可用数据对象的子集并选择一个或更多的子集中的对象，用于由数据绑定设施绑定到用户界面对象的一个或多个成员或一个或多个用户界面对象或其组合。

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