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1. 发明专利

JP2006099474A Method for controlling robot locus 审中-公开
标题翻译：控制机器人位置的方法
公开(公告)号：JP2006099474A
公开(公告)日：2006-04-13
申请号：JP2004285344
申请日：2004-09-29
申请人： Fanuc Ltd , ファナック株式会社
发明人： KATO TETSURO , TSUCHIDA YUKINOBU , NAGAYAMA ATSURO , ICHINOSE MASAKAZU , HAMADA TOSHIHIKO
IPC分类号： G05B19/18 , B25J9/10 , G05B19/4093
CPC分类号： B25J9/1682
摘要： PROBLEM TO BE SOLVED: To easily take a desired position and a stance relative to a working tool even during an interpolation operation in cooperative operation by a robot holding work and a robot with the working tool attached thereto.
SOLUTION: A method for controlling a robot locus cooperate-controls a plurality of robots so that a position and a stance in a tool coordinate system 3 set to a working tool 2 attached to a leading robot 1 traces a desired locus on a tool coordinate system 5 set to work 4 held by a following robot 6. The method teaches both robots 1, 6 and calculates interpolated position data for the following robot 6 from interpolated position data for the leading robot 1, relative position data of both robots 1, 6, etc., during an reproduction operation. The method can be employed also for a manual feeding operation. A filtering processing to the interpolation position data makes the locus smooth.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：即使在通过机器人保持工作的协作操作的插入操作期间，与附加有工作工具的机器人相比，也能够容易地获得相对于作业工具的期望位置和姿态。解决方案：一种用于控制机器人轨迹的方法，协调控制多个机器人，使得设置到附接到领先机器人1的工作工具2的工具坐标系3中的位置和姿态在一个工具坐标系5被设置为由跟随机器人6保持的工作4.该方法教导机器人1,6，并且从前导机器人1的内插位置数据计算出随后的机器人6的内插位置数据，两个机器人1的相对位置数据，6等。该方法也可以用于手动进给操作。对插补位置数据的滤波处理使轨迹平滑。版权所有（C）2006，JPO＆NCIPI

2. 发明专利

JP2005219205A Servo system adjustable of flexibility on orthogonal coordinate system 审中-公开
标题翻译：伺服系统可调节正交坐标系统的灵活性
公开(公告)号：JP2005219205A
公开(公告)日：2005-08-18
申请号：JP2005030542
申请日：2005-02-07
申请人： Fanuc Ltd , ファナック株式会社
发明人： KATO TETSURO , TSUCHIDA YUKINOBU
IPC分类号： B25J13/00 , H02P5/00 , H02P29/00
摘要： PROBLEM TO BE SOLVED: To realize a software float function robot on an orthogonal coordinate system. SOLUTION: Forces (Fx, Fy, and Fz) on an orthogonal coordinate system Σ0 are gained by using a position deviation and parameters (Kx, Ky, and Kz) set on the orthogonal coordinate system Σ0. The forces (Fx, Fy, and Fz) gained in step S2 are converted into the data (Fx (n+1) , Fy (n+1) , and Fz (n+1) ) on a tool coordinate system Σn+1 using the robot attitude data. In addition, defining (Fx (n+1) , Fy (n+1) , Fz (n+1) )=(fx (n+1) , fy (n+1) , fz (n+1) ), each axis torque Ti is calculated by the Newton-Euler method and employed in a torque command (step S3). It is also possible to carry out a process like a position loop process to input a position loop input Ei, an integral process and velocity loop process to input a position loop output, or a process to add an output of the integral process and velocity loop process by calculating the position loop input Ei (step S4) the position loop process from Ti/(Kp Kv) (step S5). COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：在正交坐标系上实现软件浮点函数机器人。解决方案：通过使用在正交坐标系Σ0上设置的位置偏差和参数（Kx，Ky和Kz）获得正交坐标系Σ0上的力（Fx，Fy和Fz）。在步骤S2中获得的力（Fx，Fy和Fz）被转换为数据（Fx （n + 1），Fy （n + 1），Fz 使用机器人姿态数据在刀具坐标系Σn+ 1上使用（n + 1））。另外，定义（Fx （n + 1），Fy （n + 1），Fz （n + 1）（n + 1），fy （n + 1），fz （n + 1）），各轴转矩Ti 牛顿 - 欧拉方法，并用于转矩指令（步骤S3）。也可以进行位置循环处理以输入位置环输入Ei，积分过程和速度循环过程以输入位置环输出，或者加入积分过程和速度环的输出的过程通过从Ti /（Kp Kv）计算位置环路输入Ei（步骤S4）进行位置循环处理（步骤S5）的处理。版权所有（C）2005，JPO＆NCIPI

3. 发明专利

JP2009279608A System including robot and press, system including a plurality of robots, and controller for robot used in the same system 有权
标题翻译：包括机器人和系统的系统，包括机器人的多样性，以及在同一系统中使用的机器人的控制器
公开(公告)号：JP2009279608A
公开(公告)日：2009-12-03
申请号：JP2008133192
申请日：2008-05-21
申请人： Fanuc Ltd , ファナック株式会社
发明人： NIHEI AKIRA , KATO TETSURO , ARAMAKI TAKEAKI , YAMAMOTO TOMOYUKI , ICHINOSE MASAKAZU , TSUCHIDA YUKINOBU , SUZUKI HAJIME
IPC分类号： B30B13/00 , B25J13/00 , B30B15/26 , G05B19/18 , G05B19/418
CPC分类号： Y02P90/087
摘要： PROBLEM TO BE SOLVED: To avoid lowering of working efficiency of a system by continuously performing a synchronizing operation. SOLUTION: A system (1) including a robot and a press (hereinafter "robot etc.") which cooperate with each other is provided with a reference clock (6) to periodically renew time. The robot etc. is provided with: an internal clock (19); a teaching program (25), which stores, corresponding to the time of the internal clock, each position of the robot etc. in operation; an internal clock correcting means (21), which corrects the time of the internal clock so that the time of the internal clock coincides with the time of the reference clock; a reference clock correcting means (23), which, when the internal clock correcting means is unable to make the time of the internal clock coincide with the time of the reference clock, corrects the time of the reference clock so that the time of the internal clock coincides with the time of the reference clock; and an operation means, which operates the robot etc. in synchronization with the reference clock by calculating an operation command for each interpolation time of the robot etc. based on the time of the teaching program and the internal clock. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了避免通过连续执行同步操作来降低系统的工作效率。解决方案：包括彼此协作的机器人和按压机（以下称为“机器人等”）的系统（1）设置有周期性更新时间的参考时钟（6）。机器人等设置有：内部时钟（19）; 教学程序（25），其存储对应于内部时钟的时间的机器人等的各个位置的操作; 内部时钟校正装置（21），其校正内部时钟的时间，使得内部时钟的时间与参考时钟的时间一致; 参考时钟校正装置（23），当内部时钟校正装置不能使内部时钟的时间与参考时钟的时间一致时，校正参考时钟的时间，使得内部时钟的时间时钟与参考时钟的时间一致; 以及操作装置，其通过基于教学程序和内部时钟的时间计算机器人等的每个插值时间的操作命令，与参考时钟同步地操作机器人等。版权所有（C）2010，JPO＆INPIT

4. 发明专利

JP2006099347A Robot movement control method 审中-公开
标题翻译：机器人运动控制方法
公开(公告)号：JP2006099347A
公开(公告)日：2006-04-13
申请号：JP2004283777
申请日：2004-09-29
申请人： Fanuc Ltd , ファナック株式会社
发明人： NIHEI AKIRA , KATO TETSURO , TSUCHIDA YUKINOBU , NAGAYAMA ATSURO , ICHINOSE MASAKAZU
IPC分类号： G05B19/416 , B25J9/10
CPC分类号： B25J9/1664
摘要： PROBLEM TO BE SOLVED: To reduce an operation load to adjust teaching contents by trial and error in order to obtain a desired operation path, and to prevent the useless increase of a cycle time due to the adjusting operation by trial and error at the time of controlling the movement of a robot.
SOLUTION: A robot is moved along smooth paths 10 and 11 decided based on a teaching path specified to make the robot pass through a designated start point TP4, at least one intermediate point TP5 or TP 6 and an end TP 7. In this case, it is secured that the path on which the robot actually moves is matched with the teaching path in the neighborhood of the start point TP4 or the intermediate point.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：为了减少操作负载以通过反复试验来调整教学内容，以获得期望的操作路径，并且防止由于通过试验和错误的调整操作而导致的循环时间的无用增加控制机器人运动的时间。解决方案：机器人基于通过指定的教导路径决定的平滑路径10和11移动，以使机器人通过指定的起始点TP4，至少一个中间点TP5或TP6和终点TP 7. 在这种情况下，确保机器人实际移动的路径与起始点TP4或中间点附近的教导路径匹配。版权所有（C）2006，JPO＆NCIPI

5. 发明专利

JP2004148433A Robot device 有权
公开(公告)号：JP2004148433A
公开(公告)日：2004-05-27
申请号：JP2002315971
申请日：2002-10-30
申请人： Fanuc Ltd , ファナック株式会社
发明人： KATO TETSURO , TSUCHIDA YUKINOBU , SOMEYA MAKOTO
IPC分类号： B25J13/06 , B25J9/08 , B25J9/16 , B25J19/00 , G05B19/414
CPC分类号： B25J9/161 , B25J9/08 , G05B19/414 , G05B2219/33105 , G05B2219/33123 , G05B2219/40304 , Y02P90/265
摘要： PROBLEM TO BE SOLVED: To provide a robot device which automatically updates data inherent in a robot mechanism or a mechanical unit thereof after changing the mechanism or the unit. SOLUTION: After the completion of exchange of the mechanical unit or the robot mechanism (inclusive of reusing of the same unit or the same mechanism), only data of identifiers are read from nonvolatile memories belonging to encoders upon turning-on a power supply or upon a manual operation (F1, F2). Then it is determined whether the kind of robot is changed (F3), and if the kind of robot is changed, the data indicating the kind of robot is rewritten. If it is required to change a designated algorithm, the algorithm is rewritten (F4). If the kind of robot is not changed, it is determined whether part or all of an individual of the robot mechanism is changed (F5). Even if a single item of the individual is changed (inclusive of the kind of robot), the data inherent in the individual is rewritten (F6), and the other items of the data are read from the nonvolatile memories belonging to encoders, to thereby update corresponding data in a robot control unit. COPYRIGHT: (C)2004,JPO

6. 发明专利

JP2006068857A Inter-robot interference preventive control device 有权
标题翻译：机器间干扰预防控制装置
公开(公告)号：JP2006068857A
公开(公告)日：2006-03-16
申请号：JP2004255881
申请日：2004-09-02
申请人： Fanuc Ltd , ファナック株式会社
发明人： NIHEI AKIRA , KATO TETSURO , TSUCHIDA YUKINOBU , NAGAYAMA ATSURO , ICHINOSE MASAKAZU
IPC分类号： B25J13/00 , B25J19/06
CPC分类号： B25J9/1674 , B25J9/1666 , G05B2219/39097 , G05B2219/39098 , G05B2219/40475
摘要： PROBLEM TO BE SOLVED: To prevent the occurrence of interference by checking interference during the operation of a robot.
SOLUTION: A learning program of each robot is prefetched (S5). After the n-interpolation period from the present interpolation period, a stop scheduled position when a stop command is given is obtained in each robot (S12). In the stop scheduled position of each robot, it is checked whether or not interference occurs (S15). When interference is determined, a stop command is output from the current interpolation period. Thus, a stop command is output n-interpolation period before the interference occurs, whereby the occurrence of interference can be prevented.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：通过在机器人的操作期间检查干扰来防止干扰的发生。
解决方案：预取每个机器人的学习程序（S5）。在从当前插值期间的n次插补期间之后，在各机器人中获得停止命令时的停止预约位置（S12）。在每个机器人的停止预定位置中，检查是否发生干扰（S15）。当确定干扰时，从当前插值周期输出停止命令。因此，在发生干扰之前，输出停止命令，从而可以防止发生干扰。版权所有（C）2006，JPO＆NCIPI

7. 发明专利

DE69931025D1 未知
公开(公告)号：DE69931025D1
公开(公告)日：2006-06-01
申请号：DE69931025
申请日：1999-12-24
申请人： FANUC LTD
发明人： KATO TETSUAKI , TSUCHIDA YUKINOBU
IPC分类号： B25J9/16 , H01J9/385 , B25J9/18 , G05B19/4061 , G05B19/4062 , H01J29/86 , H01J31/12

8. 发明专利

DE69837741D1 未知
公开(公告)号：DE69837741D1
公开(公告)日：2007-06-21
申请号：DE69837741
申请日：1998-01-27
申请人： FANUC LTD
发明人： WATANABE ATSUSHI , KATO TETSUAKI , TSUCHIDA YUKINOBU
IPC分类号： B25J19/06 , G05B19/19 , B25J9/16 , B25J9/18 , G05B13/02 , G05D3/00 , G05D3/12
摘要： A robot (30) which holds a workpiece (W) to be loaded with a chuck (CH) moves on a programmed path from a TCP to a point Q in response to a command. When a force sensor (41) detects the contact between the distal end face of the workpiece (W) and a workpiece fixing surface (H), a loop gain of a servo control system is changed into a lower value. In consequence, the attitude of the workpiece (W) is corrected by means of a reaction force received from the workpiece fixing surface (H) and reaction forces from chucking members (CH1 to CH4), whereupon chucking is completed.

9. 发明专利

DE602005025967D1 Steuerungsgerät zur Robotersinterferenzvermeidung 未知
公开(公告)号：DE602005025967D1
公开(公告)日：2011-03-03
申请号：DE602005025967
申请日：2005-08-31
申请人： FANUC LTD
发明人： NIHEI RYO , KATO TETSUAKI , TSUCHIDA YUKINOBU , NAGAYAMA ATSUO , ICHINOSE MASAKAZU
IPC分类号： B25J9/16 , B25J13/00 , B25J19/06

10. 发明专利

DE69837741T2 未知
公开(公告)号：DE69837741T2
公开(公告)日：2008-01-31
申请号：DE69837741
申请日：1998-01-27
申请人： FANUC LTD
发明人： WATANABE ATSUSHI , KATO TETSUAKI , TSUCHIDA YUKINOBU
IPC分类号： B25J19/06 , G05B19/19 , B25J9/16 , B25J9/18 , G05B13/02 , G05D3/00 , G05D3/12
摘要： A robot (30) which holds a workpiece (W) to be loaded with a chuck (CH) moves on a programmed path from a TCP to a point Q in response to a command. When a force sensor (41) detects the contact between the distal end face of the workpiece (W) and a workpiece fixing surface (H), a loop gain of a servo control system is changed into a lower value. In consequence, the attitude of the workpiece (W) is corrected by means of a reaction force received from the workpiece fixing surface (H) and reaction forces from chucking members (CH1 to CH4), whereupon chucking is completed.

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