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1. 发明授权

US09144904B2 Method and system for automatically preventing deadlock in multi-robot systems 有权
标题翻译：自动防止多机器人系统中的死锁的方法和系统
公开(公告)号：US09144904B2
公开(公告)日：2015-09-29
申请号：US13462234
申请日：2012-05-02
申请人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
发明人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , B25J9/1676 , G05B2219/39135 , G05B2219/40442 , G05B2219/40477 , G05B2219/40492
摘要： A system and method for controlling avoiding collisions and deadlocks in a workcell containing multiple robots automatically determines the potential deadlock conditions and identifies a way to avoid these conditions. Deadlock conditions are eliminated by determining the deadlock-free motion statements prior to execution of the motions that have potential deadlock conditions. This determination of deadlock-free motion statements can be done offline, outside normal execution, or it can be done during normal production execution. If there is sufficient CPU processing time available, the determination during normal production execution provides the most flexibility to respond to dynamic conditions such as changes in I/O timing or the timing of external events or sequences. For minimal CPU impact the determination is done offline where many permutations of programming sequences can be analyzed and an optimized sequence of execution may be found.
摘要翻译：用于控制避免包含多个机器人的工作单元中的碰撞和死锁的系统和方法自动确定潜在的死锁状况并且识别避免这些条件的方式。通过在执行具有潜在的死锁条件的运动之前确定无死锁动作语句来消除死锁条件。这种无死锁运动语句的确定可以在正常执行之外脱机完成，也可以在正常的生产执行期间完成。如果有足够的CPU处理时间可用，则在正常生产执行期间的确定提供了响应动态条件（例如I / O定时改变或外部事件或序列的定时）的最大灵活性。为了最小的CPU影响，离线执行确定，可以分析编程序列的多个排列，并且可以找到优化的执行顺序。

2. 发明申请

US20120215351A1 METHOD AND SYSTEM FOR AUTOMATICALLY PREVENTING DEADLOCK IN MULTI-ROBOT SYSTEMS 有权
标题翻译：用于自动防止多机器人系统中死机的方法和系统
公开(公告)号：US20120215351A1
公开(公告)日：2012-08-23
申请号：US13462234
申请日：2012-05-02
申请人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
发明人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
IPC分类号： G05B19/418
CPC分类号： B25J9/1666 , B25J9/1676 , G05B2219/39135 , G05B2219/40442 , G05B2219/40477 , G05B2219/40492
摘要： A system and method for controlling avoiding collisions and deadlocks in a workcell containing multiple robots automatically determines the potential deadlock conditions and identifies a way to avoid these conditions. Deadlock conditions are eliminated by determining the deadlock-free motion statements prior to execution of the motions that have potential deadlock conditions. This determination of deadlock-free motion statements can be done offline, outside normal execution, or it can be done during normal production execution. If there is sufficient CPU processing time available, the determination during normal production execution provides the most flexibility to respond to dynamic conditions such as changes in I/O timing or the timing of external events or sequences. For minimal CPU impact the determination is done offline where many permutations of programming sequences can be analyzed and an optimized sequence of execution may be found.
摘要翻译：用于控制避免包含多个机器人的工作单元中的碰撞和死锁的系统和方法自动确定潜在的死锁状况并且识别避免这些条件的方式。通过在执行具有潜在的死锁条件的运动之前确定无死锁动作语句来消除死锁条件。这种无死锁运动语句的确定可以在正常执行之外脱机完成，也可以在正常的生产执行期间完成。如果有足够的CPU处理时间可用，则在正常生产执行期间的确定提供了响应动态条件（例如I / O定时改变或外部事件或序列的定时）的最大灵活性。为了最小的CPU影响，离线执行确定，可以分析编程序列的多个排列，并且可以找到优化的执行顺序。

3. 发明授权

US07860609B2 Robot multi-arm control system 有权
标题翻译：机器人多臂控制系统
公开(公告)号：US07860609B2
公开(公告)日：2010-12-28
申请号：US11381589
申请日：2006-05-04
申请人： Akihiro Yanagita , Jianming Tao , Tien L. Chang , Ho Cheung Wong , H. Dean McGee , Chi-Keng Tsai , Sai-Kai Cheng , Steven E. Nickel , Hadi Akeel
发明人： Akihiro Yanagita , Jianming Tao , Tien L. Chang , Ho Cheung Wong , H. Dean McGee , Chi-Keng Tsai , Sai-Kai Cheng , Steven E. Nickel , Hadi Akeel
IPC分类号： G06F19/00 , G06F15/16
CPC分类号： B25J9/1682 , B25J9/1669 , G05B2219/33097 , G05B2219/33144 , G05B2219/33274 , G05B2219/34397 , G05B2219/34398 , G05B2219/39129 , G05B2219/40307
摘要： A robot multi-arm control system includes robot controllers that communicate via a network to transmit synchronization information from a master controller to one or more slave controllers in order to coordinate manufacturing processes. The system accounts for the network communication delay when synchronizing the event timing for process and motion synchronization.
摘要翻译：机器人多臂控制系统包括机器人控制器，其通过网络通信以将同步信息从主控制器传送到一个或多个从属控制器，以便协调制造过程。同步处理和运动同步的事件定时时，系统会考虑网络通信延迟。

4. 发明授权

US07211978B2 Multiple robot arm tracking and mirror jog 有权
标题翻译：多机器人手臂跟踪和镜面点动
公开(公告)号：US07211978B2
公开(公告)日：2007-05-01
申请号：US10872270
申请日：2004-06-18
申请人： Tien L. Chang , H. Dean McGee , Eric Wong , Sai-Kai Cheng , Jason Tsai
发明人： Tien L. Chang , H. Dean McGee , Eric Wong , Sai-Kai Cheng , Jason Tsai
IPC分类号： B25J3/00 , B25J9/00 , G05B19/423 , G05B19/18 , G06F9/46
CPC分类号： G05B19/427 , B25J9/1669 , G05B2219/36454 , G05B2219/37572 , G05B2219/39083 , G05B2219/39122 , G05B2219/39135 , G05B2219/39136 , G05B2219/39445
摘要： A system for performing the method of this invention includes a leader having a robot arm able to articulate about first axes and supporting an end effector. A follower includes a robot arm able to articulate about respective second axes. Servo motors articulate the leader arm about the first axes and the follower arm about the second axes. A user interface allows a user to jog the arm of the leader and to program movement of the arms for automatic execution such that the end effector reaches predetermined positions. A controller, operatively connected to the servo motors and the user interface, controls operation of the servo motors, moves the arm of the leader in accordance with the programmed movement, and moves the arm of the follower such that it tracks or mirrors movement of the leader.
摘要翻译：用于执行本发明的方法的系统包括具有能够围绕第一轴线铰接并支撑端部执行器的机器人臂的引导件。跟随器包括能够关于相应的第二轴线铰接的机器人手臂。伺服电动机围绕第一轴线和从动臂围绕第二轴线连接引导臂。用户界面允许用户对所述引导件的臂进行点动，并且编程所述臂的移动以进行自动执行，使得所述末端执行器到达预定位置。控制器可操作地连接到伺服电动机和用户接口，控制伺服电机的操作，根据编程的运动移动引导器的臂，并移动跟随器的臂，使其跟踪或反映领导。

5. 发明授权

US06845295B2 Method of controlling a robot through a singularity 有权
标题翻译：通过奇点控制机器人的方法
公开(公告)号：US06845295B2
公开(公告)日：2005-01-18
申请号：US10382387
申请日：2003-03-06
申请人： Sai-Kai Cheng , Di Xiao , Chi-Keng Tsai , H. Dean McGee , Min-Ren Jean
发明人： Sai-Kai Cheng , Di Xiao , Chi-Keng Tsai , H. Dean McGee , Min-Ren Jean
IPC分类号： B25J9/18 , G05B19/4103 , G06F19/00
CPC分类号： G05B19/4103 , G05B2219/34169 , G05B2219/40333
摘要： A method of controlling a robot (32) includes the steps of selecting an initial configuration from at least one of a first, second, and third sets to position a TCP at a starting point (44) along a path (33) and selecting a final configuration different than the initial configuration to position the TCP at an ending point (46). Next, the TCP moves from the starting point (44) while maintaining the initial configuration, approaches the singularity between a first point (48) and a second point (50), and selects one of the axes in response to reaching the first point (48). The angle for the selected axis is interpolated from the first point (48) to the second point (50). After the interpolation, the angles about the remaining axes are determined and positions the arms in the final configuration when the TCP reaches the second point (50) and moves to the ending point (46) while maintaining the final configuration.
摘要翻译：一种控制机器人（32）的方法包括以下步骤：从第一，第二和第三组中的至少一个中选择初始配置，以沿着路径（33）在起点（44）定位TCP，并选择一个最终配置与初始配置不同，以将TCP定位在终点（46）。接下来，TCP在保持初始配置的同时从起始点（44）移动，接近第一点（48）和第二点（50）之间的奇异点，并且响应于到达第一点而选择一个轴 48）。所选择的轴的角度从第一点（48）插入第二点（50）。在插补之后，当TCP到达第二点（50）并移动到终点（46）同时保持最终配置时，确定关于剩余轴的角度并将臂定位在最终配置中。

6. 发明授权

US5331264A Method and device for generating an input command for a motion control system 失效
标题翻译：用于产生运动控制系统的输入命令的方法和装置
公开(公告)号：US5331264A
公开(公告)日：1994-07-19
申请号：US048654
申请日：1993-04-15
申请人： Sai-Kai Cheng , H. Dean McGee , Chi-Ken Tsai , Hadi A. Akeel
发明人： Sai-Kai Cheng , H. Dean McGee , Chi-Ken Tsai , Hadi A. Akeel
IPC分类号： B25J9/18 , G05B19/416
CPC分类号： G05B19/416 , G05B2219/39195 , G05B2219/43029 , G05B2219/43099 , G05B2219/45104
摘要： A method and device of achieving motion cycle time reduction that takes motor capabilities, load inertia and gravity into account and, at the same time, produces acceptable tool tip vibration upon stopping. This cycle time reduction is especially applicable to short motions of a robot where the entire motion consists of acceleration and deceleration and there is no constant velocity region. The method and device provide open loop limiting factors for axis jerk, acceleration and velocity, taking into account robot position, payload and inertia.
摘要翻译：实现运动周期时间缩短的方法和装置，其考虑电动机能力，负载惯量和重力，并且同时在停止时产生可接受的工具尖端振动。该循环时间的减少特别适用于机器人的短运动，其中整个运动由加速和减速组成，并且没有恒定的速度区域。考虑到机器人的位置，有效载荷和惯性，该方法和装置为轴加速度，加速度和速度提供了开环限制因素。

7. 发明授权

US06385508B1 Lead-through teach handle assembly and method of teaching a robot assembly 失效
标题翻译：引导式教学手柄组件和教学机器人组件的方法
公开(公告)号：US06385508B1
公开(公告)日：2002-05-07
申请号：US09702571
申请日：2000-10-31
申请人： H. Dean McGee , Eric C. Lee , Robert V. Bauer , Peter J. Swanson , Sai-Kai Cheng , Chi-Keng Tsai , Yi Sun
发明人： H. Dean McGee , Eric C. Lee , Robert V. Bauer , Peter J. Swanson , Sai-Kai Cheng , Chi-Keng Tsai , Yi Sun
IPC分类号： G05B1904
CPC分类号： G05B19/423 , B25J9/0081 , G05B2219/39409 , G05B2219/39466 , G05B2219/39529 , G05B2219/40562
摘要： A method of teaching a robot a desired operating path and a lead-through teach handle assembly are disclosed. A mounting mechanism mounts the entire handle assembly to an arm of the robot. The handle assembly also includes a handle that is supported by the mounting mechanism. A robot operator utilizes the handle assembly and grasps the handle to apply an external force to move the robot arm, or the operator, without the handle assembly, directly holds a tool connected to the robot arm to apply the external force at the tool. The handle assembly is characterized by a universal joint that interconnects the handle and the mounting mechanism and that accommodates orientation changes of the handle relative to the mounting mechanism that result from translational and rotational movement of the robot arm as the user is teaching the robot. The external force applied at the tool is estimated with either a force sensor disposed on the handle assembly or by monitoring the torque of motors used to move the robot. Motion commands are generated in response to the estimated force to power assist the operator in moving the robot arm. During teaching of the robot, the operator selects either a translational operating mode which limits the movement imparted on the tool only to translational movement, or a rotational operating mode which limits the movement imparted on the tool only to rotational movement.
摘要翻译：公开了一种向机器人教导期望的操作路径和引导教导手柄组件的方法。安装机构将整个手柄组件安装到机器人的臂上。手柄组件还包括由安装机构支撑的手柄。机器人操作者利用手柄组件并抓握手柄以施加外力以移动机器人手臂或操作者而不用手柄组件，直接夹持连接到机器人手臂的工具以将外力施加在工具上。手柄组件的特征在于，万向节将手柄和安装机构相互连接，并且当使用者正在教导机器人时，该手柄与安装机构相互相对于由机器人手臂的平移和旋转移动而相对于安装机构的方位变化。通过设置在手柄组件上的力传感器或通过监测用于移动机器人的电动机的扭矩估计在工具处施加的外力。响应于估计的动力来产生运动命令，以帮助操作者移动机器人手臂。在机器人的教导期间，操作者选择将仅在刀具上施加的运动仅限于平移运动的平移操作模式，或仅将赋予刀具的运动限制为旋转运动的旋转操作模式。

8. 发明授权

US6070109A Robot calibration system 失效
标题翻译：机器人校准系统
公开(公告)号：US6070109A
公开(公告)日：2000-05-30
申请号：US37446
申请日：1998-03-10
申请人： H. Dean McGee , Hadi A. Akeel , Chi-Keng Tsai , Eric Lee , Min-Ren Jean , Sai-Kai Cheng
发明人： H. Dean McGee , Hadi A. Akeel , Chi-Keng Tsai , Eric Lee , Min-Ren Jean , Sai-Kai Cheng
IPC分类号： B25J9/16 , G05B15/00 , G05B19/00
CPC分类号： B25J9/1692 , G05B2219/39009 , G05B2219/40621
摘要： A robot calibration system includes a calibration sensor that provides an indication of when a first reference point that remains fixed relative to a robot base is a fixed distance from a second reference point that is located on the robot arm. The robot arm is moved through a plurality of orientations and each time that the fixed distance between the two reference points is achieved, robot joint position information is determined. The preferred calibration sensor includes a string that extends between the two reference points and activates a signal generator each time that the string is taut as caused by the orientation of the robot arm. The generated signal indicates that the two reference points are separated by the fixed distance. The determined robot joint positions are then used to determine a calibration factor which varies depending on the needs of a particular situation. Example calibration factors are useful for correcting errors in robot kinematic information, locating the workcell reference frame and locating the tool center point reference frame.
摘要翻译：机器人校准系统包括校准传感器，其提供关于何时相对于机器人基座保持固定的第一参考点与位于机器人手臂上的第二参考点的固定距离的指示。机器人臂移动多个取向，并且每当实现两个参考点之间的固定距离时，确定机器人关节位置信息。优选的校准传感器包括在两个参考点之间延伸的弦线，并且每当由于机器人手臂的取向引起弦线拉紧时激活信号发生器。生成的信号表示两个参考点被分开固定距离。然后，所确定的机器人关节位置用于确定根据特定情况的需要而变化的校准因子。示例校准因子可用于校正机器人运动信息中的错误，定位工作单元参考系和定位刀具中心点参考系。

9. 发明申请

US20060287769A1 Robot multi-arm control system 有权
标题翻译：机器人多臂控制系统
公开(公告)号：US20060287769A1
公开(公告)日：2006-12-21
申请号：US11381589
申请日：2006-05-04
申请人： Akihiro Yanagita , Jianming Tao , Tien Chang , Ho Wong , H. McGee , Chi-Keng Tsai , Sai-Kai Cheng , Steven Nickel , Hadi Akeel
发明人： Akihiro Yanagita , Jianming Tao , Tien Chang , Ho Wong , H. McGee , Chi-Keng Tsai , Sai-Kai Cheng , Steven Nickel , Hadi Akeel
IPC分类号： G06F19/00
CPC分类号： B25J9/1682 , B25J9/1669 , G05B2219/33097 , G05B2219/33144 , G05B2219/33274 , G05B2219/34397 , G05B2219/34398 , G05B2219/39129 , G05B2219/40307
摘要： A robot multi-arm control system includes robot controllers that communicate via a network to transmit synchronization information from a master controller to one or more slave controllers in order to coordinate manufacturing processes. The system accounts for the network communication delay when synchronizing the event timing for process and motion synchronization.
摘要翻译：机器人多臂控制系统包括机器人控制器，其通过网络通信以将同步信息从主控制器传送到一个或多个从属控制器，以便协调制造过程。同步处理和运动同步的事件定时时，系统会考虑网络通信延迟。

10. 发明授权

US07853356B2 Method for optimizing a robot program and a robot system 有权
标题翻译：用于优化机器人程序和机器人系统的方法
公开(公告)号：US07853356B2
公开(公告)日：2010-12-14
申请号：US11279764
申请日：2006-04-14
申请人： Jason Tsai , Yi Sun , Sai-Kai Cheng , Min Ren Jean , Hadi Akeel
发明人： Jason Tsai , Yi Sun , Sai-Kai Cheng , Min Ren Jean , Hadi Akeel
IPC分类号： G06F19/00
CPC分类号： B25J9/1671 , B25J9/1602 , G05B2219/36252 , Y10S706/92
摘要： An apparatus and a method for optimizing robot performance includes a computer connected to the robot controller for receiving performance data of the robot as the controller executes a path program. The computer uses the performance data, user specified optimization objectives and constraints and a kinematic/dynamic simulator to generate a new set of control system parameters to replace the default set in the controller. The computer repeats the process until the new set of control system parameters is optimized.
摘要翻译：用于优化机器人性能的装置和方法包括连接到机器人控制器的计算机，用于当控制器执行路径程序时接收机器人的性能数据。计算机使用性能数据，用户指定的优化目标和约束以及运动/动态模拟器来生成一组新的控制系统参数来替代控制器中的默认设置。计算机重复该过程，直到新的控制系统参数集合被优化为止。

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