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1. 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。

2. 发明申请

US20070244599A1 A Method for Optimizing a Robot Program and a Robot System 有权
标题翻译：一种优化机器人程序和机器人系统的方法
公开(公告)号：US20070244599A1
公开(公告)日：2007-10-18
申请号：US11279764
申请日：2006-04-14
申请人： Jason Tsai , Yi Sun , Sai-Kai Cheng , Min Jean , Hadi Akeel
发明人： Jason Tsai , Yi Sun , Sai-Kai Cheng , Min 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换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。

3. 发明申请

US20090199690A1 METHOD OF CONTROLLING A ROBOT FOR SMALL SHAPE GENERATION 有权
标题翻译：控制小型造型机器人的方法
公开(公告)号：US20090199690A1
公开(公告)日：2009-08-13
申请号：US12369266
申请日：2009-02-11
申请人： Yi Sun , H. Dean McGee , Jason Tsai , Hadi Akeel
发明人： Yi Sun , H. Dean McGee , Jason Tsai , Hadi Akeel
IPC分类号： B25J9/16 , G06F19/00 , G05B19/00 , B26D5/08
CPC分类号： B25J9/1664 , B25J11/0055 , B25J11/006 , B26D5/005 , B26F1/3806 , B26F3/004 , Y10T83/0572 , Y10T83/0591 , Y10T83/869
摘要： A method of controlling robot motion for small shape generation is provided. The method includes the steps of: a) providing a robot having a plurality of interconnected distal links with a respective plurality major axes and a respective plurality of minor axes, the robot having a controller for moving the robot to a starting position and along a path including a series of interpolated positions to be followed relative a workpiece; b) moving the robot to the starting position; c) determining a next interpolated position on the path, wherein the robot remains fixed in position about at least one of the major axes and a location and an approach vector of the next interpolated position can be achieved; and d) moving the robot to the next interpolated position. A method where the robot remains fixed in position about all major axes is also provided.
摘要翻译：提供了一种控制小型生成机器人运动的方法。该方法包括以下步骤：a）提供具有多个相互连接的远端连杆的机器人，所述多个互连的远端连杆具有相应的多个主轴和相应的多个短轴，所述机器人具有用于将所述机器人移动到起始位置并沿着路径包括相对于工件跟随的一系列内插位置; b）将机器人移动到起始位置; c）确定所述路径上的下一内插位置，其中所述机器人保持固定在围绕所述主轴中的至少一个轴线的位置，并且可以实现所述下一个内插位置的位置和接近矢量; 和d）将机器人移动到下一个内插位置。还提供了一种机器人保持固定在所有长轴上的位置的方法。

4. 发明授权

US08820203B2 Method of controlling a robot for small shape generation 有权
标题翻译：控制小型造型机器人的方法
公开(公告)号：US08820203B2
公开(公告)日：2014-09-02
申请号：US12369266
申请日：2009-02-11
申请人： Yi Sun , H. Dean McGee , Jason Tsai , Hadi Akeel
发明人： Yi Sun , H. Dean McGee , Jason Tsai , Hadi Akeel
IPC分类号： G05B19/18 , G06F19/00
CPC分类号： B25J9/1664 , B25J11/0055 , B25J11/006 , B26D5/005 , B26F1/3806 , B26F3/004 , Y10T83/0572 , Y10T83/0591 , Y10T83/869
摘要： A method of controlling robot motion for small shape generation is provided. The method includes the steps of: a) providing a robot having a plurality of interconnected distal links with a respective plurality major axes and a respective plurality of minor axes, the robot having a controller for moving the robot to a starting position and along a path including a series of interpolated positions to be followed relative a workpiece; b) moving the robot to the starting position; c) determining a next interpolated position on the path, wherein the robot remains fixed in position about at least one of the major axes and a location and an approach vector of the next interpolated position can be achieved; and d) moving the robot to the next interpolated position. A method where the robot remains fixed in position about all major axes is also provided.
摘要翻译：提供了一种控制小型生成机器人运动的方法。该方法包括以下步骤：a）提供具有多个相互连接的远端连杆的机器人，所述多个互连的远端连杆具有相应的多个主轴和相应的多个短轴，所述机器人具有用于将所述机器人移动到起始位置并沿着路径包括相对于工件跟随的一系列内插位置; b）将机器人移动到起始位置; c）确定所述路径上的下一内插位置，其中所述机器人保持固定在围绕所述主轴中的至少一个的轴上的位置，并且可以实现所述下一内插位置的位置和接近矢量; 和d）将机器人移动到下一个内插位置。还提供了一种机器人保持固定在所有长轴上的位置的方法。

5. 发明授权

US08473103B2 Secondary position feedback control of a robot 有权
标题翻译：机器人二次位置反馈控制
公开(公告)号：US08473103B2
公开(公告)日：2013-06-25
申请号：US12693537
申请日：2010-01-26
申请人： Jason Tsai , Eric Wong , Jianming Tao , H. Dean McGee , Hadi Akeel
发明人： Jason Tsai , Eric Wong , Jianming Tao , H. Dean McGee , Hadi Akeel
IPC分类号： G05B19/18
CPC分类号： G05B19/404 , G05B2219/37297
摘要： A method of and apparatus for achieving dynamic robot accuracy includes a control system utilizing a dual position loop control. An outer position loop uses secondary encoders on the output side of the gear train of a robot joint axis, while the inner position loop uses the primary encoder attached to the motor. Both single and dual loop control can be used on the same robot and tooling axes.
摘要翻译：实现动态机器人精度的方法和装置包括利用双位置环控制的控制系统。外部位置回路在机器人关节轴线的齿轮系的输出侧使用二次编码器，而内部位置回路使用连接到电机的主编码器。单循环控制和双回路控制都可以在同一个机器人和加工轴上使用。

6. 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。

7. 发明申请

US20100191374A1 SECONDARY POSITION FEEDBACK CONTROL OF A ROBOT 有权
标题翻译：机器人的二次位置反馈控制
公开(公告)号：US20100191374A1
公开(公告)日：2010-07-29
申请号：US12693537
申请日：2010-01-26
申请人： Jason Tsai , Eric Wong , Jianming Tao , H. Dean McGee , Hadi Akeel
发明人： Jason Tsai , Eric Wong , Jianming Tao , H. Dean McGee , Hadi Akeel
IPC分类号： G05B19/18
CPC分类号： G05B19/404 , G05B2219/37297
摘要： A method of and apparatus for achieving dynamic robot accuracy includes a control system utilizing a dual position loop control. An outer position loop uses secondary encoders on the output side of the gear train of a robot joint axis, while the inner position loop uses the primary encoder attached to the motor. Both single and dual loop control can be used on the same robot and tooling axes.
摘要翻译：实现动态机器人精度的方法和装置包括利用双位置环控制的控制系统。外部位置回路在机器人关节轴线的齿轮系的输出侧使用二次编码器，而内部位置回路使用连接到电机的主编码器。单循环控制和双回路控制都可以在同一个机器人和加工轴上使用。

8. 发明授权

US06768078B1 Servo spot welding control system and method of welding workpieces 有权
标题翻译：伺服点焊控制系统及工件焊接方法
公开(公告)号：US06768078B1
公开(公告)日：2004-07-27
申请号：US10339047
申请日：2003-01-09
申请人： Frank Garza , Jason Tsai , Hadi Akeel , Brad Niederquell
发明人： Frank Garza , Jason Tsai , Hadi Akeel , Brad Niederquell
IPC分类号： B23K1111
CPC分类号： B23K11/315 , B23K11/115
摘要： A servo spot welding control system and method to efficiently weld a pair of workpieces together. The system includes a robot movable about the workpieces, a weld gun, servomotors, a transformer, and a controller. The weld gun is mounted on the robot and includes at least two pairs of electrodes. Each pair of electrodes includes a stationary electrode and a moveable electrode. The servomotors are operatively connected to the movable electrodes. The controller actuates the robot to move the robot into position. The controller also actuates the servomotors to clamp the workpieces and to selectively sequence electric current from the transformer to form multiple spot welds on the workpieces.
摘要翻译：一种伺服点焊控制系统和方法，可有效地将一对工件焊接在一起。该系统包括可围绕工件移动的机器人，焊枪，伺服电动机，变压器和控制器。焊枪安装在机器人上，并且包括至少两对电极。每对电极包括固定电极和可动电极。伺服电动机可操作地连接到可动电极。控制器启动机器人以将机器人移动到位。控制器还致动伺服电动机夹紧工件，并选择性地对来自变压器的电流进行排序，以在工件上形成多个点焊。

9. 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。

10. 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。

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