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1. 发明授权

US08560122B2 Teaching and playback method based on control of redundancy resolution for robot and computer-readable medium controlling the same 有权
标题翻译：基于控制机器人冗余分辨率的控制和计算机可读介质的教学和播放方法
公开(公告)号：US08560122B2
公开(公告)日：2013-10-15
申请号：US12923650
申请日：2010-09-30
申请人： Dae Hyung Park , Ki Moon Lee , Chi Gun An , Yong Joon Hong
发明人： Dae Hyung Park , Ki Moon Lee , Chi Gun An , Yong Joon Hong
IPC分类号： G05B19/04 , G05B19/18
CPC分类号： G05B19/425 , B25J9/1607 , G05B2219/36401 , G05B2219/39078 , G05B2219/40367
摘要： Disclosed is a teaching and playback method using a redundancy resolution parameter determined in conjunction with a joint structure, for a robot, and a method to apply analytic inverse kinematics to a robot having an elbow with an offset and a computer-readable medium of controlling the same. A reference plane variable with the joint structure is generated and an angle between the reference plane and an arm plane of the robot is used as the redundancy resolution parameter. The robot is taught and its operation is played back in differential inverse kinematics or analytic inverse kinematics using the resolution redundancy parameter.
摘要翻译：公开了一种使用与联合结构，机器人结合确定的冗余度分辨率参数的教学和回放方法，以及将分析逆运动学应用于具有偏移的肘部的机器人和控制该偏移的计算机可读介质的方法相同。产生具有接头结构的参考平面变量，并且使用机器人的参考平面和臂平面之间的角度作为冗余分辨率参数。教授机器人，并使用分辨率冗余参数在微分逆运动学或分析逆运动学中回放其操作。

2. 发明申请

US20110181223A1 MOTOR CONTROL APPARATUS AND MOTOR CONTROL METHOD THEREOF 有权
标题翻译：电动机控制装置及其电动机控制方法
公开(公告)号：US20110181223A1
公开(公告)日：2011-07-28
申请号：US13009961
申请日：2011-01-20
申请人： Ki Moon LEE , Yong Joon Hong , Chi Gun An , Dae Hyung Park
发明人： Ki Moon LEE , Yong Joon Hong , Chi Gun An , Dae Hyung Park
IPC分类号： H02P7/00
CPC分类号： H02P23/14 , G05B19/416
摘要： Disclosed herein are a motor control apparatus and a motor control method thereof. The motor control method includes estimating a current torque of a motor based on dynamics of a body driven by the motor, judging whether the estimated torque is higher than a predetermined torque value, compensating for a velocity profile to drive the motor from the predetermined torque value, upon judging that the estimated torque is higher than the predetermined torque value, and driving the motor using the compensated velocity profile. Thereby, the velocity profile is compensated for in real time, and thus the velocity of the motor is raised while preventing the motor from stepping out.
摘要翻译：这里公开了电动机控制装置及其电动机控制方法。电动机控制方法包括基于由电动机驱动的车身的动力学来估计电动机的当前转矩，判断估计转矩是否高于预定转矩值，补偿从预定转矩值驱动电动机的速度分布在判断出转矩大于规定转矩值的情况下，使用补偿后的速度分布来驱动电动机。由此，实时补偿速度分布，从而提高电机的速度，同时防止电机脱落。

3. 发明授权

US08614558B2 Motor control apparatus and motor control method thereof 有权
标题翻译：电动机控制装置及其电动机控制方法
公开(公告)号：US08614558B2
公开(公告)日：2013-12-24
申请号：US13009961
申请日：2011-01-20
申请人： Ki Moon Lee , Yong Joon Hong , Chi Gun An , Dae Hyung Park
发明人： Ki Moon Lee , Yong Joon Hong , Chi Gun An , Dae Hyung Park
IPC分类号： H02P7/00
CPC分类号： H02P23/14 , G05B19/416
摘要： Disclosed herein are a motor control apparatus and a motor control method thereof. The motor control method includes estimating a current torque of a motor based on dynamics of a body driven by the motor, judging whether the estimated torque is higher than a predetermined torque value, compensating for a velocity profile to drive the motor from the predetermined torque value, upon judging that the estimated torque is higher than the predetermined torque value, and driving the motor using the compensated velocity profile. Thereby, the velocity profile is compensated for in real time, and thus the velocity of the motor is raised while preventing the motor from stepping out.
摘要翻译：这里公开了电动机控制装置及其电动机控制方法。电动机控制方法包括基于由电动机驱动的车身的动力学来估计电动机的当前转矩，判断估计转矩是否高于预定转矩值，补偿从预定转矩值驱动电动机的速度分布在判断出转矩大于规定转矩值的情况下，使用补偿后的速度分布来驱动电动机。由此，实时补偿速度分布，从而提高电机的速度，同时防止电机脱落。

4. 发明申请

US20110093119A1 Teaching and playback method based on control of redundancy resolution for robot and computer-readable medium controlling the same 有权
标题翻译：基于控制机器人冗余分辨率的控制和计算机可读介质的教学和播放方法
公开(公告)号：US20110093119A1
公开(公告)日：2011-04-21
申请号：US12923650
申请日：2010-09-30
申请人： Dae Hyung Park , Ki Moon Lee , Chi Gun An , Yong Joon Hong
发明人： Dae Hyung Park , Ki Moon Lee , Chi Gun An , Yong Joon Hong
IPC分类号： B25J9/22
CPC分类号： G05B19/425 , B25J9/1607 , G05B2219/36401 , G05B2219/39078 , G05B2219/40367
摘要： Disclosed is a teaching and playback method using a redundancy resolution parameter determined in conjunction with a joint structure, for a robot, and a method to apply analytic inverse kinematics to a robot having an elbow with an offset and a computer-readable medium of controlling the same. A reference plane variable with the joint structure is generated and an angle between the reference plane and an arm plane of the robot is used as the redundancy resolution parameter. The robot is taught and its operation is played back in differential inverse kinematics or analytic inverse kinematics using the resolution redundancy parameter.
摘要翻译：公开了一种使用与联合结构，机器人结合确定的冗余度分辨率参数的教学和回放方法，以及将分析逆运动学应用于具有偏移的肘部的机器人和控制该偏移的计算机可读介质的方法相同。产生具有接头结构的参考平面变量，并且使用机器人的参考平面和臂平面之间的角度作为冗余分辨率参数。教授机器人，并使用分辨率冗余参数在微分逆运动学或分析逆运动学中回放其操作。

5. 发明授权

US06278253B1 Method for controlling speed of motor for driving robot 失效
标题翻译：用于控制机器人驱动电机速度的方法
公开(公告)号：US06278253B1
公开(公告)日：2001-08-21
申请号：US09366348
申请日：1999-08-02
申请人： Yong Joon Hong
发明人： Yong Joon Hong
IPC分类号： B25G922
CPC分类号： G05B19/416 , G05B2219/43015 , G05B2219/43114
摘要： A motor speed controlling method is provided in a motor speed controlling apparatus including a motor for driving the robot, a position controller for controlling position of a motor and a main controller for producing a speed command profile of a smooth curve to control the motor based on a robot operational command input by a user and transmit the produced speed command profile to the position controller. The motor speed controlling method includes a step of producing a speed command profile having an acceleration profile of a smooth curve within a predetermined robot control interval so that a robot can be controlled on a real-time basis. Accordingly, vibration and noise of the motor are reduced and thus a control reliability is enhanced.
摘要翻译：在包括用于驱动机器人的电动机的电动机速度控制装置中设置电动机速度控制方法，用于控制电动机的位置的位置控制器和用于产生平滑曲线的速度指令曲线的主控制器，以基于由用户输入的机器人操作命令，并将所生成的速度命令轮廓传送到位置控制器。电动机速度控制方法包括以下步骤：在预定的机器人控制间隔内产生具有平滑曲线的加速度分布的速度指令轮廓，从而可以实时地控制机器人。因此，电动机的振动和噪声降低，从而提高了控制可靠性。

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