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1. 发明授权

US4621332A Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient 失效
标题翻译：使用力，位置，速度，弹簧常数，质量系数和粘度系数来控制机器人的方法和装置
公开(公告)号：US4621332A
公开(公告)日：1986-11-04
申请号：US621717
申请日：1984-06-18
申请人： Koichi Sugimoto , Hisaaki Hirabayashi , Shinichi Arai , Shiyuki Sakaue
发明人： Koichi Sugimoto , Hisaaki Hirabayashi , Shinichi Arai , Shiyuki Sakaue
IPC分类号： B25J9/16 , B25J9/18 , B25J13/08 , G05B13/00
CPC分类号： B25J9/1633 , B25J13/085
摘要： Method and apparatus for controlling a robot wherein a force signal is calculated by detecting a force applied to a hand of the robot, a first value representing a difference between the force signal and a force reference is calculated, a second value representing a product of a difference between a position signal representing current position and attitude of the hand and a position reference, multiplied by a spring constant is calculated, a third value representing a product of a velocity signal representing a current velocity of the hand, multiplied by a viscosity coefficient is calculated, and a command velocity of the hand is calculated based on the first, second and third values and a mass coefficient.
摘要翻译：用于控制机器人的方法和装置，其中通过检测施加到机器人的手的力来计算力信号，计算表示力信号和力参考之间的差的第一值，第二值表示计算代表当前位置的位置信号和手的姿势与位置参考乘以弹簧常数之间的差异，表示表示当前手速度的速度信号乘以粘度系数的乘积的第三值是并且基于第一，第二和第三值以及质量系数来计算手的指令速度。

2. 发明授权

US4617502A Method and apparatus for controlling a robot hand along a predetermined path 失效
标题翻译：用于沿预定路径控制机器人手的方法和装置
公开(公告)号：US4617502A
公开(公告)日：1986-10-14
申请号：US623455
申请日：1984-06-22
申请人： Shiyuki Sakaue , Koichi Sugimoto , Shinichi Arai
发明人： Shiyuki Sakaue , Koichi Sugimoto , Shinichi Arai
IPC分类号： B25J9/18 , G05B19/23 , G05B19/42
CPC分类号： G05B19/232 , G05B19/42 , G05B2219/33119 , G05B2219/33263 , G05B2219/41177 , G05B2219/45083
摘要： A method and apparatus for controlling a robot hand along a predetermined path at a predetermined speed in space between two points, wherein the value of a command speed is determined on the basis of position information and velocity information on the robot hand, more particularly, on the basis of the sum of a value proportional to the positional deviation of the robot hand from the predetermined path, a value proportional to accumulated positional deviation determined during sampling operations carried out from a start point, a value proportional to the speed deviation of the robot hand from the predetermined speed within a constant-speed region, and a value proportional to accumulated speed deviation determined during sampling operations carried out from an initial sampling point within the constant-speed region.
摘要翻译：一种用于以两个点之间的空间中的预定速度的预定路径来控制机器人手的方法和装置，其中基于机器人手上的位置信息和速度信息来确定命令速度的值，更具体地，关于与机器人手与预定路径的位置偏差成比例的值的总和的基数，与从开始点执行的采样操作期间确定的累积位置偏差成比例的值，与机器人的速度偏差成比例的值在恒定速度区域内从初始采样点执行的采样操作期间确定的与累积速度偏差成比例的值。

3. 发明授权

US4620436A Method and apparatus for calibrating transformation matrix of force sensor 失效
标题翻译：用于校准力传感器转换矩阵的方法和装置
公开(公告)号：US4620436A
公开(公告)日：1986-11-04
申请号：US784502
申请日：1985-10-04
申请人： Hisaaki Hirabayashi , Koichi Sugimoto , Shinichi Arai , Tomoyuki Masui , Hidetoshi Inaba
发明人： Hisaaki Hirabayashi , Koichi Sugimoto , Shinichi Arai , Tomoyuki Masui , Hidetoshi Inaba
IPC分类号： B25J9/16 , B25J13/08 , G01L5/16 , G01L5/22 , G01L25/00
CPC分类号： G01L25/00 , B25J13/085 , B25J9/1692 , G01L5/161 , G01L5/226
摘要： The present invention relates to a method and an apparatus for calibrating a transformation matrix of a force sensor, in which: a force sensor is attached between a wrist portion and a hand portion of a robot; a standard work (weight) whose weight and position of a center of gravity are known is attached or held to the hand portion; each driving source of the robot is made operative in response to commands from a control unit and thereby sequentially changing the posture of the force sensor attached to the robot; the control unit obtains a force consisting of a force and a moment due to an arithmetic operation from the posture and position information of the force sensor which is detected on the basis of signals from encoders to detect an operational amount of each operating element of the robot and from the weights and the positions of the centers of gravity of the standard work and the hand portion and the like inputted as data; the control unit receives a strain voltage detected from the force sensor; the control unit calculates the transformation matrix of the force sensor from the force consisting of the force and moment derived and from the strain voltage received in accordance with a predetermined arithmetic logic equation and then stores the transformation matrix into memory means; and then the transformation matrix of the force sensor is calibrated.
摘要翻译：本发明涉及一种用于校准力传感器的变换矩阵的方法和装置，其中：力传感器安装在机械手的腕部和手部之间; 其重量和重心位置已知的标准作业（重量）被附着或保持在手部; 机器人的每个驱动源响应于来自控制单元的命令而操作，从而顺序地改变附接到机器人的力传感器的姿势; 控制单元根据来自编码器的信号检测到的力传感器的姿态和位置信息，从由运算操作产生的力和力矩构成的力，以检测机器人的每个操作元件的操作量并且从作为数据输入的标准作品的重心和作为数据的手部等的重量和位置; 控制单元接收从力传感器检测到的应变电压; 控制单元根据由力和力导出的力，根据预定的算术逻辑方程从接收的应变电压计算力传感器的变换矩阵，然后将变换矩阵存储到存储装置中; 然后校正力传感器的变换矩阵。

4. 发明授权

US4674947A Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US4674947A
公开(公告)日：1987-06-23
申请号：US777289
申请日：1985-09-18
申请人： Toyohide Hamada , Koichi Sugimoto , Kiyohide Koizumi , Shinichi Arai
发明人： Toyohide Hamada , Koichi Sugimoto , Kiyohide Koizumi , Shinichi Arai
IPC分类号： B25J9/04 , B25J9/10 , B25J9/06
CPC分类号： B25J9/044 , B25J9/042 , B25J9/1065
摘要： There is disclosed in this application an industrial robot comprising: a first arm pivotally supported at its one end for rotation around a first axis; a second arm pivotally supported at its one end by the other end of the first arm for rotation around a second axis parallel to the first axis; a wrist mechanism carried by the free end of the second arm and having at least one degree of freedom; and driving motors for driving the first arm, the second arm and the wrist mechanism, respectively; wherein at least one of the first arm and the second arm is connected to the drive motor through a double link mechanism having a phase difference.
摘要翻译：在本申请中公开了一种工业机器人，其包括：第一臂，其一端枢转地支撑，以围绕第一轴线旋转; 第二臂在其一端处由第一臂的另一端枢转地支撑，以围绕平行于第一轴线的第二轴线旋转; 由第二臂的自由端承载并具有至少一个自由度的手腕机构; 以及用于分别驱动第一臂，第二臂和手腕机构的驱动马达; 其中所述第一臂和所述第二臂中的至少一个通过具有相位差的双连杆机构连接到所述驱动马达。

5. 发明授权

US4594671A Velocity method of controlling industrial robot actuators 失效
标题翻译：控制工业机器人执行器的速度方法
公开(公告)号：US4594671A
公开(公告)日：1986-06-10
申请号：US458998
申请日：1983-01-18
申请人： Koichi Sugimoto , Kiyohide Koizumi , Toyohide Hamada , Shinichi Arai
发明人： Koichi Sugimoto , Kiyohide Koizumi , Toyohide Hamada , Shinichi Arai
IPC分类号： B25J9/16 , B25J9/18 , B25J13/08 , G05B19/416 , G05B19/407 , B25J9/00 , G05B11/32
CPC分类号： G05B19/416 , G05B2219/43188 , G05B2219/43203
摘要： A method of controlling an industrial robot wherein velocities of the actuators for the robot are based on the velocity of a robot hand moving along a predetermined path of travel. When the velocity of any single actuator exceeds its ability, the velocities of the actuators are revised so as to bring the velocities of all the actuators within their abilities, thereby revising the velocity of the robot hand along its path of travel. Calculation of the velocity of each actuator may be carried out based on the position and posture of the robot hand and a Jacobian matrix.
摘要翻译：一种控制工业机器人的方法，其中用于机器人的致动器的速度基于沿着预定行进路径移动的机器人手的速度。当任何单个致动器的速度超过其能力时，执行器的速度被修正，以便使所有致动器的速度达到其能力，从而修正机器人手沿其行进路径的速度。可以基于机器人手和雅可比矩阵的位置和姿态来执行每个致动器的速度的计算。

6. 发明授权

US06671444B1 Optical fiber 有权
标题翻译：光纤
公开(公告)号：US06671444B1
公开(公告)日：2003-12-30
申请号：US09763850
申请日：2001-05-21
申请人： Shinichi Arai , Takeshi Yagi , Kunihiko Mori , Hidehiko Takara , Satoki Kawanishi
发明人： Shinichi Arai , Takeshi Yagi , Kunihiko Mori , Hidehiko Takara , Satoki Kawanishi
IPC分类号： G02B602
CPC分类号： G02B6/02004 , G02B6/02242 , G02B6/03627 , G02B6/105 , G02F1/3555 , G02F1/365 , G02F2201/02 , G02F2203/06 , H01S3/302
摘要： An optical fiber, capable of generating by means of nonlinear phenomena, white light in adequately broadened wavelength bands at both sides of a pumping optical pulse that is input, and stabilizing the polarized conditions. The fiber is formed by covering a core with a first cladding, and covering the first cladding with a second cladding, where the second cladding has a refractive index greater than that of the first cladding, but lower than that of the core. Stress-applying parts are provided inside the second cladding so as to sandwich the core from both sides to form a polarization-maintaining optical fiber. The shortest distance between the stress-applying parts is made 2.3 times or more the mode field diameter for the wavelength of the pumping optical pulse.
摘要翻译：能够通过非线性现象产生的光纤，在输入的泵浦光脉冲的两侧上的白光充分变宽的波长带，并稳定极化条件。纤维通过用第一包层覆盖芯并且用第二包层覆盖第一包层而形成，其中第二包层的折射率大于第一包层的折射率，但是低于芯的折射率。应力施加部件设置在第二包层内部，以便从两侧夹住芯部以形成偏振保持光纤。应力施加部之间的最短距离为泵浦光脉冲的波长的模场直径的2.3倍以上。

7. 发明授权

US06404967B2 Optical fiber and optical transmission line using the same 有权
标题翻译：光纤和光传输线使用相同
公开(公告)号：US06404967B2
公开(公告)日：2002-06-11
申请号：US09760822
申请日：2001-01-17
申请人： Shinichi Arai , Ryuichi Sugizaki , Keiichi Aiso
发明人： Shinichi Arai , Ryuichi Sugizaki , Keiichi Aiso
IPC分类号： G02B602
CPC分类号： G02B6/03666 , G02B6/02019 , G02B6/02261 , G02B6/03644
摘要： The present invention provides an optical fiber which has negative dispersion and negative dispersion slope in a wavelength band in use, and can carry out single-mode operation in which distortion due to the non-linear phenomenon can be suppressed so as to be suitable for wavelength multiplexed optical transmissions. When the relative index differences of center core (1), first side core (2), second side core (3), and inner cladding (4) from the silica level are &Dgr;1, &Dgr;2, &Dgr;3, and &Dgr;4, l.7%≦&Dgr;1, &Dgr;2≦−0.3%, 0.25%≦&Dgr;3, and &Dgr;4
摘要翻译：本发明提供一种在使用的波长带中具有负色散和负色散斜率的光纤，并且可以执行单模式操作，其中可以抑制由于非线性现象引起的失真，从而适合于波长复用光传输。当二氧化硅水平的中心芯（1），第一侧芯（2），第二侧芯（3）和内包层（4）的相对折射率差为DELTA1，DELTA2，DELTA3和DELTA4时，为1.7％ <= DELTA1，DELTA2 <= - 0.3％，0.25％<= DELTA3和DELTA4 <0。此外，通过将中心纤芯1的直径a1除以第一侧芯2的直径a2而确定的值A设定为0.15 <= A <= 0.2，并且通过将直径a3 的第一侧芯3的直径a2设定为1

8. 发明授权

US4916683A Optical recording/reproducing apparatus with means to shift light beam periodically to prevent record medium deterioration 失效
标题翻译：具有周期性地移动光束以防止记录介质劣化的装置的光学记录/再现装置
公开(公告)号：US4916683A
公开(公告)日：1990-04-10
申请号：US304899
申请日：1989-02-01
申请人： Takuya Mizokami , Shinichi Arai
发明人： Takuya Mizokami , Shinichi Arai
IPC分类号： G11B7/085 , G11B7/007 , G11B7/09 , G11B19/04
CPC分类号： G11B19/04 , G11B7/00745
摘要： When it is detected that the light spot stays in a same track for a time exceeding a predetermined length of time, the light spot is moved to any other track. Thus, the light spot is prevented from staying on a same track for a long time without recording/reproducing data.
摘要翻译：当检测到光点停留在相同的轨道中超过预定时间长度的时间时，光斑被移动到任何其他轨道。因此，防止光斑长时间停留在相同的轨道上而不记录/再现数据。

9. 发明授权

US4853915A Optical recording/reproducing method and apparatus for optical disk medium having unique control parameters 失效
标题翻译：具有独特控制参数的光盘介质的光记录/再现方法和装置
公开(公告)号：US4853915A
公开(公告)日：1989-08-01
申请号：US110358
申请日：1987-10-20
申请人： Masahiro Takasago , Shinichi Arai
发明人： Masahiro Takasago , Shinichi Arai
IPC分类号： G11B7/00 , G11B7/004 , G11B7/005 , G11B7/007 , G11B20/12 , G11B20/14
CPC分类号： G11B20/1419 , G11B7/00745
摘要： An optical disk is provided with a dedicated track area for recording optical conditions for read and write operations. The apparatus includes different types of demodulating circuits for allowing any type of demodulation to be adopted. After parameters, recorded on the dedicatad track area through phase encoding demodulation, are read out, the demodulating circuit compatible with the modulation type adopted in recording the data is selected for demodulation of the data.
摘要翻译：光盘设有用于记录用于读取和写入操作的光学条件的专用轨道区域。该装置包括用于允许采用任何类型的解调的不同类型的解调电路。在通过相位编码解调记录在专用轨道区域上的参数之后，选择与记录数据时采用的调制类型兼容的解调电路用于解调数据。

10. 发明授权

US08033141B2 Method of manufacturing optical fiber 有权
标题翻译：制造光纤的方法
公开(公告)号：US08033141B2
公开(公告)日：2011-10-11
申请号：US12040236
申请日：2008-02-29
申请人： Minsuk Song , Shinichi Arai
发明人： Minsuk Song , Shinichi Arai
IPC分类号： C03B37/025
CPC分类号： C03B37/02745 , C03B37/032 , C03B2203/19 , C03B2203/36 , C03B2205/06
摘要： A coating is applied on an optical fiber drawn from a melted tip of an optical-fiber preform. A glass spin is applied to a coated optical fiber by gripping the coated optical fiber with at least a pair of spinning applying rollers arranged in different levels with parallel rotation axes, rotating the spinning applying rollers so that the coated optical fiber is guided in a predetermined direction, and alternately shifting the spinning applying rollers in opposite directions along the rotation axes. The glass spin is applied to the coated optical fiber in a state in which each of the rotation axes is tilted at a predetermined angle from a plane perpendicular to the first direction.
摘要翻译：将涂层施加在从光纤预制件的熔融尖端拉出的光纤上。通过用至少一对以平行的旋转轴线布置在不同水平的纺丝施加辊上夹持涂覆的光纤，将涂覆的光纤施加到涂覆的光纤上，旋转纺丝施加辊使得涂覆的光纤以预定的方向，并且沿着旋转轴线沿着相反方向交替地移动纺丝施加辊。玻璃旋转以每个旋转轴线从垂直于第一方向的平面倾斜预定角度的状态施加到涂覆光纤上。

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