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1. 发明申请

US20120165979A1 ROBOT AND CONTROL METHOD THEREOF 有权
标题翻译：机器人及其控制方法
公开(公告)号：US20120165979A1
公开(公告)日：2012-06-28
申请号：US13327857
申请日：2011-12-16
申请人： San LIM , Myung Hee Kim , Kyung Shik Roh , Young Bo Shim , Bok Man Lim
发明人： San LIM , Myung Hee Kim , Kyung Shik Roh , Young Bo Shim , Bok Man Lim
IPC分类号： G05B19/04
CPC分类号： B25J9/1669 , B25J9/162 , G05B2219/39113 , G05B2219/40244 , G05B2219/40264 , G05B2219/40395
摘要： A robot and a control method thereof. The control method includes generating and storing plural grasping motions corresponding to data of a target object, selecting a grasping motion corresponding to a grasping purpose of the target object among the plural grasping motions, generating a path of arms corresponding to the selected grasping motion, calculating torques to track the path of the arms, and outputting the torques toward the arms so as to perform movement of the arms and grasping of the target object. The grasping motion path corresponding to the grasping purpose is generated and the path of arms is generated, thereby reducing overall calculation time during grasping of the target object to increase calculating efficiency, minimizing generation of the path of the arms, and allowing an arm path calculating process to be performed at the late stage of a grasping control process to improve grasping performance.
摘要翻译：机器人及其控制方法。控制方法包括生成并存储与目标对象的数据相对应的多个抓取动作，在多个抓取动作中选择与目标对象的抓取目的相对应的抓取动作，生成与所选择的抓握动作对应的臂的路径，计算扭矩以跟踪臂的路径，并且朝向臂输出扭矩，以便执行臂的移动和抓取目标对象。产生对应于抓握目的的抓握运动路径，并且产生臂的路径，从而减少在抓取目标对象期间的总体计算时间，以增加计算效率，最小化臂的路径的产生，并允许臂路径计算在抓握控制过程的后期执行处理以提高抓握性能。

2. 发明授权

US09193072B2 Robot and control method thereof 有权
标题翻译：机器人及其控制方法
公开(公告)号：US09193072B2
公开(公告)日：2015-11-24
申请号：US13232374
申请日：2011-09-14
申请人： Myung Hee Kim , Kyung Shik Roh , Young Bo Shim , San Lim
发明人： Myung Hee Kim , Kyung Shik Roh , Young Bo Shim , San Lim
IPC分类号： B25J9/16
CPC分类号： B25J9/1679 , B25J9/1612 , B25J9/1666 , G05B2219/39113 , G05B2219/39473 , G05B2219/39474 , G05B2219/39542
摘要： A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes calculating in advance and storing a plurality of grasp poses to generate grasp routes, sensing respective orientations of an object, the robot arms, and an obstacle, selecting one grasp pose from among the plurality of grasp poses by judging a movable angle range of the at least one joint unit, whether or not the object collides with the obstacle, and self-collision between the robot hands based on the sensed respective orientations, and generating grasp routes using the selected grasp pose. In the control method, the plurality of feasible grasp poses is calculated in advance and then stored, thereby rapidly and stably performing grasping of the object.
摘要翻译：机器人及其控制方法。机器人具有多个机械手臂，每个具有至少一个关节单元和手，并且该控制方法包括预先计算并存储多个抓握姿势以产生抓握路线，感测物体的各个取向，机器人手臂和障碍物，通过判断所述至少一个关节单元的可移动角度范围，所述物体是否与障碍物碰撞，以及基于所感测到的机器人手之间的自身碰撞，从所述多个抓握姿态中选择一个抓握姿态各个取向，并使用所选择的抓握姿势产生抓握路线。在该控制方法中，预先计算出多个可能抓握姿势，然后存储，由此快速且稳定地执行对象的抓握。

3. 发明授权

US09014854B2 Robot and control method thereof 有权
标题翻译：机器人及其控制方法
公开(公告)号：US09014854B2
公开(公告)日：2015-04-21
申请号：US13232383
申请日：2011-09-14
申请人： Myung Hee Kim , Kyung Shik Roh , Young Bo Shim , San Lim
发明人： Myung Hee Kim , Kyung Shik Roh , Young Bo Shim , San Lim
IPC分类号： G05B19/04 , B25J9/16
CPC分类号： B25J9/1669
摘要： A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes dividing an object into target and feasible grasp regions and storing grasp policies respectively corresponding to the grasp regions, sensing respective orientations of the object, the at least one joint unit, and an obstacle, judging whether or not grasping of the target grasp region is feasible after sensing the orientations, generating a grasp route using the grasp policy for the target grasp region, upon judging that grasping of the target grasp region is feasible, and generating a grasp route using the grasp policy for one of the feasible grasp regions, upon judging that grasping of the target grasp region is not feasible, and controlling the at least one joint unit and the hand to trace the generated grasp route.
摘要翻译：机器人及其控制方法。机器人具有多个机械手臂，每个机械臂具有至少一个关节单元和一个手，并且该控制方法包括将物体分成目标和可能的把握区域，并分别对应于把持区域存储把握策略，检测物体的各个取向，至少一个联合单元和障碍物，在判断抓住目标抓取之后，判断抓住目标抓握区域是否可行，在使用抓握方式的抓取策略生成抓取路线之后，区域是可行的，并且在判断出目标把持区域的抓握不可行时，使用抓握策略生成一个可抓握区域的把握路线，并且控制至少一个关节单元和手来跟踪产生的抓握路线。

4. 发明授权

US08855814B2 Robot and control method thereof 有权
标题翻译：机器人及其控制方法
公开(公告)号：US08855814B2
公开(公告)日：2014-10-07
申请号：US13332771
申请日：2011-12-21
申请人： Myung Hee Kim , San Lim , Kyung Shik Roh , Young Bo Shim
发明人： Myung Hee Kim , San Lim , Kyung Shik Roh , Young Bo Shim
IPC分类号： B25J15/10
CPC分类号： B25J9/1669 , G05B2219/39536
摘要： A robot and a control method thereof which execute grasp planning of hands of the robot separately from motion planning of arms of the robot so as to apply a result of the grasp planning of the hands of the robot to the motion planning of the arms of the robot, and thus more rapidly, naturally and stably grasp an object in a grasp manner suited to a desired working purpose and judge whether or not grasping is executable prior to the motion planning of the arms of the robot, thereby more stably grasping the object.
摘要翻译：机器人及其控制方法，其与机器人的臂的运动规划分开执行机器人的手的抓握规划，以将机器人的手的抓握计划的结果应用于机器人的手臂的运动规划机器人，因此更加快速，自然且稳定地以适合于期望的工作目的的把握方式抓住物体，并且判断在机器人的臂的运动规划之前抓握是否可执行，从而更稳定地抓住物体。

5. 发明授权

US08768512B2 Robot and control method thereof 有权
标题翻译：机器人及其控制方法
公开(公告)号：US08768512B2
公开(公告)日：2014-07-01
申请号：US13327857
申请日：2011-12-16
申请人： San Lim , Myung Hee Kim , Kyung Shik Roh , Young Bo Shim , Bok Man Lim
发明人： San Lim , Myung Hee Kim , Kyung Shik Roh , Young Bo Shim , Bok Man Lim
IPC分类号： G05B19/04
CPC分类号： B25J9/1669 , B25J9/162 , G05B2219/39113 , G05B2219/40244 , G05B2219/40264 , G05B2219/40395
摘要： A robot and a control method thereof. The control method includes generating and storing plural grasping motions corresponding to data of a target object, selecting a grasping motion corresponding to a grasping purpose of the target object among the plural grasping motions, generating a path of arms corresponding to the selected grasping motion, calculating torques to track the path of the arms, and outputting the torques toward the arms so as to perform movement of the arms and grasping of the target object. The grasping motion path corresponding to the grasping purpose is generated and the path of arms is generated, thereby reducing overall calculation time during grasping of the target object to increase calculating efficiency, minimizing generation of the path of the arms, and allowing an arm path calculating process to be performed at the late stage of a grasping control process to improve grasping performance.
摘要翻译：机器人及其控制方法。控制方法包括生成并存储与目标对象的数据相对应的多个抓取动作，在多个抓取动作中选择与目标对象的抓取目的相对应的抓取动作，生成与所选择的抓握动作对应的臂的路径，计算扭矩以跟踪臂的路径，并且朝向臂输出扭矩，以便执行臂的移动和抓取目标对象。产生对应于抓握目的的抓握运动路径，并且产生臂的路径，从而减少在抓取目标对象期间的总体计算时间，以增加计算效率，最小化臂的路径的产生，并允许臂路径计算在抓握控制过程的后期执行处理以提高抓握性能。

6. 发明申请

US20120078419A1 ROBOT AND CONTROL METHOD THEREOF 有权
标题翻译：机器人及其控制方法
公开(公告)号：US20120078419A1
公开(公告)日：2012-03-29
申请号：US13232383
申请日：2011-09-14
申请人： Myung Hee KIM , Kyung Shik Roh , Young Bo Shim , San Lim
发明人： Myung Hee KIM , Kyung Shik Roh , Young Bo Shim , San Lim
IPC分类号： G05B19/048
CPC分类号： B25J9/1669
摘要： A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes dividing an object into target and feasible grasp regions and storing grasp policies respectively corresponding to the grasp regions, sensing respective orientations of the object, the at least one joint unit, and an obstacle, judging whether or not grasping of the target grasp region is feasible after sensing the orientations, generating a grasp route using the grasp policy for the target grasp region, upon judging that grasping of the target grasp region is feasible, and generating a grasp route using the grasp policy for one of the feasible grasp regions, upon judging that grasping of the target grasp region is not feasible, and controlling the at least one joint unit and the hand to trace the generated grasp route.
摘要翻译：机器人及其控制方法。机器人具有多个机械手臂，每个机械臂具有至少一个关节单元和一个手，并且该控制方法包括将物体分成目标和可能的把握区域，并分别对应于把持区域存储把握策略，检测物体的各个取向，至少一个联合单元和障碍物，在判断抓住目标抓取之后，判断抓住目标抓握区域是否可行，在使用抓握方式的抓取策略生成抓取路线之后，区域是可行的，并且在判断出目标把持区域的抓握不可行时，使用抓握策略生成一个可抓握区域的把握路线，并且控制至少一个关节单元和手来跟踪产生的抓握路线。

7. 发明申请

US20120072022A1 ROBOT AND CONTROL METHOD THEREOF 有权
标题翻译：机器人及其控制方法
公开(公告)号：US20120072022A1
公开(公告)日：2012-03-22
申请号：US13232374
申请日：2011-09-14
申请人： Myung Hee KIM , Kyung Shik Roh , Young Bo Shim , San Lim
发明人： Myung Hee KIM , Kyung Shik Roh , Young Bo Shim , San Lim
IPC分类号： B25J9/16
CPC分类号： B25J9/1679 , B25J9/1612 , B25J9/1666 , G05B2219/39113 , G05B2219/39473 , G05B2219/39474 , G05B2219/39542
摘要： A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes calculating in advance and storing a plurality of grasp poses to generate grasp routes, sensing respective orientations of an object, the robot arms, and an obstacle, selecting one grasp pose from among the plurality of grasp poses by judging a movable angle range of the at least one joint unit, whether or not the object collides with the obstacle, and self-collision between the robot hands based on the sensed respective orientations, and generating grasp routes using the selected grasp pose. In the control method, the plurality of feasible grasp poses is calculated in advance and then stored, thereby rapidly and stably performing grasping of the object.
摘要翻译：机器人及其控制方法。机器人具有多个机械手臂，每个具有至少一个关节单元和手，并且该控制方法包括预先计算并存储多个抓握姿势以产生抓握路线，感测物体的各个取向，机器人手臂和障碍物，通过判断所述至少一个关节单元的可移动角度范围，所述物体是否与障碍物碰撞，以及基于所感测到的机器人手之间的自身碰撞，从所述多个抓握姿态中选择一个抓握姿态各个取向，并使用所选择的抓握姿势产生抓握路线。在该控制方法中，预先计算出多个可能抓握姿势，然后存储，由此快速且稳定地执行对象的抓握。

8. 发明授权

US08924016B2 Apparatus for planning path of robot and method thereof 有权
标题翻译：机器人路径规划装置及其方法
公开(公告)号：US08924016B2
公开(公告)日：2014-12-30
申请号：US13328125
申请日：2011-12-16
申请人： Myung Hee Kim , Kyung Shik Roh , Young Bo Shim
发明人： Myung Hee Kim , Kyung Shik Roh , Young Bo Shim
IPC分类号： G01C21/00 , B25J9/16
CPC分类号： B25J9/162 , B25J9/1664 , G05B2219/40244 , G05B2219/40476 , G05B2219/40477 , Y10T74/20329
摘要： A method for planning the robot path includes forming a shape space that includes a start point, a goal point, and obstacle information so as to generate a moving path of the robot, generating one or more moving paths of the robot within the shape space, and storing the generated moving paths in a database, selecting a specific path that has a minimum operation range of the robot and a minimum constraint caused by the obstacle from among the stored moving paths, and planning the selected path, enabling the robot to perform motion along the planned path, and pre-planning a path for a next motion of the robot while the robot performs the motion. The apparatus or method for planning the robot path can reduce a time from an end time of one motion to the start time of the next motion, thereby performing a smooth motion.
摘要翻译：一种用于规划机器人路径的方法包括形成包括起点，目标点和障碍物信息的形状空间，以便生成机器人的移动路径，在形状空间内生成机器人的一个或多个移动路径，并且将所生成的移动路径存储在数据库中，从存储的移动路径中选择具有机器人的最小操作范围的特定路径和由障碍物引起的最小约束，并且规划所选择的路径，使机器人能够执行运动沿着计划的路径，并且在机器人执行运动时预先规划机器人的下一个运动的路径。用于规划机器人路径的装置或方法可以减少从一个运动的结束时间到下一个运动的开始时间的时间，从而执行平滑运动。

9. 发明授权

US07225552B2 Method and system to detect an orientation of a moving object 有权
标题翻译：检测移动物体的取向的方法和系统
公开(公告)号：US07225552B2
公开(公告)日：2007-06-05
申请号：US11204347
申请日：2005-08-16
申请人： Woong Kwon , Kyung Shik Roh , Woo Sup Han , Young Bo Shim
发明人： Woong Kwon , Kyung Shik Roh , Woo Sup Han , Young Bo Shim
IPC分类号： G01C17/38 , G01C21/00
CPC分类号： G01C25/00 , G01C17/02
摘要： Method and system to detect orientations of a moving object using one or more magnetic compasses. The method and system minimize magnetic field interference in a space where an object is moving such that the orientations of the moving object can be precisely detected. The method includes setting one or more earth magnetic field (EMF) conditions without a magnetic field interference component to determine whether the one or more magnetic compasses are located in an EMF area, calculating a magnitude of a magnetic field applied to the moving object using the one or more magnetic field compasses, and detecting an orientation of the moving object by determining whether the calculated magnitude of the magnetic field satisfies the one or more EMF conditions.
摘要翻译：使用一个或多个磁罗盘来检测移动物体的取向的方法和系统。该方法和系统使得物体移动的空间中的磁场干扰最小化，使得能够精确地检测移动物体的取向。该方法包括设置一个或多个地磁场（EMF）条件而没有磁场干扰分量来确定一个或多个磁罗盘是否位于EMF区域中，使用该方法计算施加到运动物体的磁场的大小一个或多个磁场罗盘，以及通过确定计算出的磁场大小是否满足一个或多个EMF条件来检测移动物体的取向。

10. 发明申请

US20120123589A1 CONTROL OF ROBOT HAND TO CONTACT AN OBJECT 有权
标题翻译：机器人的控制手机接触对象
公开(公告)号：US20120123589A1
公开(公告)日：2012-05-17
申请号：US13275856
申请日：2011-10-18
申请人： Ji Young Kim , Yong Jae Kim , Kyung Shik Roh , Young Bo Shim
发明人： Ji Young Kim , Yong Jae Kim , Kyung Shik Roh , Young Bo Shim
IPC分类号： B25J13/08
CPC分类号： B25J9/1612 , B25J13/084 , G05B2219/39484 , G05B2219/39532
摘要： A robot control method and apparatus estimates an error based on information of an object obtained using a motor drive current sensor, a force sensor or a tactile sensor mounted at a robot hand and information of the object obtained using an optical sensor and compensates for the error. The robot control method and apparatus includes measuring information of an object using an optical sensor or calculating information of the object input by a user, moving a robot hand to the object based on the information of the object, controlling the thumb and fingers of the robot hand to contact the object based on the information of the object, determining whether the thumb and fingers have contacted the object through a motor drive current sensor, a force sensor or a tactile sensor, and grasping the object depending upon whether the thumb and the fingers have contacted the object.
摘要翻译：机器人控制方法和装置基于使用安装在机器人手上的电动机驱动电流传感器，力传感器或触觉传感器获得的对象的信息和使用光学传感器获得的对象的信息来估计误差，并补偿错误。机器人控制方法和装置包括使用光学传感器测量对象的信息或计算用户输入的对象的信息，基于对象的信息将机器人手移动到对象，控制机器人的拇指和手指根据物体的信息接触物体，确定拇指和手指是否通过马达驱动电流传感器，力传感器或触觉传感器接触物体，并且根据拇指和手指来抓住物体已经联系对象。

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