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1. 发明授权

US08676379B2 Device and method for controlling robot arm, robot, and robot arm control program 有权
标题翻译：用于控制机器人手臂，机器人和机器人手臂控制程序的装置和方法
公开(公告)号：US08676379B2
公开(公告)日：2014-03-18
申请号：US12096106
申请日：2007-06-28
申请人： Yasunao Okazaki
发明人： Yasunao Okazaki
IPC分类号： G05B9/00
CPC分类号： B25J9/1676 , B25J13/084 , G05B2219/39201 , G05B2219/39347 , G05B2219/40203
摘要： A control device (1) for a robot arm (8) which, if a person approach detection unit (3) detects approach of a person, performs control according to an impact between the robot arm (8) and the person. The control performed according to the impact is performed through an impact countermeasure motion control unit (4) and by setting individual mechanical impedances for respective joint portions of the robot arm (8) based on a movement of the person detected by a human movement detection unit (2).
摘要翻译：一种用于机器人手臂（8）的控制装置（1），如果人员接近检测单元（3）检测到人的接近，则根据机器人手臂（8）与人之间的冲击进行控制。根据冲击执行的控制是通过冲击对策运动控制单元（4）执行的，并且通过基于由人运动检测单元检测到的人的移动来设置机器人手臂（8）的各个关节部分的各个机械阻抗（2）。

2. 发明申请

US20110029133A1 ROBOT, AND CONTROL APPARATUS, CONTROL METHOD, AND CONTROL PROGRAM FOR ROBOT 有权
标题翻译：机器人，机器人的控制装置，控制方法和控制程序
公开(公告)号：US20110029133A1
公开(公告)日：2011-02-03
申请号：US12935603
申请日：2009-06-02
申请人： Yasunao Okazaki , Atsushi Ono , Katsuhiko Asai
发明人： Yasunao Okazaki , Atsushi Ono , Katsuhiko Asai
IPC分类号： B25J19/00
CPC分类号： B25J9/1075 , A61G7/1017 , A61G7/1046 , A61G7/1057 , A61G7/1065 , A61G2200/32 , A61G2203/32 , A61G2203/42 , A61G2203/72 , B25J5/007 , B25J9/0084 , B25J9/0087 , B25J9/142 , B25J13/085 , B25J19/0004
摘要： A robot arm provided with a body unit shifting mechanism that connects a base unit and a body unit so as to be relatively shifted, and joint lock mechanisms that are capable of mechanically securing respective joints is disposed on the body unit, and a robot operation control unit controls to switch between a robot arm operation mode in which the robot arm is operated with one of the joints of the robot arm brought into a free state, and a body unit shift mode in which the body unit is shifted with the joint being brought into a locked state.
摘要翻译：一种机器人手臂，其设置有主体单元移动机构，其连接基座单元和主体单元以相对移位，并且能够机械地固定各个关节的关节锁定机构设置在主体单元上，并且机器人操作控制单元控制在机器人手臂操作的机器人手臂操作模式之间切换，其中机器人手臂的一个接合处于自由状态，以及主体单元移动模式，其中主体单元随着关节被移动进入锁定状态。

3. 发明申请

US20110015785A1 CONTROL APPARATUS AND CONTROL METHOD FOR ROBOT ARM, ROBOT, CONTROL PROGRAM FOR ROBOT ARM, AND INTEGRATED ELECTRONIC CIRCUIT 有权
标题翻译：机器人ARM，机器人，机器人ARM和集成电子电路控制程序的控制装置和控制方法
公开(公告)号：US20110015785A1
公开(公告)日：2011-01-20
申请号：US12918897
申请日：2009-12-24
申请人： Yuko Tsusaka , Yasunao Okazaki
发明人： Yuko Tsusaka , Yasunao Okazaki
IPC分类号： B25J9/02
CPC分类号： G05B19/42 , B25J9/0003 , B25J13/085
摘要： After switching a control method for a robot arm based upon characteristic information containing pieces of information relating to a grabbed position of the robot arm by a person and a presence/absence of detection of a force as well as to presence/absence of influences from a drag, during an operation of the robot arm, by a control method switching unit, information relating to the force of operation information is corrected by an operation correcting unit in response to a manipulation of the person.
摘要翻译：基于包含与人的机器人手臂的抓取位置有关的信息的特征信息以及存在/不存在力的检测以及是否存在来自于机器人手臂的影响的有机体手臂的控制方法，通过控制方法切换单元在机器人手臂的操作期间拖动，响应于人的操纵，由操作校正单元校正与操作力信息有关的信息。

4. 发明申请

US20100152896A1 ROBOT, CONTROLLING DEVICE AND CONTROLLING METHOD FOR ROBOT, AND CONTROLLING PROGRAM FOR ROBOT-CONTROLLING DEVICE 有权
标题翻译：机器人，机器人的控制装置和控制方法以及机器人控制装置的程序控制
公开(公告)号：US20100152896A1
公开(公告)日：2010-06-17
申请号：US12712441
申请日：2010-02-25
申请人： Mayumi Komatsu , Yasunao Okazaki
发明人： Mayumi Komatsu , Yasunao Okazaki
IPC分类号： B25J13/08
CPC分类号： B25J9/0003 , B25J9/1633 , B25J9/1682 , B25J13/085 , G05B2219/36433
摘要： Based upon a force in a vertical direction exerted between an object and a hand and an angle made by the hand relative to a horizontal face, a transporting force estimation unit estimates a transporting force applied in the vertical direction by a person, and based upon the estimated force, a force controlling operation is carried out so as to set a force in the vertical direction of the robot arm of a robot system to a predetermined force.
摘要翻译：基于施加在物体和手之间的垂直方向的力和由手相对于水平面形成的角度，传送力估计单元估计由人在垂直方向上施加的传送力，并且基于估计力，执行力控制操作，以将机器人系统的机器人臂的垂直方向的力设定为预定的力。

5. 发明申请

US20100087955A1 APPARATUS AND METHOD FOR CONTROLLING ROBOT ARM, AND ROBOT AND PROGRAM 有权
标题翻译：控制机器人手臂和机器人与程序的装置和方法
公开(公告)号：US20100087955A1
公开(公告)日：2010-04-08
申请号：US12594696
申请日：2008-06-24
申请人： Yuko Tsusaka , Yasunao Okazaki
发明人： Yuko Tsusaka , Yasunao Okazaki
IPC分类号： B25J19/06 , B25J13/00
CPC分类号： B25J9/0003 , B25J9/1676 , G05B2219/36429 , G05B2219/39478
摘要： A control device for a robot arm is designed such that, based on information on a transportation state database in which information on a transportation state of a person operating the arm is recorded, an impedance setting unit sets a mechanical impedance set value of the arm, and an impedance control unit controls a mechanical impedance value of the arm to the mechanical impedance set value thus set.
摘要翻译：设计用于机器人手臂的控制装置，其特征在于，基于记录有操作所述手臂的人的运送状态的信息的运送状态数据库的信息，阻抗设定部设定所述手臂的机械阻抗设定值，并且阻抗控制单元将臂的机械阻抗值控制为由此设定的机械阻抗设定值。

6. 发明授权

US07558647B2 Device and method for controlling robot arm, robot and program based on object-dependent impedance 有权
标题翻译：基于物体相关阻抗控制机器人手臂，机器人和程序的装置和方法
公开(公告)号：US07558647B2
公开(公告)日：2009-07-07
申请号：US11919578
申请日：2006-12-12
申请人： Yasunao Okazaki
发明人： Yasunao Okazaki
IPC分类号： G05B21/00
CPC分类号： B25J9/1633 , G05B2219/39343 , G05B2219/40198 , G05B2219/40201 , G05B2219/41387
摘要： In a robot arm controlling device, a mechanical impedance set value of the arm is set by an object property-concordant impedance setting device based on information of an object property database in which information associated with properties of an object being gripped by the arm is recorded, and a mechanical impedance value of the arm is controlled to the set mechanical impedance set value by an impedance controlling device.
摘要翻译：在机器人手臂控制装置中，通过对象属性一致的阻抗设定装置，基于物体属性数据库的信息来设定手臂的机械阻抗设定值，在该对象属性数据库中记录与被手抓握的物体的属性相关联的信息并且通过阻抗控制装置将臂的机械阻抗值控制到设定的机械阻抗设定值。

7. 发明申请

US20060174761A1 Compressible fluid pressure actuator 有权
标题翻译：可压缩流体压力执行器
公开(公告)号：US20060174761A1
公开(公告)日：2006-08-10
申请号：US11360815
申请日：2006-02-24
申请人： Katsuhiko Asai , Yasunao Okazaki , Masaki Yamamoto
发明人： Katsuhiko Asai , Yasunao Okazaki , Masaki Yamamoto
IPC分类号： F01B19/00
CPC分类号： F15B11/04 , B25J9/1075 , B25J9/142 , F15B11/06 , F15B15/103 , F15B2211/40507 , F15B2211/7052 , F15B2211/755
摘要： An inner space connected to a power source and an inner space connected by way of a pressure loss part with respect to the flow of compressible fluid are provided, thereby obtaining effects similar to when the volume occupied by the compressible fluid with respect to the entire inner space is reduced when the pressure of the pressure source is rapidly changed, and effects similar to when the entire inner space is one space when static load is applied from the outside.
摘要翻译：提供连接到电源的内部空间和通过压缩损失部分相对于可压缩流体的流动连接的内部空间，从而获得与当可压缩流体相对于整个内部的体积占据的效果相似的效果当压力源的压力快速变化时，空间减小，并且当从外部施加静负荷时，当整个内部空间是一个空间时，效果类似。

8. 发明授权

US06741142B1 High-frequency circuit element having means for interrupting higher order modes 有权
标题翻译：具有用于中断高阶模式的装置的高频电路元件
公开(公告)号：US06741142B1
公开(公告)日：2004-05-25
申请号：US09523132
申请日：2000-03-10
申请人： Yasunao Okazaki , Akira Enokihara , Kentaro Setsune
发明人： Yasunao Okazaki , Akira Enokihara , Kentaro Setsune
IPC分类号： H01P308
CPC分类号： H01L23/552 , H01L2924/1616 , H01L2924/16195 , H01P1/16
摘要： A high-frequency circuit element including a substrate, a high-frequency circuit formed on the substrate, a metal box electromagnetically shielding the high-frequency circuit by enclosing the substrate and an input/output terminal placed on the metal box and inputting/outputting a high-frequency signal to/from the high-frequency circuit. Adding at least one plate for interrupting unwanted higher-order mode cutting off the propagation path of the high frequency waves in the space inside the metal box by substantially dividing the space inside the metal box makes it possible to cut off the propagation path where the high frequency waves propagates in the space inside the box and to suppress excitation and propagation of the unwanted higher-order mode that adversely affects the frequency characteristic of the high frequency circuit element.
摘要翻译：一种高频电路元件，包括基板，形成在基板上的高频电路，通过封装基板电磁屏蔽高频电路的金属盒和放置在金属盒上的输入/输出端子，以及输入/输出高频信号往/从高频电路。添加至少一块用于中断不需要的高阶模式的板，通过基本上划分金属盒内部的空间来切断金属盒内的空间中的高频波的传播路径，使得可以切断传播路径，其中高频率波在箱内的空间中传播，并且抑制不利地影响高频电路元件的频率特性的不需要的高阶模式的激励和传播。

9. 发明授权

US06642815B2 Dielectric resonator filter 有权
公开(公告)号：US06642815B2
公开(公告)日：2003-11-04
申请号：US10218285
申请日：2002-08-14
申请人： Yasunao Okazaki , Michio Okajima , Akira Enokihara , Toshiaki Nakamura , Minoru Tachibana , Kunihiko Minami
发明人： Yasunao Okazaki , Michio Okajima , Akira Enokihara , Toshiaki Nakamura , Minoru Tachibana , Kunihiko Minami
IPC分类号： H01P710
CPC分类号： H01P7/10 , H01P1/2084
摘要： A dielectric resonator filter comprises dielectric resonators, an enclosure having a main body, a lid, and partition walls, interstage-coupling tuning windows, interstage-coupling tuning bolts, input/output terminals, and input/output coupling probes. Resonance-frequency tuning members each composed of a conductor plate and a bolt coupled integrally thereto are attached to the enclosure lid. Undesired-mode suppressing means such as rings attached to the bolts of the resonance-frequency tuning members or bolts attached to the conductor plates or to the enclosure lid are disposed in an undesired-mode excitation space, whereby the occurrence of a disturbed characteristic in the pass band (or stop band) is suppressed.

10. 发明申请

US20130000480A1 CONTROL APPARATUS, CONTROL METHOD, AND CONTROL PROGRAM FOR ELASTIC ACTUATOR DRIVE MECHANISM 有权
标题翻译：控制装置，控制方法和弹性致动器驱动机构的控制程序
公开(公告)号：US20130000480A1
公开(公告)日：2013-01-03
申请号：US13613221
申请日：2012-09-13
申请人： Mayumi KOMATSU , Yasunao Okazaki
发明人： Mayumi KOMATSU , Yasunao Okazaki
IPC分类号： F01B19/04
CPC分类号： B25J9/1615 , B25J9/142 , B25J9/1674 , F15B11/16 , F15B2211/7052 , F15B2211/7107 , G05B23/0243 , G05B2219/39454 , G05B2219/39462
摘要： There is provided an abnormality determination unit that determines whether or not an output measurement unit is abnormal, in order to determine abnormality of the output measurement unit. When the output measurement unit is abnormal, the operation of an elastic actuator is controlled not in accordance with a measurement result of the output measurement unit but in accordance with an internal state model.
摘要翻译：提供了一种异常确定单元，其确定输出测量单元是否异常，以便确定输出测量单元的异常。当输出测量单元异常时，弹性致动器的操作不是根据输出测量单元的测量结果而是根据内部状态模型进行控制的。

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