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1. 发明授权

CN103459102B 机器人控制装置、机器人控制方法、程序和记录介质失效
公开(公告)号：CN103459102B
公开(公告)日：2016-01-06
申请号：CN201280017069.4
申请日：2012-03-19
申请人：佳能株式会社
发明人：根岸真人 , 铃木秀明 , 饭塚信辅
IPC分类号： B25J9/16
CPC分类号： B25J9/1607 , B25J9/1679 , B25J9/1697 , G05B2219/39022 , G05B2219/39063 , G05B2219/40082 , G05B2219/40609
摘要：计算照相机坐标系中的手部单元的第一坐标系CA、第一工件的第二坐标系CB以及第二工件的第三坐标系CC（S2、S3和S4）。计算第一和第二坐标变换矩阵ATB和ATC（S5和S6）。在第一工件的坐标系中设定目标点的坐标数据（S7）。在第二工件的坐标系中设定指令点的坐标数据（S8）。使用第一坐标变换矩阵ATB对目标点的坐标数据进行坐标变换（S9）。使用第二坐标变换矩阵ATC对指定点的坐标数据进行坐标变换（S10）。使用转换后的坐标数据生成操作指令（S11）。

2. 发明公开

CN103459102A 机器人控制装置、机器人控制方法、程序和记录介质失效
公开(公告)号：CN103459102A
公开(公告)日：2013-12-18
申请号：CN201280017069.4
申请日：2012-03-19
申请人：佳能株式会社
发明人：根岸真人 , 铃木秀明 , 饭塚信辅
IPC分类号： B25J9/16
CPC分类号： B25J9/1607 , B25J9/1679 , B25J9/1697 , G05B2219/39022 , G05B2219/39063 , G05B2219/40082 , G05B2219/40609
摘要：计算照相机坐标系中的手部单元的第一坐标系CA、第一工件的第二坐标系CB以及第二工件的第三坐标系CC（S2、S3和S4）。计算第一和第二坐标变换矩阵ATB和ATC（S5和S6）。在第一工件的坐标系中设定目标点的坐标数据（S7）。在第二工件的坐标系中设定指令点的坐标数据（S8）。使用第一坐标变换矩阵ATB对目标点的坐标数据进行坐标变换（S9）。使用第二坐标变换矩阵ATC对指定点的坐标数据进行坐标变换（S10）。使用转换后的坐标数据生成操作指令（S11）。

3. 发明申请

US20140012416A1 ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, PROGRAM, AND RECORDING MEDIUM 有权
标题翻译：机器人控制装置，机器人控制方法，程序和记录介质
公开(公告)号：US20140012416A1
公开(公告)日：2014-01-09
申请号：US14006638
申请日：2012-03-19
申请人： Mahito Negishi , Hideaki Suzuki , Shinsuke Iizuka
发明人： Mahito Negishi , Hideaki Suzuki , Shinsuke Iizuka
IPC分类号： B25J9/16
CPC分类号： B25J9/1607 , B25J9/1679 , B25J9/1697 , G05B2219/39022 , G05B2219/39063 , G05B2219/40082 , G05B2219/40609
摘要： A first coordinate system CA of the hand unit, a second coordinate system CB of the first workpiece, and a third coordinate system CC of a second workpiece in a camera coordinate system are calculated (S2, S3, and S4). First and second coordinate transformation matrices ATB and ATC are calculated (S5 and S6). Coordinate data of a target point is set in the coordinate system of the first workpiece (S7). Coordinate data of an instruction point is set in the coordinate system of the second workpiece (S8). The coordinate data of the target point is subjected to coordinate transformation using the first coordinate transformation matrix ATB (S9). The coordinate data of the instruction point is subjected to coordinate transformation using the second coordinate transformation matrix ATC (S10). Operation instructions are generated using the converted coordinate data (S11).
摘要翻译：计算手部单元的第一坐标系CA，第一工件的第二坐标系CB和相机坐标系中的第二工件的第三坐标系CC（S2，S3和S4）。计算第一和第二坐标变换矩阵ATB和ATC（S5和S6）。在第一工件的坐标系中设定目标点的坐标数据（S7）。在第二工件的坐标系中设定指令点的坐标数据（S8）。使用第一坐标变换矩阵ATB对目标点的坐标数据进行坐标变换（S9）。使用第二坐标变换矩阵ATC对指令点的坐标数据进行坐标变换（S10）。使用转换的坐标数据生成操作指令（S11）。

4. 发明授权

US08977395B2 Robot control apparatus, robot control method, program, and recording medium 有权
标题翻译：机器人控制装置，机器人控制方法，程序和记录介质
公开(公告)号：US08977395B2
公开(公告)日：2015-03-10
申请号：US14006638
申请日：2012-03-19
申请人： Mahito Negishi , Hideaki Suzuki , Shinsuke Iizuka
发明人： Mahito Negishi , Hideaki Suzuki , Shinsuke Iizuka
IPC分类号： G05B19/18 , B25J9/16 , G05B19/04
CPC分类号： B25J9/1607 , B25J9/1679 , B25J9/1697 , G05B2219/39022 , G05B2219/39063 , G05B2219/40082 , G05B2219/40609
摘要： A first coordinate system CA of the hand unit, a second coordinate system CB of the first workpiece, and a third coordinate system CC of a second workpiece in a camera coordinate system are calculated (S2, S3, and S4). First and second coordinate transformation matrices ATB and ATC are calculated (S5 and S6). Coordinate data of a target point is set in the coordinate system of the first workpiece (S7). Coordinate data of an instruction point is set in the coordinate system of the second workpiece (S8). The coordinate data of the target point is subjected to coordinate transformation using the first coordinate transformation matrix ATB (S9). The coordinate data of the instruction point is subjected to coordinate transformation using the second coordinate transformation matrix ATC (S10). Operation instructions are generated using the converted coordinate data (S11).
摘要翻译：计算手部单元的第一坐标系CA，第一工件的第二坐标系CB和相机坐标系中的第二工件的第三坐标系CC（S2，S3和S4）。计算第一和第二坐标变换矩阵ATB和ATC（S5和S6）。在第一工件的坐标系中设定目标点的坐标数据（S7）。在第二工件的坐标系中设定指令点的坐标数据（S8）。使用第一坐标变换矩阵ATB对目标点的坐标数据进行坐标变换（S9）。使用第二坐标变换矩阵ATC对指令点的坐标数据进行坐标变换（S10）。使用转换的坐标数据生成操作指令（S11）。

5. 发明授权

US11642786B2 Humanoid robot and its balance control method and computer readable storage medium 有权
公开(公告)号：US11642786B2
公开(公告)日：2023-05-09
申请号：US17138948
申请日：2020-12-31
申请人： UBTECH ROBOTICS CORP LTD
发明人： Yan Xie , Mingguo Zhao , Youjun Xiong
IPC分类号： B25J9/16 , B62D57/02 , B62D57/032 , B25J19/00 , B25J9/00
CPC分类号： B25J9/1664 , B25J9/1651 , B25J9/1653 , B25J9/0006 , B25J9/1607 , B25J19/0008 , B62D57/02 , B62D57/032 , G05B2219/39063 , G05D2201/0217
摘要： A humanoid robot and its balance control method and computer readable storage medium are provided. Expected accelerations of each of a sole and centroid of a humanoid robot corresponding to a current expected balance trajectory and an expected angular acceleration of the waist corresponding to the current expected balance trajectory are obtained based on current motion data of the sole, the centroid, and the waist, respectively first, then an expected angular acceleration of each joint meeting control requirements of the sole, the centroid, and the waist while the robot corresponds to the current expected balance trajectory is calculated based on an angular velocity of the joint, the expected accelerations of the waist, the sole, and the centroid, respectively, and then each joint of the robot is controlled to move at the obtained expected angular acceleration of the joint based on the angular displacement of the joint.

6. 发明授权

US4954762A Method and apparatus for controlling tracking path of working point of industrial robot 失效
标题翻译：控制工业机器人工作点跟踪路径的方法和装置
公开(公告)号：US4954762A
公开(公告)日：1990-09-04
申请号：US472082
申请日：1990-01-30
申请人： Norihisa Miyake , Masaki Sumita , Shinichi Sarugaku
发明人： Norihisa Miyake , Masaki Sumita , Shinichi Sarugaku
IPC分类号： B25J9/16 , B25J9/18 , G05B19/4093 , G05B19/418
CPC分类号： G05B19/4182 , G05B2219/39063 , G05B2219/39101 , G05B2219/50353 , Y02P90/083 , Y02P90/20
摘要： A method and apparatus for controlling the tracking path of a working element so that the working element moves along a path having a predetermined positional relationship with a working object by adjusting the relative positional relationship between the working element and the working object through the movement of individually movable at least one moving element. The method and apparatus allot individual coordinate systems each having a discriminator to the working element, the working object and the moving elements to provide coordinate systems with the corresponding discriminators, set as a coordinate system expressing the data for controlling the movement of the working element a first coordinate system selected from the coordinate systems, describe, using a second coordinate system selected from the coordinate systems, the data representing the positions of the working element corresponding to specific points on the tracking path along which the working element is to move on the basis of a prescribed working schedule, store these data together with the discriminators representative of the corresponding coordinate systems, decide in executing a real work if or not the first coordinate system and the second coordinate system are the same from their discriminators, and, if both coordinate systems are different coordinate systems, converts the position data of the working element corresponding to the specific points into the data expressed in the first coordinate system, and control the movement of the working element on the basis of the converted data.

7. 发明授权

EP0381185B1 Method and apparatus for controlling tracking path of working point of industrial robot 失效
标题翻译：一种用于控制工业机器人的编辑轨道的方法和装置
公开(公告)号：EP0381185B1
公开(公告)日：1998-04-01
申请号：EP90101897.8
申请日：1990-01-31
申请人： HITACHI, LTD. , HITACHI KEIYO ENGINEERING CO., LTD.
发明人： Miyake, Norihisa , Sumita, Masaki , Sarugaku, Shinichi, Narashinodai San Haitsu 217
IPC分类号： B25J13/08 , B25J9/06 , G05D1/10
CPC分类号： G05B19/4182 , G05B2219/39063 , G05B2219/39101 , G05B2219/50353 , Y02P90/083 , Y02P90/20

8. 发明公开

EP0381185A3 Method and apparatus for controlling tracking path of working point of industrial robot 失效
标题翻译：控制工业机器人工作点跟踪路径的方法与装置
公开(公告)号：EP0381185A3
公开(公告)日：1990-10-03
申请号：EP90101897.8
申请日：1990-01-31
申请人： HITACHI, LTD. , HITACHI KEIYO ENGINEERING CO., LTD.
发明人： Miyake, Norihisa , Sumita, Masaki , Sarugaku, Shinichi, Narashinodai San Haitsu 217
IPC分类号： B25J13/08 , B25J9/06 , G05D1/10
CPC分类号： G05B19/4182 , G05B2219/39063 , G05B2219/39101 , G05B2219/50353 , Y02P90/083 , Y02P90/20
摘要： A method and apparatus for controlling the tracking path of a working element (3) so that the working element moves along a path having a predetermined positional relationship with a working object (5) by adjusting the relative positional relationship between the working element and the working object through the movement of individually movable at least one moving element (1, 2, 4) each being operatively coupled with either the working element or the working object in a prescribed coupling condition. The method and apparatus allot individual coordinate systems (1,a, 3a, 4a, 5a) each having a discriminator to the working element, the working object and the moving elements (1, 2, 4) to provide coordinate systems with the corresponding discriminators (512, 519), set as a coordinate system expressing the data for controlling the movement of the working element a first coordinate system (5a) selected from the coordinate systems, describe, using a second coordinate system (1a) selected from the coordinate systems, the data representing the positions of the working element corresponding to specific points (51, 52) on the tracking path along which the working element is to move on the basis of a prescribed working schedule, store these data together with the discriminators representative of the corresponding coordinate systems, decide in executing a real work if or not the first coordinate system and the second coordinate system are the same from their discriminators, and, if both coordinate systems are different coordinate systems, converts the position data of the working element corresponding to the specific points into the data expressed in the first coordinate system, and control the movement of the working element on the basis of the converted data.

9. 发明公开

EP0381185A2 Method and apparatus for controlling tracking path of working point of industrial robot 失效
标题翻译： Verfahren und Vorrichtung zur Kontrolle der Bearbeitungsspur eines Industrieroboters。
公开(公告)号：EP0381185A2
公开(公告)日：1990-08-08
申请号：EP90101897.8
申请日：1990-01-31
申请人： HITACHI, LTD. , HITACHI KEIYO ENGINEERING CO., LTD.
发明人： Miyake, Norihisa , Sumita, Masaki , Sarugaku, Shinichi, Narashinodai San Haitsu 217
IPC分类号： B25J13/08 , B25J9/06 , G05D1/10
CPC分类号： G05B19/4182 , G05B2219/39063 , G05B2219/39101 , G05B2219/50353 , Y02P90/083 , Y02P90/20
摘要： A method and apparatus for controlling the tracking path of a working element (3) so that the working element moves along a path having a predetermined positional relationship with a working object (5) by adjusting the relative positional relationship between the working element and the working object through the movement of individually movable at least one moving element (1, 2, 4) each being operatively coupled with either the working element or the working object in a prescribed coupling condition. The method and apparatus allot individual coordinate systems (1,a, 3a, 4a, 5a) each having a discriminator to the working element, the working object and the moving elements (1, 2, 4) to provide coordinate systems with the corresponding discriminators (512, 519), set as a coordinate system expressing the data for controlling the movement of the working element a first coordinate system (5a) selected from the coordinate systems, describe, using a second coordinate system (1a) selected from the coordinate systems, the data representing the positions of the working element corresponding to specific points (51, 52) on the tracking path along which the working element is to move on the basis of a prescribed working schedule, store these data together with the discriminators representative of the corresponding coordinate systems, decide in executing a real work if or not the first coordinate system and the second coordinate system are the same from their discriminators, and, if both coordinate systems are different coordinate systems, converts the position data of the working element corresponding to the specific points into the data expressed in the first coordinate system, and control the movement of the working element on the basis of the converted data.
摘要翻译：一种用于控制工作元件（3）的跟踪路径的方法和装置，使得工作元件通过调节工作元件和工作元件之间的相对位置关系，沿着与工作对象（5）具有预定位置关系的路径移动通过单独移动的至少一个移动元件（1,2,4）的运动，每个移动元件在规定的耦合条件下可操作地与工作元件或工作物体耦合。所述方法和装置分配具有对工作元件，工作对象和移动元件（1,2,4）的鉴别器的单独坐标系（1，a，3a，4a，5a），以提供与对应的鉴别器的坐标系（512,519），其被设置为表示用于控制从所述坐标系中选择的第一坐标系（5a）的所述工作元件的移动的数据的坐标系，使用从所述坐标系中选择的第二坐标系（1a）根据规定的工作时间表，表示与工作要素在其上移动的跟踪路径上的特定点（51,52）对应的工作元素的位置的数据与这些数据的代表如果第一坐标系和第二坐标系与它们的鉴别器相同，则相应的坐标系决定执行实际工作，如果两个坐标系 te系统是不同的坐标系，将与特定点相对应的工作元素的位置数据转换为在第一坐标系中表示的数据，并且基于转换的数据来控制工作元件的移动。

10. 发明申请

WO2012127845A1 ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, PROGRAM, AND RECORDING MEDIUM 审中-公开
标题翻译：机器人控制装置，机器人控制方法，程序和记录介质
公开(公告)号：WO2012127845A1
公开(公告)日：2012-09-27
申请号：PCT/JP2012/001880
申请日：2012-03-19
申请人： CANON KABUSHIKI KAISHA , NEGISHI, Mahito , SUZUKI, Hideaki , IIZUKA, Shinsuke
发明人： NEGISHI, Mahito , SUZUKI, Hideaki , IIZUKA, Shinsuke
IPC分类号： B25J9/16
CPC分类号： B25J9/1607 , B25J9/1679 , B25J9/1697 , G05B2219/39022 , G05B2219/39063 , G05B2219/40082 , G05B2219/40609
摘要： A first coordinate system C A of the hand unit, a second coordinate system C B of the first workpiece, and a third coordinate system C C of a second workpiece in a camera coordinate system are calculated (S2, S3, and S4). First and second coordinate transformation matrices A T B and A T C are calculated (S5 and S6). Coordinate data of a target point is set in the coordinate system of the first workpiece (S7). Coordinate data of an instruction point is set in the coordinate system of the second workpiece (S8). The coordinate data of the target point is subjected to coordinate transformation using the first coordinate transformation matrix A T B (S9). The coordinate data of the instruction point is subjected to coordinate transformation using the second coordinate transformation matrix A T C (S10). Operation instructions are generated using the converted coordinate data (S11).
摘要翻译：计算手部单元的第一坐标系CA，第一工件的第二坐标系CB和相机坐标系中的第二工件的第三坐标系CC（S2，S3和S4）。计算第一和第二坐标变换矩阵ATB和ATC（S5和S6）。在第一工件的坐标系中设定目标点的坐标数据（S7）。在第二工件的坐标系中设定指令点的坐标数据（S8）。使用第一坐标变换矩阵ATB对目标点的坐标数据进行坐标变换（S9）。使用第二坐标变换矩阵ATC对指令点的坐标数据进行坐标变换（S10）。使用转换的坐标数据生成操作指令（S11）。

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