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1. 发明公开

CN105204394A 一种六自由度咀嚼机器人的控制系统失效
公开(公告)号：CN105204394A
公开(公告)日：2015-12-30
申请号：CN201510530647.X
申请日：2015-08-26
申请人：电子科技大学
发明人：徐尚龙 , 杨丽丽 , 汤文杰 , 李悦
IPC分类号： G05B19/042
CPC分类号： G05B19/0426 , G05B2219/39417 , G05B2219/42047
摘要：一种六自由度咀嚼机器人的控制系统，所要解决的问题为，传统的点到点的3次多项式插值所需力矩大，所需设备体积较大的问题。由于机器人机械加工精度的因素,每个咀嚼机器人都存在个体差异和六个驱动杆对称性,很难得到一致的PID控制参数的问题。其采用以下方案：步骤1：规划咀嚼机器人的各分支杆的运动轨迹，通过切牙点的位置和位姿求出各驱动杆的伸缩，过路径点的3次多项式插值方法求出各驱动杆期望位置和速度；步骤2：根据各分支杆的运动轨迹对机器人的咀嚼过程进行控制，咀嚼过程包括张开、闭合、咬合三个阶段；在张开和闭合两个阶段，使用模糊控制，咬合阶段采用模糊PID控制。

2. 发明公开

CN106557064A 六自由度串联平台的运动控制方法有权
公开(公告)号：CN106557064A
公开(公告)日：2017-04-05
申请号：CN201510638311.5
申请日：2015-09-29
申请人：宁波舜宇光电信息有限公司
发明人：诸庆 , 陆泓锋 , 柯海挺 , 徐嘉扬
IPC分类号： G05B19/402
CPC分类号： G05B19/402 , G05B2219/39417
摘要：本发明涉及一六自由度串联平台的运动控制方法，所述方法专用于摄像模组的镜头的生产、测试中AA设备的调整作业，以克服所述AA设备对摄像模组的镜头的旋转调整补偿及倾斜调整补偿中，所述AA设备的回转中心实时偏移的不足，从而提高摄像模组的镜头的成像清晰度，提高产品出良率。

3. 发明授权

US12000974B2 Mobile plant for lowering a tool into a hole 有权
公开(公告)号：US12000974B2
公开(公告)日：2024-06-04
申请号：US17250946
申请日：2019-10-16
申请人： Kinetic Logging Services Pty Ltd
发明人： Peter John Bloomfield , Pierre Pouchol , Brenton Armitage
IPC分类号： G01V11/00 , B25J13/08 , B25J15/00 , E21B49/00 , G05B19/402 , G01S17/89 , G01S19/42
CPC分类号： G01V11/002 , B25J13/08 , B25J15/0019 , E21B49/00 , G05B19/402 , G01S17/89 , G01S19/42 , G05B2219/37571 , G05B2219/39397 , G05B2219/39417
摘要： A mobile plant for orienting a tool with respect to a hole is provided. The plant includes an arm assembly for supporting a tool wherein the tool is adapted to be lowered into the hole. The plant also includes a primary sensor for sensing the geographical location of the tool, and a secondary sensor for sensing the location and/or orientation of the hole. In use, the plant adjusts the position of the tool supported by the arm assembly based on the geographical location sensed by the primary sensor and the location and/or orientation sensed by the secondary sensor, in order to align the tool supported by the arm assembly with the hole.

4. 发明公开

EP0592681A1 TOOL COORDINATES DEFINITION SYSTEM 失效
标题翻译：系统定义VON WERKZEUGKOORDINATEN。
公开(公告)号：EP0592681A1
公开(公告)日：1994-04-20
申请号：EP93906805.2
申请日：1993-03-23
申请人： FANUC LTD.
发明人： KAWAMURA, Hideaki , ISHIKAWA, Haruyuki
IPC分类号： G05B19/403
CPC分类号： G05B19/4086 , G05B2219/39398 , G05B2219/39403 , G05B2219/39417
摘要： A tool coordinates definition system capable of easily obtaining a transformation matrix for defining a tool coordinates system of a robot. The tool coordinates system (10C) at the 0° position of the robot is rotated around each axis so that the tool coordinates system (10C) becomes parallel to a base coordinates system (10A). A transformation matrix (XO) representing the relation of inclination between the hand coordinates system (10B) and the tool coordinates system (10C) is determined on the basis of an angle of rotation around each axis (P, Q, R) at that time and a matrix [HAND O] representing the attitude of the hand coordinates system at the 0° position. The attitude of the hand coordinates system (10B) at the 0° position can be obtained easily from a design value. An angle of rotation around each axis, too, can be obtained easily from a drawing, etc. Therefore, the transformation matrix (XO) can be easily determined without practically causing the robot (10) to take an attitude so that the tool coordinates system (10C) and the hand coordinates system (10B) become parallel to each other. The tool coordinates system (10C) is defined by the use of the transformation matrix (XO).
摘要翻译：一种能够容易地获得用于定义机器人的工具坐标系的变换矩阵的工具坐标定义系统。机器人的0度位置的工具坐标系（10C）围绕各轴旋转，使得工具坐标系（10C）平行于基准坐标系（10A）。基于当时在每个轴（P，Q，R）周围的旋转角度来确定表示手坐标系（10B）和工具坐标系（10C）之间的倾斜关系的变换矩阵（XO）以及表示在0°位置处的手坐标系的姿态的矩阵[HAND O]。可以从设计值容易地获得手坐标系（10B）在0°位置的姿态。因此，可以容易地从绘图等获得围绕各轴的旋转角度。因此，可以容易地确定变形矩阵（XO），而不会使实际上使机器人（10）采取姿态，使得工具坐标系（10C）和手坐标系（10B）变得彼此平行。通过使用变换矩阵（XO）来定义刀具坐标系（10C）。

5. 发明公开

EP0592681A4 TOOL COORDINATES DEFINITION SYSTEM 失效
标题翻译：工具坐标定义系统
公开(公告)号：EP0592681A4
公开(公告)日：1996-10-16
申请号：EP93906805
申请日：1993-03-23
申请人： FANUC LTD
发明人： KAWAMURA HIDEAKI , ISHIKAWA HARUYUKI
IPC分类号： B25J9/10 , B25J9/18 , G05B19/18 , G05B19/408 , G05B19/4093 , G05B19/403
CPC分类号： G05B19/4086 , G05B2219/39398 , G05B2219/39403 , G05B2219/39417
摘要： A tool coordinates definition system capable of easily obtaining a transformation matrix for defining a tool coordinates system of a robot. The tool coordinates system (10C) at the 0° position of the robot is rotated around each axis so that the tool coordinates system (10C) becomes parallel to a base coordinates system (10A). A transformation matrix (XO) representing the relation of inclination between the hand coordinates system (10B) and the tool coordinates system (10C) is determined on the basis of an angle of rotation around each axis (P, Q, R) at that time and a matrix [HAND O] representing the attitude of the hand coordinates system at the 0° position. The attitude of the hand coordinates system (10B) at the 0° position can be obtained easily from a design value. An angle of rotation around each axis, too, can be obtained easily from a drawing, etc. Therefore, the transformation matrix (XO) can be easily determined without practically causing the robot (10) to take an attitude so that the tool coordinates system (10C) and the hand coordinates system (10B) become parallel to each other. The tool coordinates system (10C) is defined by the use of the transformation matrix (XO).

6. 发明公开

EP3256268A1 MACHINE DE TRI POSTAL AVEC UNE ENTRÉE D'ALIMENTATION COMPRENANT UN BRAS ROBOTISÉ ET UN CONVOYEUR À PLAT INCLINÉ 审中-公开
标题翻译：带有输入输入的邮递分拣机，包括机械臂和倾斜平面输送机
公开(公告)号：EP3256268A1
公开(公告)日：2017-12-20
申请号：EP15821146.6
申请日：2015-12-16
申请人： Solystic
发明人： CREST, Karine , CAMPAGNOLLE, Pierre , PETIT, Jacques
IPC分类号： B07C1/04
CPC分类号： B07C1/04 , B07C1/06 , B25J9/0093 , B25J9/1687 , B25J9/1697 , B25J15/0616 , B65G47/1471 , B65G47/1485 , B65G47/26 , B65G47/52 , B65G47/915 , B65G47/917 , B65G47/967 , B65G2201/0282 , B65G2201/0285 , B65G2203/044 , G05B2219/39417 , G05B2219/40607 , G05B2219/45047
摘要： The invention relates to a mail-sorting machine, which comprises a sorting conveyor capable of transporting mail items (7) in series along the sorting outlets (3) and a unit (6) for feeding mail items including a magazine (6C) for storing loose mail items to be sorted and a separator with a robotic arm (6D) having a viewing sensor (6F) capable of picking the mail items to be sorted one-by-one from the magazine and of depositing same in the sorting conveyor, arranging them in series with constant spacing. The sorting conveyor comprises a plate conveyor (6E) which is inclined so as to form a slope for stacking by gravity.

7. 发明授权

US10496069B2 Multi-degree-of-freedom stabilization of large-scale photonic integrated circuits 有权
公开(公告)号：US10496069B2
公开(公告)日：2019-12-03
申请号：US15314099
申请日：2015-06-04
申请人： TECHNION RESEARCH & DEVELOPMENT FOUNDATION LIMITED
发明人： Moshe Nazarathy , Jonathan Fisher
IPC分类号： G05B19/402 , G05B13/00 , G05B13/04
CPC分类号： G05B19/402 , G05B13/00 , G05B13/04 , G05B2219/39414 , G05B2219/39415 , G05B2219/39416 , G05B2219/39417 , G05B2219/39418 , G05B2219/39419 , G05B2219/39421 , G05B2219/39422 , G05B2219/39423 , G05B2219/39424 , G05B2219/39425 , G05B2219/39426
摘要： A method for controlling a controlled system by a control device, the method may include transmitting multiple actuation signals to multiple degree of freedom (DOF) points of the controlled system; wherein the multiple actuation signals comprise multiple alternating current (AC) components that are mutually orthogonal; measuring at least one feedback signal from at least one probe point of the controlled system; wherein a number of DOF points exceeds a number of the at least one probe point; determining, based upon the at least one feedback signal, values of line search pulses to be sent to the multiple DOF points during at least one line search iteration; and performing the at least one line search iteration.

8. 发明授权

US09878349B2 Postal sorting machine with a feed inlet having a robotized arm and a sloping flat conveyor 有权
公开(公告)号：US09878349B2
公开(公告)日：2018-01-30
申请号：US15023866
申请日：2015-12-16
申请人： Solystic
发明人： Karine Crest , Pierre Campagnolle , Jacques Petit
IPC分类号： B07C1/04 , B07C1/06 , B65G47/14 , B65G47/91 , B65G47/96 , B25J9/16 , B25J15/06
CPC分类号： B07C1/04 , B07C1/06 , B25J9/0093 , B25J9/1687 , B25J9/1697 , B25J15/0616 , B65G47/1471 , B65G47/1485 , B65G47/26 , B65G47/52 , B65G47/915 , B65G47/917 , B65G47/967 , B65G2201/0282 , B65G2201/0285 , B65G2203/044 , G05B2219/39417 , G05B2219/40607 , G05B2219/45047
摘要： The postal sorting machine comprises a sorting conveyor suitable for transporting postal articles in series past sorting outlets and a postal article feed unit having a magazine for loosely storing postal articles to be sorted and a separator that has a robotized arm and a vision sensor and that is suitable for picking up the postal articles to be sorted one-by-one from the magazine and for putting them on the sorting conveyor while placing them in series at constant pitch. The sorting conveyor has a flat conveyor that slopes sideways to form a jogging edge against which the postal articles are jogged by gravity.

9. 发明授权

US5523663A Method for controlling a manipulator relative to a moving workpiece 失效
标题翻译：用于相对于移动的工件控制机械手的方法
公开(公告)号：US5523663A
公开(公告)日：1996-06-04
申请号：US058732
申请日：1993-05-07
申请人： Hiroshi Tsuge , Mamoru Minami
发明人： Hiroshi Tsuge , Mamoru Minami
IPC分类号： B25J9/10 , B25J5/00 , B25J9/16 , B25J13/08 , B25J19/02 , G05B19/18 , G05B19/404
CPC分类号： B25J19/023 , B25J9/162 , G05B2219/37563 , G05B2219/39394 , G05B2219/39417 , G05B2219/40298 , G05B2219/40613
摘要： A method for real-time three-dimensional control of position and attitude of an end effector of a manipulator relative to a moving workpiece. Angles of revolute joints of the manipulator are controlled by harmonizing a first control methodology, wherein the z-axis coordinate of the end effector and the attitude of the end effector are controlled based on input target values for the position and attitude of the end effector, with a second control methodology, wherein the x-axis and y-axis coordinates of the end effector are controlled responsive to image data captured by a camera mounted to the manipulator.
摘要翻译：一种用于实时三维控制机械手的端部执行器相对于移动工件的位置和姿态的方法。通过协调第一控制方法来控制操纵器的旋转关节的角度，其中基于末端执行器的位置和姿态的输入目标值来控制末端执行器的z轴坐标和末端执行器的姿态，具有第二控制方法，其中响应于安装到操纵器的照相机拍摄的图像数据来控制末端执行器的x轴和y轴坐标。

10. 发明申请

US20170192408A1 MULTI-DEGREE-OF-FREEDOM STABILIZATION OF LARGE-SCALE PHOTONIC INTEGRATED CIRCUITS 审中-公开
公开(公告)号：US20170192408A1
公开(公告)日：2017-07-06
申请号：US15314099
申请日：2015-06-04
申请人： TECHNION RESEARCH & DEVELOPEMENT FOUNDATION LIMITED
发明人： MOSHE NAZARATHY , JONATHAN FISHER
IPC分类号： G05B19/402
CPC分类号： G05B19/402 , G05B13/00 , G05B13/04 , G05B2219/39414 , G05B2219/39415 , G05B2219/39416 , G05B2219/39417 , G05B2219/39418 , G05B2219/39419 , G05B2219/39421 , G05B2219/39422 , G05B2219/39423 , G05B2219/39424 , G05B2219/39425 , G05B2219/39426
摘要： A method for controlling a controlled system by a control device, the method may include transmitting multiple actuation signals to multiple degree of freedom (DOF) points of the controlled system; wherein the multiple actuation signals comprise multiple alternating current (AC) components that are mutually orthogonal; measuring at least one feedback signal from at least one probe point of the controlled system; wherein a number of DOF points exceeds a number of the at least one probe point; determining, based upon the at least one feedback signal, values of line search pulses to be sent to the multiple DOF points during at least one line search iteration; and performing the at least one line search iteration

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