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1. 发明授权

CN103907068B 用于机器人传送装置的时间最佳轨迹有权转让
公开(公告)号：CN103907068B
公开(公告)日：2017-02-15
申请号：CN201280054282.2
申请日：2012-08-30
申请人：布鲁克斯自动化公司
发明人： J.克里什纳萨米 , M.霍塞克
IPC分类号： G05B19/416 , B25J9/16
CPC分类号： B25J9/1664 , G05B19/416 , G05B2219/40449 , G05B2219/40466 , H01L21/67259 , H01L21/67742 , H01L21/67766
摘要：用于机器人操纵器的时间最佳轨迹生成方法，该机器人操纵器具有运送路径，该运送路径具有至少一个路径节段，该方法包括沿该至少一个路径节段从该至少一个路径节段的起点朝该至少一个路径节段的终点生成该操纵器的向前时间最佳轨迹，沿该至少一个路径节段从该至少一个路径节段的终点朝该至少一个路径节段的起点生成该操纵器的反向时间最佳轨迹，和组合该时间最佳向前和反向轨迹，以获得完整时间最佳轨迹，其中该至少一个路径节段的向前和反向轨迹与平滑桥接部混合在一起，该平滑桥接部在位置速度参考系中连结该时间最佳向前和反向轨迹，其中在该时间最佳向前和反向轨迹之间大致没有不连续性。

2. 发明公开

CN108453702A 机器人仿真器、机器人系统以及仿真方法有权
公开(公告)号：CN108453702A
公开(公告)日：2018-08-28
申请号：CN201810141614.X
申请日：2018-02-11
申请人：株式会社安川电机
发明人：桑原康一 , 斧山佳史 , 安田贤一 , 渡边航
IPC分类号： B25J9/00 , B25J9/16
CPC分类号： B25J9/1605 , B25J9/1666 , B25J9/1671 , B25J9/1676 , B25J9/1697 , B25J13/089 , G05B19/4061 , G05B19/425 , G05B2219/35012 , G05B2219/40121 , G05B2219/40371 , G05B2219/40466 , G05B2219/40519 , G05B2219/49143 , G06F17/5009 , G06T1/0014 , Y02P90/265 , B25J9/0081 , B25J9/1602
摘要：提供一种机器人仿真器、机器人系统以及仿真方法。机器人仿真器(100)包括：模型存储部(111)，其存储与机器人(10)以及该机器人(10)的周边的障碍物相关的模型信息；信息获取部(120)，其被构成为获取第一输入信息，所述第一输入信息确定机器人(10)的动作的开始位置以及结束位置；以及信息处理部(130)，其被构成为执行基于第一输入信息以及模型信息生成路径的处理、以及生成图像数据的处理，所述路径避免机器人(10)与障碍物之间的冲突并使机器人(10)的前端部(16)从开始位置移动到结束位置，所述图像数据包含示出障碍物的图以及示出路径的经由点的指标。

3. 发明公开

CN103907068A 用于机器人传送装置的时间最佳轨迹有权转让
公开(公告)号：CN103907068A
公开(公告)日：2014-07-02
申请号：CN201280054282.2
申请日：2012-08-30
申请人：布鲁克斯自动化公司
发明人： J.克里什纳萨米 , M.霍塞克
IPC分类号： G05B19/416 , B25J9/16
CPC分类号： B25J9/1664 , G05B19/416 , G05B2219/40449 , G05B2219/40466 , H01L21/67259 , H01L21/67742 , H01L21/67766
摘要：用于机器人操纵器的时间最佳轨迹生成方法，该机器人操纵器具有运送路径，该运送路径具有至少一个路径节段，该方法包括沿该至少一个路径节段从该至少一个路径节段的起点朝该至少一个路径节段的终点生成该操纵器的向前时间最佳轨迹，沿该至少一个路径节段从该至少一个路径节段的终点朝该至少一个路径节段的起点生成该操纵器的反向时间最佳轨迹，和组合该时间最佳向前和反向轨迹，以获得完整时间最佳轨迹，其中该至少一个路径节段的向前和反向轨迹与平滑桥接部混合在一起，该平滑桥接部在位置速度参考系中连结该时间最佳向前和反向轨迹，其中在该时间最佳向前和反向轨迹之间大致没有不连续性。

4. 发明授权

US06615110B2 Controlling method and apparatus for positioning a robot 有权
标题翻译：用于定位机器人的控制方法和装置
公开(公告)号：US06615110B2
公开(公告)日：2003-09-02
申请号：US10149400
申请日：2002-06-11
申请人： Seiichi Matsuo , Youichi Tanaka , Takahiro Kurokawa , Seishiro Yanachi
发明人： Seiichi Matsuo , Youichi Tanaka , Takahiro Kurokawa , Seishiro Yanachi
IPC分类号： G06F1900
CPC分类号： B25J9/1641 , G05B19/00 , G05B19/19 , G05B2219/39357 , G05B2219/40466
摘要： A controlling method and apparatus for positioning a robot that can output an optimal speed instruction for controlling residual vibration after completion of a moving operation, achieve reduction in tact time for the moving operation, and shorten the length of setting time. The method is a controlling method for positioning a robot (1) for performing a point-to-point moving operation comprising: performing a test operation to measure a frequency of a residual vibration that is stopped at a target position; measuring a magnitude of the residual vibration based on the frequency during each of different lengths of moving time for a predetermined moving distance to find a relationship between the length of moving time and the magnitude of the vibration; calculating a shortest moving time at which vibration magnitude is minimized; and performing the point-to-point operation for the calculated shortest moving time, thereby to position the robot (1) at the target position.
摘要翻译：一种用于定位机器人的控制方法和装置，其可以在完成移动操作之后输出用于控制残余振动的最佳速度指令，从而实现了移动操作的节拍时间的减少，并缩短了设定时间。该方法是用于定位用于执行点对点移动操作的机器人（1）的控制方法，包括：执行测试操作以测量在目标位置停止的残余振动的频率; 在预定移动距离的不同长度的移动时间期间，基于频率测量残余振动的大小，以找到移动时间长度与振动幅度之间的关系; 计算振动幅度最小的最短移动时间; 并对所计算的最短移动时间进行点对点操作，从而将机器人（1）定位在目标位置。

5. 发明申请

US20140249675A1 TIME-OPTIMAL TRAJECTORIES FOR ROBOTIC TRANSFER DEVICES 有权
标题翻译：用于机器人传输设备的时间优化TRAJECTORIES
公开(公告)号：US20140249675A1
公开(公告)日：2014-09-04
申请号：US14342035
申请日：2012-08-30
申请人： Jayaraman Krishnasamy , Martin Hosek
发明人： Jayaraman Krishnasamy , Martin Hosek
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , G05B19/416 , G05B2219/40449 , G05B2219/40466 , H01L21/67259 , H01L21/67742 , H01L21/67766
摘要： A time-optimal trajectory generation method, for a robotic manipulator having a transport path with at least one path segment, comprising generating a forward time-optimal trajectory of the manipulator along the at least one path segment from a start point of the at least one path segment towards an end point of the at least one path segment, generating a reverse time-optimal trajectory of the manipulator along the at least one path segment from the end point towards the start point of the at least one path segment, and combining the time-optimal forward and reverse trajectories to obtain a complete time-optimal trajectory, where the forward and reverse trajectories of the at least one path segment are blended together with a smoothing bridge joining the time-optimal forward and reverse trajectories in a position-velocity reference frame with substantially no discontinuity between the time-optimal forward and reverse trajectories.
摘要翻译：一种用于具有至少一个路径段的传输路径的机器人操纵器的时间优化轨迹生成方法，包括从所述至少一个路径段的起始点沿着所述至少一个路径段生成所述操纵器的前向时间最优轨迹路径段朝向所述至少一个路径段的终点，从所述至少一个路径段的终点向起始点沿着所述至少一个路径段产生所述操纵器的反时间最优轨迹，并将时间最佳的正向和反向轨迹以获得完整的时间最优轨迹，其中至少一个路径段的前向和后向轨迹与平滑桥混合在一起，该平滑桥连接时间最优的前进和后退轨迹，位置速度参考帧在时间最优的正向和反向轨迹之间基本上没有不连续性。

6. 发明授权

US09517558B2 Time-optimal trajectories for robotic transfer devices 有权
标题翻译：机器人传输设备的时间优化轨迹
公开(公告)号：US09517558B2
公开(公告)日：2016-12-13
申请号：US14342035
申请日：2012-08-30
申请人： Jayaraman Krishnasamy , Martin Hosek
发明人： Jayaraman Krishnasamy , Martin Hosek
IPC分类号： B25J9/16 , H01L21/67 , H01L21/677 , G05B19/416
CPC分类号： B25J9/1664 , G05B19/416 , G05B2219/40449 , G05B2219/40466 , H01L21/67259 , H01L21/67742 , H01L21/67766
摘要： A time-optimal trajectory generation method, for a robotic manipulator having a transport path with at least one path segment, comprising generating a forward time-optimal trajectory of the manipulator along the at least one path segment from a start point of the at least one path segment towards an end point of the at least one path segment, generating a reverse time-optimal trajectory of the manipulator along the at least one path segment from the end point towards the start point of the at least one path segment, and combining the time-optimal forward and reverse trajectories to obtain a complete time-optimal trajectory, where the forward and reverse trajectories of the at least one path segment are blended together with a smoothing bridge joining the time-optimal forward and reverse trajectories in a position-velocity reference frame with substantially no discontinuity between the time-optimal forward and reverse trajectories.
摘要翻译：一种用于具有至少一个路径段的传输路径的机器人操纵器的时间优化轨迹生成方法，包括从所述至少一个路径段的起始点沿着所述至少一个路径段生成所述操纵器的前向时间最优轨迹路径段朝向所述至少一个路径段的终点，从所述至少一个路径段的终点向起始点沿着所述至少一个路径段产生所述操纵器的反时间最优轨迹，并将时间最佳的正向和反向轨迹以获得完整的时间最优轨迹，其中至少一个路径段的前向和后向轨迹与平滑桥混合在一起，该平滑桥连接时间最优的前进和后退轨迹，位置速度参考帧在时间最优的正向和反向轨迹之间基本上没有不连续性。

7. 发明申请

US20170087720A1 TIME-OPTIMAL TRAJECTORIES FOR ROBOTIC TRANSFER DEVICES 审中-公开
公开(公告)号：US20170087720A1
公开(公告)日：2017-03-30
申请号：US15376119
申请日：2016-12-12
申请人： BROOKS AUTOMATION, INC.
发明人： Jayaraman KRISHNASAMY , Martin HOSEK
IPC分类号： B25J9/16 , H01L21/677 , H01L21/67
CPC分类号： B25J9/1664 , G05B19/416 , G05B2219/40449 , G05B2219/40466 , H01L21/67259 , H01L21/67742 , H01L21/67766
摘要： A time-optimal trajectory generation method, for a robotic manipulator haying a transport path with at least one path segment, comprising generating a forward time-optimal trajectory of the manipulator along the at least one path segment from a start point of the at least one path segment towards an end point of the at least one path segment, generating a reverse time-optimal trajectory of the manipulator along the at least one path segment from the end point towards the start point of the at least one path segment, and combining the time-optimal forward and reverse trajectories to obtain a complete time optimal trajectory, where the forward and reverse trajectories of the at least one path segment are blended together with a smoothing bridge joining the time-optimal forward and reverse trajectories in a position-velocity reference frame with substantially no discontinuity between the time-optimal forward and reverse trajectories.

8. 发明申请

US20030083783A1 Controlling method and apparatus for positioning a robot 有权
标题翻译：用于定位机器人的控制方法和装置
公开(公告)号：US20030083783A1
公开(公告)日：2003-05-01
申请号：US10149400
申请日：2002-06-11
发明人： Seiichi Matsuo , Youichi Tanaka , Takahiro Kurokawa , Seishiro Yanachi
IPC分类号： G06F019/00
CPC分类号： B25J9/1641 , G05B19/00 , G05B19/19 , G05B2219/39357 , G05B2219/40466
摘要： A controlling method and a controlling apparatus both for positioning a robot are provided that can output an optimal speed instruction for controlling a residual vibration after completion of a moving operation, achieve reduction in tact Lime for the moving operation, and shorten the length of setting time. The method is a controlling method for positioning a robot (1) for performing a point-to-point moving operation of the robot (1), comprising: performing a test operation to measure a frequency of a residual vibration of the robot (1) that is stopped at a target position; measuring a magnitude of the residual vibration based on the frequency during each of different lengths of moving time for a predetermined moving distance of the robot (1) to find a relationship between the length of moving time and the magnitude of the vibration; calculating a shortest moving time at which the magnitude of the vibration becomes a minimum value; and performing the point-to-point operation of the robot (1) for the calculated shortest moving time, thereby to position the robot (1) at the target position.
摘要翻译：提供了一种用于定位机器人的控制方法和控制装置，其可以输出用于在完成移动操作之后控制残余振动的最佳速度指令，实现移动操作的节拍石灰减少，并缩短设定时间长度。该方法是用于定位用于执行机器人（1）的点对点移动操作的机器人（1）的控制方法，包括：执行测量操作以测量机器人（1）的残余振动的频率，停在目标位置; 基于所述机器人（1）的预定移动距离的不同长度的移动时间的每个中的频率来测量所述残余振动的大小，以找到所述移动时间的长度与所述振动的大小之间的关系; 计算振动幅度成为最小值的最短移动时间; 并对所计算的最短移动时间进行机器人（1）的点对点操作，从而将机器人（1）定位在目标位置。

9. 发明公开

EP1250218A1 CONTROLLING METHOD AND APPARATUS FOR POSITIONING A ROBOT 有权
标题翻译：方法和设备控制和定位的机器人
公开(公告)号：EP1250218A1
公开(公告)日：2002-10-23
申请号：EP00981738.8
申请日：2000-12-14
申请人： MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD.
发明人： Matsuo, Seiichi , Tanaka, Youichi , Kurokawa, Takahiro , Yanachi, Seishiro
IPC分类号： B25J9/16
CPC分类号： B25J9/1641 , G05B19/00 , G05B19/19 , G05B2219/39357 , G05B2219/40466
摘要： A controlling method and a controlling apparatus both for positioning a robot are provided that can output an optimal speed instruction for controlling a residual vibration after completion of a moving operation, achieve reduction in tact time for the moving operation, and shorten the length of setting time. The method is a controlling method for positioning a robot (1) for performing a point-to-point moving operation of the robot (1), comprising: performing a test operation to measure a frequency of a residual vibration of the robot (1) that is stopped at a target position; measuring a magnitude of the residual vibration based on the frequency during each of different lengths of moving time for a predetermined moving distance of the robot (1) to find a relationship between the length of moving time and the magnitude of the vibration; calculating a shortest moving time at which the magnitude of the vibration becomes a minimum value; and performing the point-to-point operation of the robot (1) for the calculated shortest moving time, thereby to position the robot (1) at the target position.

10. 发明公开

EP0642893A3 Method for optimizing the motion of a multi-axis robot 失效
标题翻译： Verfahren zur Optimierung der Bewegung eines Mehr-Achsen-Roboters。
公开(公告)号：EP0642893A3
公开(公告)日：1996-05-01
申请号：EP94112296.2
申请日：1994-08-05
申请人： STRATASYS INC.
发明人： Batchelder, John Sam
IPC分类号： B25J9/16 , G05B19/416 , G05B19/4103
CPC分类号： G05B19/4103 , B29C2947/92571 , B29C2947/9258 , B29C2947/926 , B29C2947/92809 , B29C2947/92904 , B29C2947/9298 , B33Y30/00 , B33Y50/02 , G05B2219/34132 , G05B2219/40466 , G05B2219/43062 , G05B2219/43201
摘要： A method for determining an optimal trajectory and velocity for an open loop stepper motor driven robot (1) is disclosed, as is an open loop robotic system suitable for use in, by example, a rapid prototyping system (10). The method utilizes a deflection angle calculation of a maximal velocity for each vertex of a set of vertices that define a desired trajectory, a heap sort for globally ensuring that none of the vertices have an excessive velocity, and a vertex adding technique that ensures that the robot is performing straight line moves as rapidly as is possible.
摘要翻译：公开了一种用于确定开环步进电机驱动机器人（1）的最佳轨迹和速度的方法，以及适用于例如快速原型系统（10）的开环机器人系统。该方法利用对定义期望轨迹的一组顶点的每个顶点的最大速度的偏转角计算，用于全局地确保没有顶点具有过大速度的堆排序，以及确保机器人尽可能快地进行直线移动。

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