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1. 发明授权

US10035263B2 System and method for inspection and maintenance of hazardous spaces 有权
公开(公告)号：US10035263B2
公开(公告)日：2018-07-31
申请号：US15341985
申请日：2016-11-02
申请人： Kurion, Inc.
发明人： Jascha Frei , Robert R. Heim , Paul Damon Linnebur
IPC分类号： B25J9/16
CPC分类号： B25J9/162 , B25J9/06 , B25J18/00 , G05B2219/40056 , G05B2219/40234 , G05B2219/40495 , Y10S901/01 , Y10S901/44
摘要： Systems and methods for a robotic system capable of carrying out operations in a hazardous or confined space. The system comprises a manipulator arm, a plinth, a trolley, an end effector, and a control system. The plinth and trolley each comprise one or more locking pawls for securing the system to mounting levels along a length of the manipulator arm. The system is capable of maneuvering between mounting points in an inch-worm-like fashion. Motion starts from a fixed position where both the trolley and plinth locking pawls are secured to a first mounting level along the length of the manipulator arm. The trolley locking pawls are then released and the trolley runs along the manipulator and secures locking pawls to a second mounting level along the length of the manipulator arm. The plinth locking pawls are then released and the plinth is drawn to the second mounting level along the length of the manipulator arm where it is secured via locking pawls. When both the plinth and trolley are secured, operations can be carried out.

2. 发明授权

US07457698B2 Coordinated joint motion control system 有权
标题翻译：协调联合运动控制系统
公开(公告)号：US07457698B2
公开(公告)日：2008-11-25
申请号：US10488011
申请日：2002-09-03
申请人： George Danko
发明人： George Danko
IPC分类号： G06F19/00
CPC分类号： B25J9/1651 , B25J9/1607 , E02F3/437 , E02F3/438 , E02F3/439 , E02F9/2037 , E02F9/2041 , G05B2219/39062 , G05B2219/39224 , G05B2219/40495
摘要： A coordinated joint control system for controlling a coordinated joint motion system, e.g an articulated arm of a hydraulic excavator blends automation of routine tasks with real-time human supervisory trajectory correction and selection. One embodiment employs a differential control architecture utilizing an inverse Jacobian. Modeling of the desired trajectory of the end effector in system space can be avoided. The invention includes image generation and matching systems.
摘要翻译：用于控制协调关节运动系统的协调联合控制系统，例如液压挖掘机的铰接臂，将日常任务的自动化与实时人力监督轨迹校正和选择相结合。一个实施例采用利用逆雅可比的差分控制架构。可以避免系统空间中末端执行器的期望轨迹的建模。本发明包括图像生成和匹配系统。

3. 发明授权

US09304501B2 Coordinated joint motion control system with position error correction 有权
标题翻译：具有位置误差校正的协调关节运动控制系统
公开(公告)号：US09304501B2
公开(公告)日：2016-04-05
申请号：US14798254
申请日：2015-07-13
申请人： Board of Regents of the Nevada System of Higher Education, on Behalf of the University of Nevada, Reno
发明人： George L. Danko
IPC分类号： G05B19/00 , G05B13/02 , G05B13/04 , B25J9/16 , E02F9/20
CPC分类号： G05B13/021 , B25J9/1628 , E02F9/2004 , E02F9/2029 , G05B13/041 , G05B2219/40495 , G05B2219/41273 , G05B2219/45012
摘要： Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.
摘要翻译：公开了一种铰接式液压机的支撑，控制系统及其控制方法。铰接式液压机具有用于执行有用工作的端部执行器。控制系统能够控制末端执行器沿着预先选定的轨迹进行自动移动。控制系统具有位置误差校正系统，以校正实际末端执行器轨迹与期望的末端执行器轨迹之间的差异。校正系统可以采用由一个或多个可移动机器元件支撑的一个或多个加速度传感器提供的一个或多个绝对位置信号。可以获得良好的轨迹定位和重复性。启用两个操纵杆控制器系统，这在某些情况下可以方便操作人员的任务，并提高其工作质量和生产率。

4. 发明申请

US20090271035A1 METHOD FOR COMPUTER-AIDED MOVEMENT PLANNING OF A ROBOT 有权
标题翻译：机器人计算机辅助运动规划方法
公开(公告)号：US20090271035A1
公开(公告)日：2009-10-29
申请号：US12431258
申请日：2009-04-28
申请人： Winfried Lurz , Werner Neubauer , Manfred Schonborn
发明人： Winfried Lurz , Werner Neubauer , Manfred Schonborn
IPC分类号： G06F19/00
CPC分类号： B25J9/1664 , A61B6/4441 , A61B6/4458 , G05B2219/40495 , G05B2219/45117
摘要： A method for computer-aided movement planning of a robot is provided, in which a trajectory for the movement of a spatial point assigned to the robot is planned in a fixed coordinates system. The spatial positions are translated from a plurality of spatial positions of the spatial point into respective configuration positions in a configuration room of the robot based on inverse kinematics. The respective configuration positions are described by axial positions of one or several rotatory or translational movement axes of the robot and are tested for collisions and a trajectory is formed along spatial positions of the spatial point, the respective configuration positions of which are collision-free. Planning the movement in a fixed coordinates system improves the efficiency of the planning method and the planned movement corresponds more to the expectations of the persons or the operating staff in the surroundings of the robot.
摘要翻译：提供了一种用于机器人的计算机辅助运动规划的方法，其中在固定坐标系中计划分配给机器人的空间点的运动轨迹。基于逆运动学，空间位置从空间点的多个空间位置转换到机器人的配置室中的相应配置位置。通过机器人的一个或几个旋转或平移运动轴的轴向位置描述各个构造位置，并且对于碰撞进行测试，并且沿着空间点的空间位置形成轨迹，其空间点的各自的构造位置是无碰撞的。规划运动在固定的坐标系统提高了计划方法的效率，计划的运动更符合机器人周围人员或操作人员的期望。

5. 发明申请

US20120239199A1 COORDINATED JOINT MOTION CONTROL SYSTEM 审中-公开
标题翻译：协调联动运动控制系统
公开(公告)号：US20120239199A1
公开(公告)日：2012-09-20
申请号：US13430602
申请日：2012-03-26
申请人： George Danko
发明人： George Danko
IPC分类号： B25J9/16
CPC分类号： B25J9/1651 , B25J9/1607 , E02F3/437 , E02F3/438 , E02F3/439 , E02F9/2037 , E02F9/2041 , G05B2219/39062 , G05B2219/39224 , G05B2219/40495
摘要： A coordinated joint control system for controlling a coordinated joint motion system, e.g. an articulated arm of a hydraulic excavator blends automation of routine tasks with real-time human supervisory trajectory correction and selection. One embodiment employs a differential control architecture utilizing an inverse Jacobian. Modelling of the desired trajectory of the end effector in system space can be avoided. The invention includes image generation and matching systems.
摘要翻译：用于控制协调关节运动系统的协调联合控制系统，例如，液压挖掘机的铰接臂将日常任务的自动化与实时人力监督轨迹校正和选择相结合。一个实施例采用利用逆雅可比的差分控制架构。可以避免系统空间中末端执行器的期望轨迹的建模。本发明包括图像生成和匹配系统。

6. 发明授权

US08065060B2 Coordinated joint motion control system with position error correction 有权
标题翻译：具有位置误差校正的协调关节运动控制系统
公开(公告)号：US08065060B2
公开(公告)日：2011-11-22
申请号：US11333994
申请日：2006-01-18
申请人： George Danko
发明人： George Danko
IPC分类号： G05B19/19
CPC分类号： G05B13/021 , B25J9/1628 , E02F9/2004 , E02F9/2029 , G05B13/041 , G05B2219/40495 , G05B2219/41273 , G05B2219/45012
摘要： Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two-joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.
摘要翻译：公开了一种铰接式液压机的支撑，控制系统及其控制方法。铰接式液压机具有用于执行有用工作的端部执行器。控制系统能够控制末端执行器沿着预先选定的轨迹进行自动移动。控制系统具有位置误差校正系统，以校正实际末端执行器轨迹与期望的末端执行器轨迹之间的差异。校正系统可以采用由一个或多个可移动机器元件支撑的一个或多个加速度传感器提供的一个或多个绝对位置信号。可以获得良好的轨迹定位和重复性。启用双操纵杆控制器系统，这在某些情况下可以方便操作员的任务，并提高其工作质量和生产率。

7. 发明申请

WO2007127723A2 CONTROL OF ROBOTS FROM HUMAN MOTION DESCRIPTORS 审中-公开
标题翻译：人体运动描述符的机器人控制
公开(公告)号：WO2007127723A2
公开(公告)日：2007-11-08
申请号：PCT/US2007067289
申请日：2007-04-24
申请人： HONDA MOTOR CO LTD , DARIUSH BEHZAD
发明人： DARIUSH BEHZAD
IPC分类号： G06F19/00
CPC分类号： G06N3/008 , G05B2219/40391 , G05B2219/40495 , Y10S901/03 , Y10S901/46
摘要： A control system and method generate torque comments for motion of a target system in response to observations of a source system. Constraints and balance control may be provided for more accurate representation of the motion as replicated by the target system.
摘要翻译：控制系统和方法响应于源系统的观测而产生针对目标系统的运动的扭矩注释。可以提供约束和平衡控制以用于由目标系统复制的运动的更准确的表示。

8. 发明申请

US20170120449A1 SIMULATION APPARATUS OF ROBOT, SIMULATION METHOD OF ROBOT, CONTROL UNIT AND ROBOT SYSTEM 审中-公开
公开(公告)号：US20170120449A1
公开(公告)日：2017-05-04
申请号：US15117800
申请日：2015-02-27
申请人： MITSUBISHI HEAVY INDUSTRIES, LTD.
发明人： Natsuki MATSUNAMI , Tomohiro TAMI , Naoto KAWAUCHI
IPC分类号： B25J9/16 , B25J9/04
CPC分类号： B25J9/1671 , B25J9/046 , B25J9/1676 , G05B2219/40314 , G05B2219/40317 , G05B2219/40373 , G05B2219/40495 , G05B2219/40515
摘要： A movable range of angle of each of the plurality of joints and a safety region defined within the movable range are set. An angle command value is generated to each of the plurality of joints, based on current angle data and a distal end position command value. A fault avoidance control is carried out to make a change rate of the angle command value small, when the angle command value is generated to either of the plurality of joints, and the angle command value of the joint exceeds the safety region.

9. 发明申请

US20140107841A1 Coordinated Joint Motion Control System 有权
标题翻译：协调联合运动控制系统
公开(公告)号：US20140107841A1
公开(公告)日：2014-04-17
申请号：US14109825
申请日：2013-12-17
申请人： George L. Danko
发明人： George L. Danko
IPC分类号： B25J9/16
CPC分类号： B25J9/1651 , B25J9/1607 , E02F3/437 , E02F3/438 , E02F3/439 , E02F9/2037 , E02F9/2041 , G05B2219/39062 , G05B2219/39224 , G05B2219/40495
摘要： A coordinated joint control system for controlling a coordinated joint motion system, e.g. an articulated arm of a hydraulic excavator blends automation of routine tasks with real-time human supervisory trajectory correction and selection. One embodiment employs a differential control architecture utilizing an inverse Jacobian. Modeling of the desired trajectory of the end effector in system space can be avoided. The disclosure includes image generation and matching systems.
摘要翻译：用于控制协调关节运动系统的协调联合控制系统，例如，液压挖掘机的铰接臂将日常任务的自动化与实时人力监督轨迹校正和选择相结合。一个实施例采用利用逆雅可比的差分控制架构。可以避免系统空间中末端执行器的期望轨迹的建模。本公开包括图像生成和匹配系统。

10. 发明申请

US20120029663A1 COORDINATED JOINT MOTION CONTROL SYSTEM WITH POSITION ERROR CORRECTION 审中-公开
标题翻译：具有位置误差校正的协调运动控制系统
公开(公告)号：US20120029663A1
公开(公告)日：2012-02-02
申请号：US13271774
申请日：2011-10-12
申请人： George Danko
发明人： George Danko
IPC分类号： G05B19/18 , G05B13/02
CPC分类号： G05B13/021 , B25J9/1628 , E02F9/2004 , E02F9/2029 , G05B13/041 , G05B2219/40495 , G05B2219/41273 , G05B2219/45012
摘要： Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.
摘要翻译：公开了一种铰接式液压机的支撑，控制系统及其控制方法。铰接式液压机具有用于执行有用工作的端部执行器。控制系统能够控制末端执行器沿着预先选定的轨迹进行自动移动。控制系统具有位置误差校正系统，以校正实际末端执行器轨迹与期望的末端执行器轨迹之间的差异。校正系统可以采用由一个或多个可移动机器元件支撑的一个或多个加速度传感器提供的一个或多个绝对位置信号。可以获得良好的轨迹定位和重复性。启用两个操纵杆控制器系统，这在某些情况下可以方便操作人员的任务，并提高其工作质量和生产率。

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