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41. 发明公开

EP3342545A1 ROBOT SYSTEM 审中-公开
公开(公告)号：EP3342545A1
公开(公告)日：2018-07-04
申请号：EP16838732.2
申请日：2016-06-24
申请人： Kawasaki Jukogyo Kabushiki Kaisha
发明人： HASHIMOTO, Yasuhiko , KAMON, Masayuki
IPC分类号： B25J3/00 , B25J13/00 , B25J19/06
CPC分类号： A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
摘要： A robot system (100) includes a robot (1) including a tactile sensor (5) and a hand (1c) having the tactile sensor, a robot controller (6) configured to control operation of the hand of the robot according to robot manipulating information, a manipulator (2), a tactile information processor (7) configured to generate tactile information defined by a pressure distribution based on pressures detected by at least the plurality of pressure sensors and spatial positions of the plurality of pressure sensors, convert the tactile information into sensible tactile information that is sensible by the operator, and output the sensible tactile information, a sensible tactile information presenting part (10) configured to present to the operator the sensible tactile information outputted from the tactile information processor.

42. 发明公开

EP3242774A4 ALIGNMENT DIFFERENCE SAFETY IN A MASTER-SLAVE ROBOTIC SYSTEM 有权
公开(公告)号：EP3242774A4
公开(公告)日：2018-05-16
申请号：EP16734868
申请日：2016-01-08
申请人： TITAN MED INC
发明人： KRALICKY JOSEPH , CAMERON PETER , ROBERT RENE
IPC分类号： B25J9/16 , A61B34/30 , A61B34/37 , B25J3/04
CPC分类号： A61B34/37 , A61B34/30 , A61B34/71 , A61B34/74 , A61B34/76 , A61B34/77 , A61B2034/302 , A61B2034/742 , B25J3/04 , B25J9/1689 , B25J13/025 , B25J13/065 , B25J19/06 , G05B2219/35419 , G05B2219/36422 , G05B2219/39439 , G05B2219/40144 , G05B2219/45117 , G05B2219/45118
摘要： A method, a non-transitory computer readable medium, and an apparatus for operating the robotic control system comprising a master apparatus (64) in communication with an input device (58, 60) having a handle (102) and a slave system (54, 74) having a tool (66, 67) having an end effector (73) whose position and orientation is determined in response to a current position and current orientation of the handle. The method involves producing a desired end effector position and orientation in response to a current position and orientation of the handle. The method involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a disablement criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets an enablement criterion.

43. 发明公开

EP3266569A1 MANIPULATION SYSTEM AND METHOD FOR CONTROLLING SAME 审中-公开
标题翻译：操作系统及其控制方法
公开(公告)号：EP3266569A1
公开(公告)日：2018-01-10
申请号：EP16776567.6
申请日：2016-04-06
申请人： NSK Ltd.
发明人： TANAKA, Nobuaki
IPC分类号： B25J7/00 , G02B21/00
CPC分类号： B25J13/065 , B25J7/00 , B25J9/023 , B25J9/1682 , G02B21/00 , G05B19/231 , G05B2219/45182
摘要： A manipulation system includes: a manipulator (14, 16) that operates a microscopic object; a first input unit (47, 49) that generates a first movement command signal for moving the manipulator to a manipulator position corresponding to an input operation position; and a second input unit (51, 53) that generates a second movement command signal for moving the manipulator to a manipulator stored position stored in a storage. The manipulator is moved based on the first movement command signal or the second movement command signal. When the input operation position of the first input unit is a predetermined input operation position, the manipulator is enabled to be moved by an operation of the first input unit, or the manipulator is enabled to be moved by an operation of the second input unit.
摘要翻译：操作系统包括：操作微观对象的操作器（14,16）第一输入单元（47,49），其产生用于将所述机械手移动到与输入操作位置相对应的操纵器位置的第一移动命令信号; 以及第二输入单元（51,53），其产生用于将机械手移动到存储在存储器中的机械手存储位置的第二移动命令信号。操纵器基于第一移动命令信号或第二移动命令信号而移动。当第一输入单元的输入操作位置是预定输入操作位置时，通过第一输入单元的操作使得操纵器能够移动，或者能够通过第二输入单元的操作使操纵器移动。

44. 发明公开

EP3258874A1 REPOSITIONING METHOD OF INPUT DEVICE FOR ROBOTIC SURGICAL SYSTEM 有权
标题翻译：机器人手术系统输入装置的修复方法
公开(公告)号：EP3258874A1
公开(公告)日：2017-12-27
申请号：EP16752764.7
申请日：2016-01-20
申请人： Covidien LP
发明人： PEINE, William
IPC分类号： A61B34/30
CPC分类号： A61B34/77 , A61B34/30 , A61B34/35 , A61B34/74 , A61B90/361 , A61B90/37 , B25J13/065
摘要： A robotic surgical system includes a linkage, an input handle, and a processing unit. The linkage moveably supports a surgical tool relative to a base. The input handle is moveable in a plurality of directions. The processing unit is in communication with the input handle and is operatively associated with the linkage to move the surgical tool based on a scaled movement of the input handle. The scaling varies depending on whether the input handle is moved towards a center of a workspace or away from the center of the workspace. The workspace represents a movement range of the input handle.

45. 发明公开

EP3242774A1 ALIGNMENT DIFFERENCE SAFETY IN A MASTER-SLAVE ROBOTIC SYSTEM 有权
标题翻译：主从机器人系统中的对齐差异安全
公开(公告)号：EP3242774A1
公开(公告)日：2017-11-15
申请号：EP16734868.9
申请日：2016-01-08
申请人： Titan Medical Inc.
发明人： KRALICKY, Joseph , CAMERON, Peter , ROBERT, Rene
IPC分类号： B25J3/04 , A61B34/30 , A61B34/37 , B25J9/18
CPC分类号： A61B34/37 , A61B34/30 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B34/77 , A61B2034/302 , A61B2034/742 , B25J3/04 , B25J9/1689 , B25J13/025 , B25J13/065 , B25J19/06 , G05B2219/35419 , G05B2219/36422 , G05B2219/39439 , G05B2219/40144 , G05B2219/45117 , G05B2219/45118
摘要： A method, a non-transitory computer readable medium, and an apparatus for operating the robotic control system comprising a master apparatus (64) in communication with an input device (58, 60) having a handle (102) and a slave system (54, 74) having a tool (66, 67) having an end effector (73) whose position and orientation is determined in response to a current position and current orientation of the handle. The method involves producing a desired end effector position and orientation in response to a current position and orientation of the handle. The method involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a disablement criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets an enablement criterion.

46. 发明公开

EP3200958A1 MOBILE SERVICE ROBOT CAPABLE OF COLLECTING BIOLOGICAL AND SOIL SAMPLES FOR ENVIRONMENTAL MONITORING 有权
标题翻译：移动式服务机器人能够收集生物和土壤样本以进行环境监测
公开(公告)号：EP3200958A1
公开(公告)日：2017-08-09
申请号：EP15723573.0
申请日：2015-04-13
申请人： Introsys - Integration for Robotic Systems-Integraçao de Sistemas Robóticos S.A.
发明人： DA SILVA GUEDES, Magno Edgar , MARTINS DEUSDADO, Pedro Miguel , BENTO RAINHO CALDEIRA, Maria Raquel , GOMES DA SILVA, André Filipe , BENTES MOITA FLORES, Luis Miguel , BENTES MOITA FLORES, Nuno Manuel , FIGUEIREDO SANTANA, Pedro , BARATA DE OLIVEIRA, José António , CARDOSO MARQUES, Francisco Antero , MARTINS MENDONÇA, Ricardo André , LOPES LOURENÇO, André Filipe , FERREIRA MORAIS PINTO, Eduardo Manuel , GIL CORISCO, José Alberto , MORAIS PORTUGAL, Luis Miguel , LOPES ALMEIDA, Susana Marta
IPC分类号： B25J5/00 , B25J9/16 , B25J13/00 , B25J13/06 , B25J13/08 , B25J19/02 , G05D1/02
CPC分类号： B25J5/007 , B25J13/006 , B25J13/065 , B25J13/08 , B25J13/088 , B25J13/089 , B25J19/022 , B25J19/023 , G05D1/0038 , G05D1/024 , G05D1/0272 , G05D1/0278 , G05D2201/0207
摘要： The present invention relates to a mobile service robot with all-terrain features that allows you to support the implementation of tasks in the area of environmental monitoring. Said robot comprises a coating of aluminium alloys and plastics with good corrosion resistance allowing its use in outdoor environments near saltwater areas, such as estuarine environments. The mechanical platform corresponding to the set constituted by the support structure (14, 15, 16), the transmission blocks (11), the rims of wheels (17), the tires (18) and driving motors (12) and steering (13) presents robustness levels and manoeuvrability suitable for navigation not only on solid grounds but also on sandy or muddy areas. The robot allows the collection of biological and soil samples for later laboratory analysis incorporating for such an interchangeable system comprising an anthropomorphic robotic arm with at least five degrees of freedom, an apparatus for collecting soil samples by drilling and an apparatus for collecting biological samples by drag.
摘要翻译：具有全地形特征的移动服务机器人技术领域本发明涉及一种具有全地形特征的移动服务机器人，其允许你支持在环境监测领域中执行任务。所述机器人包括具有良好耐腐蚀性的铝合金和塑料涂层，从而允许其在诸如河口环境的盐水区域附近的室外环境中使用。与由支撑结构（14,15,16），传动块（11），轮子轮缘（17），轮胎（18）和驱动马达（12）以及转向装置（13）构成的组相对应的机械平台）不仅在坚实的地面上，而且在沙地或泥泞地区，都呈现出适合导航的鲁棒性水平和机动性。该机器人允许收集生物和土壤样品以用于随后的实验室分析，其包括用于这样的可互换系统，该可互换系统包括具有至少五个自由度的拟人机器人臂，通过钻孔收集土壤样品的设备和通过拖曳收集生物样品的设备。

47. 发明公开

EP3192174A1 BEDIENEINHEIT 审中-公开
公开(公告)号：EP3192174A1
公开(公告)日：2017-07-19
申请号：EP15762988.2
申请日：2015-09-11
申请人： Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
发明人： ELKMANN, Norbert , FRITZSCHE, Markus , URBAHN, Christoph , MÜLLER, Veit
IPC分类号： H03K17/96 , G01L1/14 , G01L1/16 , G06F3/041
CPC分类号： H03K17/9643 , B25J13/065 , G01L1/142 , G01L1/162 , G06F3/016 , G06F3/0338 , G06F3/0346 , G06F3/03547 , G06F3/0414 , G06F3/044 , G06F2203/04105 , H03K17/9618 , H03K17/9622 , H03K2217/9607
摘要： The present invention relates to an operating unit (1) for operating a machine (3), said operating unit having a holding surface (11) and a signal processing unit (15) which can be connected to the machine. The holding surface (11) is equipped with a touch-sensitive sensor system (13).
摘要翻译：本发明涉及用于操作机器（3）的操作单元（1），所述操作单元具有保持表面（11）和可连接到机器的信号处理单元（15）。保持表面（11）配备有触敏传感器系统（13）。

48. 发明公开

EP2765469A2 System and methods for controlling movement of unmanned vehicles 无效
标题翻译：系统与Verfahren zur Steuerung der Bewegung von unbemannten Fahrzeugen
公开(公告)号：EP2765469A2
公开(公告)日：2014-08-13
申请号：EP14000436.7
申请日：2014-02-06
申请人： HARRIS CORPORATION
发明人： Summer, Matthew D. , Bosscher, Paul Michael , Wilkinson, Loran J.
IPC分类号： G05D1/02
CPC分类号： G05D1/0016 , B25J5/005 , B25J13/006 , B25J13/065 , B25J19/023 , G05D1/021 , G05D2201/0207
摘要： Control units (10) for use with unmanned vehicles (12) include an input device (50) that moves in response to a user input, sensors (70) coupled to the input device (50), and a controller (16). The sensors (70) generate outputs related to the movement of the input device (50). The controller (16) determines a target displacement of the unmanned vehicle (12) based on the outputs of the sensors (70), and generates a control input related to the target displacement. The control input, when received by the unmanned vehicle (12), causes the unmanned vehicle (12) to substantially attain the target displacement. The position of the vehicle (12) is thus controlled by directly controlling the displacement of the vehicle (12).
摘要翻译：与无人驾驶车辆（12）一起使用的控制单元（10）包括响应于用户输入而移动的输入设备（50），耦合到输入设备（50）的传感器（70）和控制器（16）。传感器（70）产生与输入装置（50）的移动有关的输出。控制器（16）基于传感器（70）的输出确定无人驾驶车辆（12）的目标位移，并且生成与目标位移有关的控制输入。当由无人驾驶车辆（12）接收时，控制输入使得无人驾驶车辆（12）基本达到目标位移。因此，通过直接控制车辆（12）的位移来控制车辆（12）的位置。

49. 发明公开

EP1772879A3 Control system and teach pendant for an industrial robot 有权转让
标题翻译：控制系统和手持编程用于工业机器人
公开(公告)号：EP1772879A3
公开(公告)日：2009-04-29
申请号：EP05027996.7
申请日：2005-12-21
申请人： ABB AS
发明人： Henne, Tormod
IPC分类号： H01H9/02 , H01H3/02 , B25J13/06 , B25J19/06 , B25J13/02
CPC分类号： H01H9/0214 , B25J13/02 , B25J13/065 , B25J19/06 , H01H3/022 , H01H3/0253 , H01H2009/0083 , H01H2217/048
摘要： A live handle switch in the form of a hand operated safety switch for an industrial robot or a machine is described. The live handle comprises a safety certified switch for operating a robot or other machine safely while under manual control. The live handle switch may be comprised in a portable robot controller of the TPU Teach Pendant unit type. Such a TPU may comprise control means for moving a robot in three or more degrees of freedom. In other aspects of the invention a system comprising a robot and a control unit and the live handle switch are described.

50. 发明公开

EP1344613A4 REMOTE CONTROLLER OF BIPED ROBOT 有权
标题翻译：双机器人远程控制
公开(公告)号：EP1344613A4
公开(公告)日：2009-02-25
申请号：EP01982821
申请日：2001-11-16
申请人： HONDA MOTOR CO LTD
发明人： SANO SHIGEO , TAKENAKA TORU , KAWAI TAKAYUKI , YOSHIDA YUICHI
IPC分类号： B25J13/02 , B25J13/06 , B25J5/00
CPC分类号： B25J13/065 , B25J13/02

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