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1. 发明公开

EP3341163A1 SYSTEMS AND METHODS FOR PROVIDING CONTACT DETECTION IN AN ARTICULATED ARM 有权转让
公开(公告)号：EP3341163A1
公开(公告)日：2018-07-04
申请号：EP16758342.6
申请日：2016-08-19
申请人： Berkshire Grey Inc.
发明人： WAGNER, Thomas , AHEARN, Kevin , DAWSON-HAGGERTY, Michael , GEYER, Christopher , KOLETSCHKA, Thomas , MARONEY, Kyle , MASON, Matthew , PRICE, Gene, Temple , ROMANO, Joseph , SMITH, Daniel , SRINIVASA, Siddhartha , VELAGAPUDI, Prasanna , ALLEN, Thomas
IPC分类号： B25J13/08 , B25J17/02
CPC分类号： B25J9/1694 , B25J9/1638 , B25J13/088 , B25J15/0616 , B25J17/0208
摘要： A sensing manipulator of an articulated arm is disclosed. The sensing manipulator includes a compliant section and a movement detection system provided along a first direction of the compliant section such that movement of the compliant section along both the first direction and at least one direction transverse to said first direction, are detectable by the movement detection system.

2. 发明公开

EP3272471A3 ROBOT APPARATUS, ROBOT CONTROLLING METHOD, PROGRAM, AND RECORDING MEDIUM 审中-公开
公开(公告)号：EP3272471A3
公开(公告)日：2018-04-04
申请号：EP17181781.0
申请日：2017-07-18
申请人： Canon Kabushiki Kaisha
发明人： MIURA, Akinari
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B25J9/1635 , B25J9/1638 , B25J13/082
摘要： Such a situation that excessive loads repetitively act on a force sensor and a robot arm and an excessive load acts on each work piece is suppressed, and even if there is a variation in a mass of a first work piece gripped by a robot hand, a high-precise fitting operation can be executed. A control unit for impedance-controlling the operation of a robot arm so that one work piece is come into contact with another work piece moves a robot hand for gripping the one work piece, and sets a value acquired before the start of the impedance control to a first target value. The impedance control is made based on the first target value.

3. 发明公开

EP2759382A3 Robot and robot controller 审中-公开
标题翻译：机器人和机器人控制器
公开(公告)号：EP2759382A3
公开(公告)日：2018-04-04
申请号：EP14152433.0
申请日：2014-01-24
申请人： Seiko Epson Corporation
发明人： Toshimitsu, Shunsuke , Fujimori, Hiroaki , Ono, Masatoshi , Igarashi, Katsuji , Asada, Atsushi
IPC分类号： B25J9/16 , G05B19/19 , G05B19/404
CPC分类号： G05B19/19 , B25J9/1638 , B25J9/1641 , B25J9/1646 , G05B19/404 , G05B2219/42114
摘要： A robot has an operation mode setting unit that sets an operation mode of the robot. The operation mode setting unit changes a correction factor multiplied by the maximum acceleration and the maximum deceleration of an arm and servo gain of a servo circuit, and thereby, selectively sets three operation modes of a first operation mode, a second operation mode in which the arm operates faster than that in the first operation mode, and a third operation mode in which the arm vibrates less than that in the first operation mode.
摘要翻译：机器人具有设定机器人的动作模式的动作模式设定部。操作模式设定单元改变乘以臂的最大加速度和最大减速度的校正因子和伺服电路的伺服增益，并且由此选择性地设定第一操作模式，第二操作模式和第二操作模式的三种操作模式，与第一动作模式相比动作速度快，第三动作模式中，手臂的振动小于第一动作模式下的动作。

4. 发明授权

EP3078459B1 ROBOT CONTROLLING METHOD, ROBOT APPARATUS, PROGRAM AND RECORDING MEDIUM 有权
标题翻译：机器人控制方法，机器人装置，程序和记录介质
公开(公告)号：EP3078459B1
公开(公告)日：2018-01-03
申请号：EP16162751.8
申请日：2016-03-30
申请人： Canon Kabushiki Kaisha
发明人： NEGISHI, Mahito
IPC分类号： B25J9/16
CPC分类号： B25J9/1638 , B25J9/1692 , G05B2219/37431 , G05B2219/39176 , G05B2219/39191 , G05B2219/39192 , G05B2219/39206
摘要： A controlling unit obtains an error in position and orientation of each joint of a robot. The controlling unit uses an error component in a driving direction of an actuator included in the error in position and orientation u i of the joint to obtain a first correction quantity, to obtain a residual error excluding the error component in the driving direction of the actuator from the error in position and orientation of the joint, and to obtain- an error in position and orientation of the end point of the robot based on the residual error of each joint. The controlling unit uses the error in position and orientation of the joint based on the error in position and orientation of the end point of the robot to obtain a second correction quantity ”q i , and uses the first correction quantity and the second correction quantity to correct a joint instruction value.

5. 发明授权

EP2957395B1 CONTROL DEVICE FOR COMPENSATION OF ELASTIC DEFORMATION OF ARTICULATED ROBOT 有权
标题翻译：用于补偿铰接机器人弹性变形的控制装置
公开(公告)号：EP2957395B1
公开(公告)日：2017-11-01
申请号：EP14751823.7
申请日：2014-02-14
申请人： Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.)
发明人： NISHIDA, Yoshiharu , WADA, Takashi , INOUE, Yoshihide , INADA, Shuichi
IPC分类号： B25J9/16 , B23K9/095 , B23K9/32 , B23K9/173 , B23K9/12 , B23K37/02
CPC分类号： B25J9/1638 , B23K9/095 , B23K9/124 , B23K9/173 , B23K9/32 , B23K37/0229 , B25J9/06 , B25J9/1605 , B25J9/1633 , B25J9/1641 , G05B2219/34119 , G05B2219/39186 , G05B2219/41222 , G05B2219/41225 , G05B2219/41426 , G05B2219/41436 , G05B2219/45104 , G05B2219/49384 , Y10S901/02

6. 发明公开

EP2703130A3 Robot 有权
标题翻译：机器人
公开(公告)号：EP2703130A3
公开(公告)日：2015-08-12
申请号：EP13182169.6
申请日：2013-08-29
申请人： Seiko Epson Corporation
发明人： Gomi, Akihiro , Motoyoshi, Masaki , Niu, Akio
IPC分类号： B25J9/16
CPC分类号： B25J9/1651 , B25J9/1638 , B25J9/1694 , B25J18/00 , G05B2219/39195 , G05B2219/39335 , G05B2219/40597 , Y10S901/02 , Y10S901/09 , Y10S901/27 , Y10S901/46 , Y10T74/20329
摘要： A robot (1) includes a base (11), a first arm (12) that rotates around a first rotation axis (01), a second arm (13) that rotates around a second rotation axis (02) in a direction different from the first rotation axis (O1), a third arm (14) that rotates around a third rotation axis (03) in a direction parallel to the second rotation axis (02), a first inertia sensor (31), a second inertia sensor (32a), a first angle sensor (411), a third angle sensor (413), and drive sources that rotates the respective arms. The first inertia sensor (31) is installed at the first arm (12), and the second inertia sensor (32a) is installed at the third arm (14). The first angle sensor (411) is installed at a first drive source (401), and the third angle sensor (413) is installed at a third drive source (403). Angular velocities obtained from the detection of the first inertia sensor (31) and the first angle sensor (411) are fed back to a first drive source control unit (201). Angular velocities obtained from the detection of the second inertia sensor (32a) and the third angle sensor (413) are fed back to a second drive source control unit (202).
摘要翻译：本发明提供一种机器人（1），其包括基座（11），绕第一旋转轴（01）旋转的第一臂（12），以不同于第二旋转轴（02）的方向绕第二旋转轴（02）旋转的第二臂第一旋转轴（O1），在与第二旋转轴（O2）平行的方向上绕第三旋转轴（03）旋转的第三臂（14），第一惯性传感器（31），第二惯性传感器 32a），第一角度传感器（411），第三角度传感器（413）以及使各个臂旋转的驱动源。第一惯性传感器（31）安装在第一臂（12）上，第二惯性传感器（32a）安装在第三臂（14）上。第一角度传感器（411）安装在第一驱动源（401）处，并且第三角度传感器（413）安装在第三驱动源（403）处。从第一惯性传感器（31）和第一角度传感器（411）的检测获得的角速度被反馈到第一驱动源控制单元（201）。从第二惯性传感器（32a）和第三角度传感器（413）的检测获得的角速度被反馈到第二驱动源控制单元（202）。

7. 发明公开

EP2789429A2 Robot, robot control device, and robot system 审中-公开
标题翻译： Roboter，Robotersteuervorrichtung和Robotersystem
公开(公告)号：EP2789429A2
公开(公告)日：2014-10-15
申请号：EP14162332.2
申请日：2014-03-28
申请人： Seiko Epson Corporation
发明人： Niu, Akio
IPC分类号： B25J9/04 , B25J13/08
CPC分类号： B25J9/1651 , B25J9/04 , B25J9/046 , B25J9/1638 , B25J9/1694 , B25J13/088 , Y10S901/09
摘要： A robot includes a base, a first arm which is connected to the base rotatably around a first rotating axis as a rotation center, a second arm which is connected to the first arm rotatably around a second rotating axis, which is an axis orthogonal to the first rotating axis or an axis parallel to the axis orthogonal to the first rotating axis, as a rotation center, a third arm which is connected to the second arm rotatably around a third rotating axis, which is an axis parallel to the second rotating axis, as a rotation center, a first angular velocity sensor which is provided in the first arm and in which a detection axis of angular velocity is parallel to the first rotating axis, and a second angular velocity sensor which is provided in the second arm and in which a detection axis of angular velocity is parallel to the third rotating axis.
摘要翻译：一种机器人，包括基座，第一臂，其以可旋转的方式围绕作为旋转中心的第一旋转轴线可旋转地连接到基座;第二臂，其以与第二旋转轴正交的第二旋转轴线可旋转地连接到第一臂; 第一旋转轴线或平行于与第一旋转轴线正交的轴线的轴线作为旋转中心，第三臂臂可旋转地围绕作为平行于第二旋转轴线的轴线的第三旋转轴线连接到第二臂臂，作为旋转中心，设置在第一臂中并且其中角速度的检测轴与第一旋转轴平行的第一角速度传感器和设置在第二臂中的第二角速度传感器，角速度的检测轴平行于第三旋转轴。

8. 发明公开

EP2747956A1 STEUERVERFAHREN FÜR EINEN ROBOTER 无效转让
标题翻译：控制方法的机器人
公开(公告)号：EP2747956A1
公开(公告)日：2014-07-02
申请号：EP12750532.9
申请日：2012-08-17
申请人： Dürr Systems GmbH
发明人： MEISSNER, Alexander , SCHOELL, Björn , HÄCKER, Jens , SCHRETLING, Viktor , HEZEL, Thomas
IPC分类号： B25J9/16
CPC分类号： B25J9/1638 , G05B2219/39176 , G05B2219/39194
摘要： The invention relates to a control method for a robot (1) having a plurality of movable robot axes (2, 4, 6), in particular for a painting robot (1) or a manipulating robot, comprising the following steps: (a) predetermining a robot path by means of a plurality of path points through which a reference point of the robot (1) is intended to travel; (b) controlling drive motors of the individual robot axes (2, 4, 6) according to the predetermined robot path, such that the reference point of the robot (1) travels through the predetermined robot path; (c) precalculating the mechanical loading (My1, Mx1, Fx1, Fy1, Fz1, Fx2, Fy2, Fz2, Mx2, My2, Mz2) that occurs within at least one of the robot axes (2, 4, 6) between two joints when travelling through the robot path ahead; and also (d) adjusting the control of the drive motors of the robot axes (2, 4, 6) on the basis of the precalculated mechanical loading (My1, Mx1, Fx1, Fy1, Fz1, Fx2, Fy2, Fz2, Mx2, My2, Mz2), such that a mechanical overload is avoided.

9. 发明授权

EP1721593B1 GENERATED TORQUE CONTROL METHOD FOR LEG BODY EXERCISE ASSISTIVE APPARATUS 有权
标题翻译：控制力矩的程序制作了副机腿部及全身锻炼
公开(公告)号：EP1721593B1
公开(公告)日：2013-07-31
申请号：EP05719259.3
申请日：2005-02-18
申请人： HONDA MOTOR CO., LTD.
发明人： KAWAI, Masakazu; c/o KABUSHIKI KAISHA HONDA , IKEUCHI, Yasushi; c/o KABUSHIKI KAISHA HONDA
IPC分类号： B25J9/16 , A63B23/04 , A61H3/00 , A63B23/12 , B62D57/032
CPC分类号： B25J9/1638 , A61H3/00 , A63B23/04 , A63B23/12 , A63B2220/54 , B62D57/032 , G05B2219/40305 , G05B2219/45109

10. 发明公开

EP2409203A1 METHOD TO CONTROL A ROBOT DEVICE AND ROBOT DEVICE 有权转让
标题翻译：一种用于控制机器人设备和机械手设备
公开(公告)号：EP2409203A1
公开(公告)日：2012-01-25
申请号：EP10711542.0
申请日：2010-02-11
申请人： ETH Zurich
发明人： RIENER, Robert , VALLERY, Heike , DUSCHAU-WICKE, Alexander
IPC分类号： G05B19/423 , B25J9/16
CPC分类号： B25J9/1638 , G05B19/423 , G05B2219/36429 , G05B2219/45109 , G05B2219/45112 , Y10S901/02
摘要： A method to control a robot device which comprises at least one manipulator (2) which is moveable in an operating space, at least one actuator (3) which actuates said manipulator, a sensor arrangement having at least one position sensor (4) to determine the actual position of the manipulator (2) and a controller (5) which controls said actuator (3). Said manipulator moves along an actual trajectory (TP) by means of an external force provided by an operator (7). Said actuator provides compensation forces onto the manipulator influencing the torques or forces exchanged between operator and manipulator. The controller comprises a conservative force field module comprising a conservative force field which is defined by a method comprising the steps of defining at least one of said predefined trajectories (TP) in the operating space; creating a force field or calculating forces, respectively, based on positions of the manipulator in the operating space on said predefined trajectories and based on at least one of the velocities of the predefined trajectories and/or of the accelerations of the predefined trajectories; and calculating a conservative force field based on said force field as a function of the position of the manipulator which conservative force field serves to determine control signals. The controller provides said control signals for said actuator which provides said compensation force based on the control signals, wherein the control signals are based on the conservative force field and on the actual position of the manipulator.

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