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1. 发明公开

EP4396638A1 A METHOD AND A SYSTEM FOR ENABLING A USER TO REVIEW SIMULATION DATA OF AN INDUSTRIAL ENVIRONMENT 审中-公开
公开(公告)号：EP4396638A1
公开(公告)日：2024-07-10
申请号：EP21773152.0
申请日：2021-09-01
申请人： Siemens Industry Software Ltd.
发明人： HAZAN, Moshe
IPC分类号： G05B19/418 , G06F30/10
CPC分类号： G05B19/41885 , B25J9/1671 , G06F30/12 , G06F30/20 , G06F2111/1820200101 , G06F30/18

3. 发明公开

EP3338969A2 CONTROL APPARATUS, ROBOT AND ROBOT SYSTEM 审中-公开
公开(公告)号：EP3338969A2
公开(公告)日：2018-06-27
申请号：EP17208899.9
申请日：2017-12-20
申请人： Seiko Epson Corporation
发明人： ISHIGE, Taro , AISO, Seiji , SETSUDA, Nobuyuki , RUPERT, Alan , MATSUURA, Kenji
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1671 , B25J9/1697 , B25J19/023 , G05B2219/39057 , Y10S901/47
摘要： [Task] A control apparatus, a robot and a robot system to which settings for calibration can be easily and appropriately made are to be provided.
[Solution] A control apparatus that can control driving of a robot, an imaging unit and a display unit based on input of an input unit, includes a display control unit that allows the display unit to display an input window for inputting a robot as an object to be controlled, and allows the display unit to display an imaging unit input part that guides input of an attachment position of the imaging unit corresponding to the input robot, and a calibration control unit that performs a calibration of correlating a coordinate system of the robot and a coordinate system of the imaging unit based on the input attachment position of the imaging unit.

4. 发明授权

EP2853354B1 Lageregelung mit Kollisionsvermeidung und Anpassung eines Maschinenmodells an die reale Maschine 有权转让
标题翻译：避免碰撞的位置控制和机器模型适应真实机器
公开(公告)号：EP2853354B1
公开(公告)日：2018-05-16
申请号：EP13186420.9
申请日：2013-09-27
申请人： Siemens Aktiengesellschaft
发明人： Bretschneider, Jochen, Dr. , Ciesielski, Jens Stefan
IPC分类号： B25J9/16
CPC分类号： G05B19/19 , B25J9/1666 , B25J9/1671 , G05B2219/40476 , G05B2219/50174

5. 发明公开

EP3094452A4 REMOTELY OPERATING A MOBILE ROBOT 有权转让
公开(公告)号：EP3094452A4
公开(公告)日：2018-03-14
申请号：EP14877905
申请日：2014-11-10
申请人： IROBOT DEFENSE HOLDINGS INC
发明人： HOFFMAN ORIN P F , KEEFE PETER , SMITH ERIC , WANG JOHN , LABRECQUE ANDREW , PONSLER BRETT
IPC分类号： B25J13/08 , B25J5/00 , B25J9/16 , B25J13/00 , B25J13/02 , B25J13/06 , B25J19/02 , B25J19/04 , G05D1/00
CPC分类号： B25J13/006 , B25J5/005 , B25J5/007 , B25J9/161 , B25J9/1671 , B25J9/1689 , B25J9/1697 , B25J13/025 , B25J13/06 , B25J19/021 , B25J19/04 , G05B2219/39449 , G05B2219/39451 , G05D1/0038 , G05D2201/0209 , Y10S901/47
摘要： A method of operating a robot includes electronically receiving images and augmenting the images by overlaying a representation of the robot on the images. The robot representation includes user-selectable portions. The method includes electronically displaying the augmented images and receiving an indication of a selection of at least one user-selectable portion of the robot representation. The method also includes electronically displaying an intent to command the selected at least one user-selectable portion of the robot representation, receiving an input representative of a user interaction with at least one user-selectable portion, and issuing a command to the robot based on the user interaction.

6. 发明公开

EP3285975A1 STEUERN UND/ODER REGELN VON MOTOREN EINES ROBOTERS 有权转让
公开(公告)号：EP3285975A1
公开(公告)日：2018-02-28
申请号：EP16720768
申请日：2016-04-22
申请人： DEUTSCHES ZENTRUM FÜR LUFT- UND RAUMFAHRT E V , KASTANIENBAUM GMBH
发明人： HADDADIN SAMI , MANSFELD NICO
IPC分类号： B25J9/16 , G05B19/4061
CPC分类号： G05B19/4061 , B25J9/1666 , B25J9/1671 , B25J9/1674 , B25J9/1676 , G05B2219/39097
摘要： The invention relates to a method and device for controlling and regulating motors MOT
m of a robot, with m = 1, 2,
… M, wherein the robot has robot components that are interconnected via a number N of articulated connections GEL
n , the joint angles of the articulated connections GEL
n can be adjusted by means of associated motors MOT
m ; Z(t
k ) is a state of the robot components in an interval t
k ; and a first system of coupled motion equations BGG is predetermined and describes rigid-body dynamics or flexible-body dynamics of the connected robot components. In the first system of motion equations BG
G , u
m (t
k ) is a manipulated variable for the respective motor MOT
m . For the first system of coupled motion equations BGG, restrictions of the manipulated variables u
m (t
k ) and restrictions of the states Z(t
k ) of the connected robot components are predetermined. The method comprises the following steps: for the first system of coupled motion equations BGG, providing (101) a second system of locally equivalent decoupled motion equations BG
E that describes the rigid-body dynamics or the flexible-body dynamics of the connected robot components; providing (102) restrictions of the manipulated variables um(tk) transformed into the second system and providing restrictions of the states Z(t
k ) transformed into the second system; providing (103) the state Z(t
k ) transformed into the second system as Z*(t
k ); for the second system of decoupled motion equations BG
E , setting (104) a target state SZ* of the robot manipulator which is to be reached starting from the state Z*(t
k ), and setting (104) one or more conditions BD* and/or one or more characteristics KZ* that define how to achieve the target state SZ*; in the second system of decoupled motion equations BGE, predicting (105) a state trajectory ZT*(t) and the associated manipulated variable trajectories uT*
m (t) depending on the state Z*(t
k ) and the target state SZ* while meeting the conditions BD*, the characteristics KZ*, the transformed restrictions of the manipulated variables u
m (t
k ), and the transformed restrictions of the states Z(t
k ) for an interval of t = t
k to t = t
k+W , wherein ∆t = t
k+W – t
k is a predetermined prediction interval; transforming (106) the manipulated variable trajectories uT*
m (t) and the state trajectories ZT*(t) into the first system of coupled motion equations BGG to generate manipulated variable trajectories uT
m **(t) and state trajectories ZT**(t); from the manipulated variable trajectories uT
m **(t), determining (107) manipulated variables um(tk+1) for the interval k+1 and regulating the motors MOT
m by means of the manipulated variables u
m (t
k+1 ); from the state trajectories ZT**(t) and/or on the basis of sensor data of a detection system of the state Z(t), determining (108) the state Z(t
k+1 ) for the interval k+1; and for Z(t
k ) = Z(t
k+1 ), performing again the method, starting with step (103), until a predetermined break-off criterion or the target state SZ* is reached.

7. 发明公开

EP3100124A4 METHOD AND APPARATUS FOR OPTIMIZING PERFORMANCE OF ROBOTIC CELL 有权转让
公开(公告)号：EP3100124A4
公开(公告)日：2017-12-06
申请号：EP14881163
申请日：2014-01-28
申请人： ABB SCHWEIZ AG
发明人： ZHANG JIAFAN
IPC分类号： G05B19/418 , B25J9/16
CPC分类号： G05B19/4188 , B25J9/1671 , G05B19/41865 , G05B19/41885 , G05B2219/31054 , G05B2219/32085 , G05B2219/39326 , G05B2219/40479 , Y02P90/04 , Y02P90/24
摘要： Embodiments of the present disclosure relate to a method and apparatus for optimizing performance of a robotic cell. The robotic cell comprises at least one workstation and at least one robot. The method may comprise determining a factor and a corresponding workstation sensitive to the performance of the robotic cell by performing a sensitivity analysis on an initial cell layout for the robotic cell; and performing a performance optimization process on the corresponding workstation based on the determined factor to obtain an improved cell layout for the robotic cell. With embodiments of the present disclosure, it is possible to perform performance optimization of the robotic cell on the sensitive workstation regarding to the sensitive factor, and thus it may efficiently determine an improved cell layout which may achieve performance improvement.

8. 发明授权

EP2435216B8 SYSTEME ET PROCEDE POUR EDITER ET COMMANDER DES COMPORTEMENTS D'UN ROBOT MOBILE 失效转让
标题翻译： SYSTEME ET PROCEDE POUR编辑器和COMMANDER DES COMPORTEMENTS D'UN ROBOT MOBILE
公开(公告)号：EP2435216B8
公开(公告)日：2017-08-30
申请号：EP10723567.3
申请日：2010-05-25
申请人： Softbank Robotics Europe
发明人： MONCEAUX, Jérôme , MAISONNIER, Bruno
IPC分类号： B25J9/16 , G05B19/409
CPC分类号： B25J9/1661 , B25J9/1671 , G05B2219/40392 , G06N3/008

9. 发明授权

EP2414137B1 SYNTHETIC REPRESENTATION OF A SURGICAL ROBOT 有权转让
公开(公告)号：EP2414137B1
公开(公告)日：2017-06-21
申请号：EP10717330.4
申请日：2010-03-26
申请人： Intuitive Surgical Operations, Inc.
发明人： ITKOWITZ, Brandon, D. , HALABE, Daniel, J. , ZHAO, Tao , DIMAIO, Simon , HASSER, Christopher, J. , MOHR, Catherine, J. , MOHR, Paul, W. , LARKIN, David, Q. , ZHAO, Wenyi , HOFFMAN, Brian, David
IPC分类号： B25J9/16 , G05B19/42 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/00
CPC分类号： B25J9/1697 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06F19/00
摘要： A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

10. 发明授权

EP2539116B1 PROZESSMODULBIBLIOTHEK UND PROGRAMMIERUMGEBUNG ZUR PROGRAMMIERUNG EINES MANIPULATORPROZESSES 有权转让
标题翻译： PROZESSMODULBIBLIOTHEK程序编号：ZUR PROGRAMMIERUNG EINES MANPULATORPROZESSES
公开(公告)号：EP2539116B1
公开(公告)日：2017-03-22
申请号：EP11707795.8
申请日：2011-02-25
申请人： KUKA Roboter GmbH
发明人： SCHMIRGEL, Volker , HIETMANN, Gerhard , REITELSHÖFER, Sebastian , KLUMPP, Simon , KURTH, Johannes, Dr.
IPC分类号： B25J9/16 , G06F9/44
CPC分类号： B25J9/1661 , B25J9/1671 , B25J9/1687 , G05B19/0426 , G05B2219/23258 , G05B2219/36025 , G05B2219/40032 , G05B2219/40099 , G05B2219/40392 , G05B2219/40395

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