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1. 发明公开

EP2780764A4 SYSTEM AND METHOD FOR 3D PROJECTION MAPPING WITH ROBOTICALLY CONTROLLED OBJECTS 有权转让
标题翻译：系统和方法与机器人受控对象的3D投影图
公开(公告)号：EP2780764A4
公开(公告)日：2015-07-29
申请号：EP12849815
申请日：2012-11-14
申请人： AUTOFUSS
发明人： LINNELL JEFF
IPC分类号： H04N13/04 , B25J9/16 , B25J11/00
CPC分类号： G06T13/40 , B25J9/1666 , B25J9/1671 , B25J9/1682 , B25J11/00 , G05B2219/39109 , H04N5/2224 , H04N7/18 , H04N9/3185 , H04N13/0459 , H04N13/0493 , H04N13/0497
摘要： A system for motion control is presented. In one embodiment, a motion control 3D projection system includes a projector; and a projection surface coupled to a robotic arm, where the robotic arm moves the projection surface through a set of spatial coordinates, and a 3D projection from the projector is projected onto a set of coordinates of the projection surface and matches the 3D projection to the set of coordinates of the projection surface as the projection surface moves through the set of spatial coordinates. In additional embodiments, a master control system may integrate additional robotic arms and other devices to create a motion control scene with a master timeline.

2. 发明公开

EP2783808A3 Robot system, method for controlling robot, and method for producing to-be-processed material 审中-公开
标题翻译：机器人系统中，将被处理用于控制用于材料的制造的机器人和方法的方法
公开(公告)号：EP2783808A3
公开(公告)日：2015-07-22
申请号：EP14157609.0
申请日：2014-03-04
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Izumi, Tetsuro , Nakamura, Tamio , Kouno, Dai , Nagai, Ryoichi
IPC分类号： B25J9/16
CPC分类号： G05B19/41815 , B25J9/0084 , B25J9/1682 , B25J21/00 , G05B2219/39109 , G05B2219/39135 , G05B2219/40307
摘要： A robot system 1 includes a plurality of robots 10, 10A, a plurality of cells 11, 11A, a detection device 121, and a changer device 122. Each of the plurality of robots 10, 10A is configured to operate based on an operation command. The plurality of cells 11, 11A respectively accommodate the plurality of robots 10, 10A and are connectable to each other. The detection device 121 is configured to detect that the plurality of cells 11, 11A are connected to each other. When the detection device 121 detects that the plurality of cells 11, 11A are connected to each other, the changer device 122 is configured to change at least one operation command among operation commands for the plurality of robots 10, 10A respectively accommodated in the connected cells 11, 11A.

3. 发明公开

EP2783809A2 Robot system and a method for producing a to-be-processed material 审中-公开
标题翻译：机器人系统以及被处理材料的制造方法
公开(公告)号：EP2783809A2
公开(公告)日：2014-10-01
申请号：EP14158290.8
申请日：2014-03-07
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Ichimaru, Yuji , Horiuchi, Tomoyuki
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1682 , B25J9/1687 , G05B2219/39109
摘要： A robot system 1 includes a first robot (120R), a second robot (120L), a stocker (300), and a controller (20). The first robot (120R) includes a first sensor (122R). The second robot (120L) includes a second sensor (122L). The stocker (300) is configured to accommodate a plurality of workpieces that are to be held by at least one of the first robot (120R) and the second robot (120L). The controller (20) is configured to control the first robot (120R) and the second robot (120L). When the first robot (120R) holds a first workpiece among the plurality of workpieces, the controller (20) is configured to control the first sensor (122R) to recognize shapes of the plurality of workpieces in the stocker (300) and control the second sensor (122L) to detect a holding state of the first workpiece held by the first robot (120R).
摘要翻译：机器人系统1具备第一机器人120R，第二机器人120L，储料器300以及控制器20。第一机器人（120R）包括第一传感器（122R）。第二机器人（120L）包括第二传感器（122L）。储料器（300）构造成容纳将由第一机器人（120R）和第二机器人（120L）中的至少一个保持的多个工件。控制器（20）构造成控制第一机器人（120R）和第二机器人（120L）。当第一机器人（120R）保持多个工件中的第一工件时，控制器（20）被配置为控制第一传感器（122R）以识别储料器（300）中的多个工件的形状并且控制第二传感器传感器（122L），用于检测由第一机器人（120R）保持的第一工件的保持状态。

4. 发明授权

EP1795983B1 A method and a system for automatically organizing and achieving a pre-given task by means of robot functionalities 有权转让
标题翻译：方法和系统，用于自动地组织和由机器人的功能的装置执行一个预定义的对象
公开(公告)号：EP1795983B1
公开(公告)日：2009-09-02
申请号：EP05292602.9
申请日：2005-12-07
申请人： SAP AG
发明人： Ulmer, Cedric , Gomez, Laurent , Montagut, Frederic , Hebert, Cedric , Wrona, Konrad
IPC分类号： G05B19/418 , B25J9/16
CPC分类号： B25J9/1669 , G05B19/4186 , G05B2219/39109 , Y02P90/185

5. 发明公开

EP1899774A1 PROGRAM-CONTROLLED PROCESS 审中-公开
标题翻译：程控过程
公开(公告)号：EP1899774A1
公开(公告)日：2008-03-19
申请号：EP06703292.0
申请日：2006-01-26
申请人： Airbus UK Limited
发明人： SUMMERS, Mark Derren , GREEN, Brett Jason , HOLDEN, Roger
IPC分类号： G05B19/401 , G05B19/418
CPC分类号： G05B19/4015 , G05B19/41825 , G05B2219/37611 , G05B2219/39105 , G05B2219/39109 , G05B2219/40607 , G05B2219/50151 , Y02P90/087
摘要： A drilling machine (16) drills at a multiplicity of target locations on a component (10). Two robots (12, 14), calibrated with calibration data, move the component in a 6-D coordinate system. A metrology system (32) ascertains the position of the component (10) relative to the drilling machine (16). The movement of the robots (12, 14) is effected by means of commands generated by means of off-line programming (52). The component (10) is moved relative to the drilling machine (16) to a target position, ready for drilling, by means of a closed-loop process (50) in which the differences in position between the expected position (the target position) and the actual position (as viewed by the metrology system) are corrected.

6. 发明公开

EP0704780A4 INDUSTRIAL ROBOT DEVICE AND METHOD FOR EXECUTING JOBS USING THE SAME 失效
标题翻译：工业机器人和方法来执行任务DESSELBIGEN
公开(公告)号：EP0704780A4
公开(公告)日：1997-02-26
申请号：EP95912466
申请日：1995-03-17
申请人： FANUC LTD
发明人： WATANABE ATSUSHI , NIHEI RYO , TERADA AKIHIRO , BAN KAZUNORI
IPC分类号： B23P19/04 , B25J9/16 , B25J9/18 , B25J13/00 , G05B19/18 , G05D3/00 , G05D3/12
CPC分类号： B25J9/0084 , B25J9/0087 , B25J9/1682 , G05B2219/39109 , G05B2219/39468 , G05B2219/40272 , G05B2219/40307 , G05B2219/45064
摘要： First and second robots (R1, R2) are placed apart from each other on a track (2) and caused to grab a component on supply conveyor lines (SP1, SP2) by hand at respective positions. Then, the robots (R1, R2) are moved to approach each other on the track (2), and stopped at positions where they are closest to each other. The two robots (R1, R2) are caused to select and grab a hand on a rotary hand placing table (4) and are switched from a state that a two-arm-cooperation mode is released to a state that the mode is put into effect by means of a robot control device. Then, the assembly job on a common assembling table (TB) is performed.

7. 发明公开

EP3246134A1 METHOD AND APPARATUS OF COORDINATING INDEPENDENT AUTOMATED SYSTEMS 审中-公开
标题翻译：协调独立自动系统的方法和设备
公开(公告)号：EP3246134A1
公开(公告)日：2017-11-22
申请号：EP17160659.3
申请日：2017-03-13
申请人： The Boeing Company
发明人： FREEMAN, Philip L. , WEISS, Trent T. , SRIDHAR, Shubang
IPC分类号： B25J9/16
CPC分类号： G05B19/402 , B25J9/1682 , G05B11/01 , G05B2219/32085 , G05B2219/32285 , G05B2219/39109 , G05B2219/39122 , G05B2219/39129 , G05B2219/39139 , G05B2219/39141 , G05B2219/39146 , G05B2219/39149 , G05B2219/40032 , G05B2219/40394 , G05B2219/40512 , G05B2219/45064 , G05B2219/45071 , G05B2219/50047 , G05B2219/50049
摘要： A method of coordinating automated systems, the method includes providing a first automated system that is programmed with a set of predetermined operating instructions that correspond with automated system processing requirements, monitoring an operational status of the first automated system with a second automated system, automatically generating a second system action, with the second automated system, that is complimentary to a first system action of the first automated system, where the first system action corresponds to the set of predetermined operating instructions and the second system action depends on the operational status of the first automated system, and performing the second system action with the second automated system so that the second automated system cooperates with the first automated system to perform a predetermined operation.
摘要翻译：一种协调自动化系统的方法，该方法包括提供第一自动化系统，该第一自动化系统被编程有与自动化系统处理要求相对应的一组预定操作指令，利用第二自动化系统监控第一自动化系统的操作状态，自动生成第二系统动作与第二自动系统互补，第二系统动作与第一自动系统的第一系统动作互补，其中第一系统动作对应于该组预定操作指令，并且第二系统动作取决于第一自动系统的操作状态第一自动系统，以及利用第二自动系统执行第二系统动作，使得第二自动系统与第一自动系统协作以执行预定操作。

8. 发明授权

EP2921266B1 Robot, robot system,robot control apparatus, and method of controlling the operation of a robot 失效
公开(公告)号：EP2921266B1
公开(公告)日：2017-09-06
申请号：EP14191446.5
申请日：2014-11-03
申请人： Seiko Epson Corporation
发明人： Yamaguchi, Yukihiro
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , G05B2219/37208 , G05B2219/37555 , G05B2219/39107 , G05B2219/39109 , G05B2219/40072 , G05B2219/40087 , G05B2219/40609 , G05B2219/40615 , G05B2219/45203 , Y10S901/09 , Y10S901/41 , Y10S901/47

9. 发明公开

EP2783809A3 Robot system and a method for producing a to-be-processed material 审中-公开
标题翻译：用于制造材料机器人系统和方法将被处理
公开(公告)号：EP2783809A3
公开(公告)日：2015-09-02
申请号：EP14158290.8
申请日：2014-03-07
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Ichimaru, Yuji , Horiuchi, Tomoyuki
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1682 , B25J9/1687 , G05B2219/39109
摘要： A robot system 1 includes a first robot (120R), a second robot (120L), a stocker (300), and a controller (20). The first robot (120R) includes a first sensor (122R). The second robot (120L) includes a second sensor (122L). The stocker (300) is configured to accommodate a plurality of workpieces that are to be held by at least one of the first robot (120R) and the second robot (120L). The controller (20) is configured to control the first robot (120R) and the second robot (120L). When the first robot (120R) holds a first workpiece among the plurality of workpieces, the controller (20) is configured to control the first sensor (122R) to recognize shapes of the plurality of workpieces in the stocker (300) and control the second sensor (122L) to detect a holding state of the first workpiece held by the first robot (120R).

10. 发明公开

EP2614936A2 Robots, computer program products, and methods for trajectory plan optimization 失效转让
标题翻译： Roboter，Computerprogrammprodukte und Verfahren zur Verlaufsplanoptimierung
公开(公告)号：EP2614936A2
公开(公告)日：2013-07-17
申请号：EP13151030.7
申请日：2013-01-11
申请人： Toyota Motor Engineering & Manufacturing North America, Inc. , CARNEGIE MELLON UNIVERSITY
发明人： Ota, Yasuhiro , Kim, Junggon , Kuffner, James J.
IPC分类号： B25J9/16
CPC分类号： B25J9/162 , B25J9/1669 , G05B2219/39109 , G05B2219/40014 , G05B2219/40411 , G05B2219/45084
摘要： Robots, computer program products, and methods for trajectory plan optimization are disclosed. In one embodiment, a method of controlling a robot having a first manipulator and a second manipulator includes receiving a trajectory plan including a plurality of sequential motion segments. The method further includes determining a moveable motion segment, and shifting the moveable motion segment and motion segments subsequent to the moveable motion segment backward in time to a shifted time such that one or more unshifted segments of the trajectory plan occur at a same time as one or more shifted segment segments. The method may further include controlling the robot according to the optimized trajectory plan such that one or more components of the first manipulator are moved concurrently with one or more components of the second manipulator.
摘要翻译：公开了机器人，计算机程序产品和轨迹图优化方法。在一个实施例中，一种控制具有第一操纵器和第二操纵器的机器人的方法包括接收包括多个顺序运动段的轨迹计划。该方法还包括确定可移动运动段，以及将可移动运动段之后的可移动运动段和运动段在时间上向后移动到移位时间，使得轨迹计划的一个或多个非移位段同时发生一个或更多偏移的段段。该方法还可以包括根据优化的轨迹计划来控制机器人，使得第一操纵器的一个或多个部件与第二操纵器的一个或多个部件同时移动。

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