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1. 发明专利

JP2014124733A Robot control device, and robot control method 审中-公开
标题翻译：机器人控制装置和机器人控制方法
公开(公告)号：JP2014124733A
公开(公告)日：2014-07-07
申请号：JP2012284388
申请日：2012-12-27
申请人： Jtekt Corp , 株式会社ジェイテクト
发明人： OTA HIROMITSU , MUKAI YASUHARU , NUMAZAKI KAZUYA
IPC分类号： B25J9/10
摘要： PROBLEM TO BE SOLVED: To provide a robot control method and robot control device capable of implementing trajectory control and a positioning motion, which have precision improved, even in a high-speed motion or low-speed motion according to any of various work programs.SOLUTION: Controllers RC1 and RC2 each including a CPU that controls servo motors (rotary actuators) disposed at respective joint axes of each of manipulators 10A and 10B having one degree of redundant freedom in addition to degrees of work freedom switches control for the servomotor for the CPU between precision-improved trajectory control and precision-improved positioning control. As a result, according to any of various work programs, the precision-improved trajectory control or precision-improved positioning motion can be implemented even in a high-speed motor or low-speed motion.
摘要翻译：要解决的问题：即使在根据各种工作程序中的任何一种的高速运动或低速运动中，提供能够实现轨迹控制和定位运动的机器人控制方法和机器人控制装置，其具有精度提高。解决方案：控制器RC1和RC2各自包括控制伺服电动机（旋转执行器）的CPU，该CPU控制除了工作自由度之外还具有一个冗余自由度的每个操纵器10A和10B的各个接合轴线上，以切换伺服电动机的控制 CPU之间精确改进的轨迹控制和精度提高的定位控制。结果，根据各种工作程序中的任何一种，即使在高速电动机或低速运动中也可以实现精度提高的轨迹控制或精度提高的定位运动。

2. 发明专利

JP2013208671A Robot control method, robot control device, and robot control system 审中-公开
标题翻译：机器人控制方法，机器人控制装置和机器人控制系统
公开(公告)号：JP2013208671A
公开(公告)日：2013-10-10
申请号：JP2012079980
申请日：2012-03-30
申请人： Jtekt Corp , 株式会社ジェイテクト
发明人： OTA HIROMITSU , MUKAI YASUHARU , NUMAZAKI KAZUYA
IPC分类号： B25J13/00
摘要： PROBLEM TO BE SOLVED: To control an actuator for driving a joint axis so that an expansion rate of an error from a target position attitude can be minimum at an end effector by using freedom for redundancy, and to improve positioning accuracy and locus accuracy without needing a special sensor therefor.SOLUTION: A plurality of linking position attitudes are obtained by combining a step (S204) of calculating a linking position attitude allowed by freedom for redundancy and a step (S206) of calculating a hand error-expansion rate of the linking position attitude on the basis of the hand target-position attitude of a manipulator. A plurality of error-expansion rates for each linking position attitude are obtained, and a minimum error expansion rate is selected from the plurality of error expansion rates. A position command is issued to a servo motor of each joint axis so as to achieve a joint angle of each joint axis in the linking position attitude to be the minimum error-expansion rate.
摘要翻译：要解决的问题：为了控制用于驱动关节轴的致动器，使得通过使用冗余自由度，在末端执行器处，来自目标位置姿态的误差的膨胀率可以是最小的，并且在不需要的情况下提高定位精度和轨迹精度一种特殊传感器。解决方案：通过组合计算冗余自由度所允许的链接位置姿态的步骤（S204）和计算链接的手错误扩展率的步骤（S206），获得多个链接位置姿态基于操纵器的手目标位置姿态的位置姿态。获得每个链接位置姿态的多个误差扩展率，并且从多个误差扩展率中选择最小误差扩展率。向每个关节轴线的伺服电动机发出位置指令，以使连接位置姿态中的每个关节轴线的关节角度达到最小误差扩大率。

3. 发明专利

JP2017117366A モータ制御装置审中-公开
公开(公告)号：JP2017117366A
公开(公告)日：2017-06-29
申请号：JP2015254745
申请日：2015-12-25
申请人：株式会社ジェイテクト , Jtekt Corp
发明人： NUMAZAKI KAZUYA , MUKAI YASUHARU
IPC分类号： G05B11/32 , G05B19/19 , H02P5/00 , H02P29/00
CPC分类号： G05B13/02 , H02P6/08
摘要：【課題】電動モータを用いて所定部材(制御対象物)の位置を制御するモータ制御装置であって、位置偏差をより低減することが可能なモータ制御装置を提供する。【解決手段】第1仮指令速度を出力する位置フィードバック制御部11、第1仮指令電流を出力する速度フィードバック制御部21、指令物理量を位置側第1出力として出力する位置側入力部と、位置偏差に応じて位置側第1重みを変更する第1位置側重み学習部と、位置側第1出力と位置側第1重みとを乗算した値を加算して第2仮指令速度を出力する位置側出力部と、を有する位置フィードフォワード制御部14Z、指令物理量を速度側第1出力として出力する速度側入力部と、速度偏差に応じて速度側第1重みを変更する第1速度側重み学習部と、速度側第1出力と速度側第1重みとを乗算した値を加算して第2仮指令電流を出力する速度側出力部と、を有する速度フィードフォワード制御部24Z、を有する。【選択図】図6

4. 发明专利

JP2013184235A Calibration method and calibration apparatus for robot 有权
标题翻译：机器人的校准方法和校准装置
公开(公告)号：JP2013184235A
公开(公告)日：2013-09-19
申请号：JP2012049328
申请日：2012-03-06
申请人： Jtekt Corp , 株式会社ジェイテクト
发明人： OTA HIROMITSU , MUKAI YASUHARU , NUMAZAKI KAZUYA
IPC分类号： B25J9/10
CPC分类号： B25J9/1674 , B25J9/1643 , B25J9/1692 , G05B2219/39048
摘要： PROBLEM TO BE SOLVED: To provide a calibration method and apparatus for a robot capable of performing calibration of the robot having redundancy without using devices such as a three-dimensional measuring instrument, a displacement detector and a hand-held camera.SOLUTION: A distal end of a manipulator having redundancy is constrained so as to leave one degree of freedom, an attitude of the manipulator is changed into a plurality of attitudes that are allowed by the redundancy by outputting joint position command values from a controller to servomotors that drive links that constitute the manipulator of which the distal end is fixed, and calibration is performed by obtaining parameter errors of a robot constant of the manipulator on the basis of the joint position command values and actual measured values from rotary encoders, which are respectively provided at the servomotors, after each attitude change.
摘要翻译：要解决的问题：提供一种用于机器人的校准方法和装置，其能够执行具有冗余性的机器人的校准，而不使用诸如三维测量仪器，位移检测器和手持相机的装置。解决方案：限制具有冗余度的操纵器的端部以便保持一个自由度，通过将来自控制器的联合位置命令值输出到驱动链接的伺服电动机，将操纵器的姿态改变为冗余允许的多种态度构成前端固定的机械手，通过基于分别设置在伺服电动机上的旋转编码器的关节位置指令值和实际测量值，通过获得机械手的机器人常数的参数误差来进行校准每次态度改变后。

5. 发明专利

JP2014140913A Robot control device, robot control system, and robot control method 审中-公开
标题翻译：机器人控制装置，机器人控制系统和机器人控制方法
公开(公告)号：JP2014140913A
公开(公告)日：2014-08-07
申请号：JP2013009474
申请日：2013-01-22
申请人： Jtekt Corp , 株式会社ジェイテクト
发明人： NUMAZAKI KAZUYA , OTA HIROMITSU , MUKAI YASUHARU
IPC分类号： B25J13/00
摘要： PROBLEM TO BE SOLVED: To provide a robot control device, a robot control system, and a robot control method by means of which positional accuracy can be improved by eliminating positional deviation of a robot during working and vibration of the robot during working can be suppressed and required torque for keeping posture can be minimized.SOLUTION: A CPU 91 specifies a direction in which a tip of a fingertip of a manipulator receives force, with a position and attitude of the fingertip set in a work program as a constraint, the CPU 91 determines a position and attitude of a link in which the link is hard to be displaced the most by the force in a range allowable in redundant degree of freedom, and then the CPU 91 controls servo motors 41-47 so that each of joints has each joint angle that materializes the position and attitude of the fingertip in the determined position and attitude of the link.
摘要翻译：要解决的问题：可以抑制机器人控制装置，机器人控制系统和机器人控制方法，通过消除机器人在加工期间机器人的位置偏差和机器人在加工期间的振动可以提高位置精度并且所需的用于保持姿势的扭矩可以被最小化。解决方案：CPU91指定操纵器的指尖的尖端接收力的方向，其中在工作程序中设置的指尖的位置和姿态作为约束，CPU 91决定了在冗余自由度允许的范围内链接难以最大程度地移位的链路的位置和姿态，然后CPU 91控制伺服电动机41-47，使得每个关节具有每个关节角度在指定位置和姿态下实现指尖的位置和姿态。

6. 发明专利

JP2013220478A Electricity regeneration method between machinery and electricity regeneration system between machinery 审中-公开
标题翻译：机械与电机再生系统之间的电力再生方法
公开(公告)号：JP2013220478A
公开(公告)日：2013-10-28
申请号：JP2012091182
申请日：2012-04-12
申请人： Jtekt Corp , 株式会社ジェイテクト
发明人： OTA HIROMITSU , MUKAI YASUHARU , NUMAZAKI KAZUYA
IPC分类号： B25J19/00 , B25J13/00 , H02P5/74
摘要： PROBLEM TO BE SOLVED: To enable energy consumption to be reduced and enable a control panel to be made compact and low-cost by facilitating matching of power running electricity and regenerative power thereby enabling regeneration resistance to be omitted or reduced.SOLUTION: A plurality of machineries that are electrically connected so as to supply a regenerative current with each other during deceleration and includes a machinery having one redundant degree of freedom for a work degree of freedom, are combined with each other, acceleration/deceleration timing among the combined machineries are cooperated, and regenerative energy generated during deceleration of some of the combined machineries is utilized as acceleration energy of the other remaining combined machineries. In this case, as a first stage, an operation plan of the combined machineries (redundant robot) is made so as to utilize the acceleration/deceleration operations of posture change of the machineries (redundant robot) and balance energy demand and supply. As a second stage, the machineries (redundant robot) and the other combined machineries are operated together.
摘要翻译：要解决的问题：为了能够减少能量消耗，并且通过促进动力运行电力和再生能源的匹配，能够使控制面板小型化和低成本化，从而能够省略或减少再生电阻。解决方案：多个电气连接以在减速期间彼此提供再生电流并且包括具有用于工作自由度的一个冗余自由度的机械的机器相互组合，组合机构之间的加速/减速定时被协作，并且一些组合机构的减速期间产生的再生能量被用作其他剩余组合机械的加速能量。在这种情况下，作为第一阶段，进行组合机械（冗余机器人）的运转方案，以利用机械（冗余机器人）的姿势变化的加减速运行，平衡能量需求和供给。作为第二阶段，机器（冗余机器人）和其他组合机构一起操作。

7. 发明专利

JP2013193132A Robot controller of seven-axis manipulator 审中-公开
标题翻译：七轴机器人机器人控制器
公开(公告)号：JP2013193132A
公开(公告)日：2013-09-30
申请号：JP2012059138
申请日：2012-03-15
申请人： Jtekt Corp , 株式会社ジェイテクト
发明人： OTA HIROMITSU , MUKAI YASUHARU , NUMAZAKI KAZUYA
IPC分类号： B25J13/00
摘要： PROBLEM TO BE SOLVED: To easily restore a non-biting state from a biting state in the case that a link of a manipulator bites an object between a fixed object and the link, and operation has stopped.SOLUTION: When a first movement mode is selected by an input device under an abnormal state mode and jog operation is performed, a fourth joint 24 of a manipulator 10 rotates around a center axis O. When a second movement mode is selected by the input device under the abnormal state mode and the manipulator 10 is manually operated, the fourth joint 24 of the manipulator 10 rotates around the center axis O.
摘要翻译：要解决的问题：在操作者的链接在固定对象和链接之间咬住对象并且操作已经停止的情况下，容易地从咬住状态恢复非咬住状态。解决方案：当第一移动模式是在异常状态模式下由输入装置选择并进行点动操作，操纵器10的第四关节24围绕中心轴线O旋转。当在异常状态模式下由输入装置选择第二移动模式时， 10被手动操作，操纵器10的第四关节24围绕中心轴线O旋转。

8. 发明专利

JP2013193131A Robot control method, robot control device, and robot control system 有权
标题翻译：机器人控制方法，机器人控制装置和机器人控制系统
公开(公告)号：JP2013193131A
公开(公告)日：2013-09-30
申请号：JP2012059137
申请日：2012-03-15
申请人： Jtekt Corp , 株式会社ジェイテクト
发明人： OTA HIROMITSU , MUKAI YASUHARU , NUMAZAKI KAZUYA
IPC分类号： B25J13/00 , G05B19/18
CPC分类号： B25J9/1628 , B25J9/1633 , B25J9/1638 , B25J9/1641 , B25J9/1643 , G05B2219/40367 , G05B2219/40461 , Y10S901/09
摘要： PROBLEM TO BE SOLVED: To provide a robot control method, a robot control device, and a robot control system capable of improving controllability by utilizing a redundant degree of flexibility, and miniaturizing a rotational system actuator and a robot.SOLUTION: A CPU of a robot control device calculates load torque based on an inertia force, a centrifugal force or a Coriolis force, a gravity force, a friction torque, and actuator inertia torque applied to a joint axis of each link each time an orientation parameter indicative of a link position attitude permitted by a redundant degree of flexibility is sequentially changed under a constraint of an end-effector position attitude as target values. The CPU obtains the link position attitude at which the ratio of the load torque to the rated torque of a first-seventh servo motors provided for each joint is minimized while an orientation parameter is changed, and provides a feed-forward value that gives a rise to each load torque obtained when the ratio of the load torque to the rated torque of the first-seventh servo motors is minimized to a control command generated to the first-seventh servo motors of each joint axis for achieving the end-effector position attitude as target values.
摘要翻译：要解决的问题：提供一种机器人控制方法，机器人控制装置和机器人控制系统，其能够通过利用冗余的灵活性来提高可控性，并且使旋转系统致动器和机器人小型化。解决方案：机器人控制装置每当指示链接位置的取向参数时，基于施加到每个链节的关节轴的惯性力，离心力或科里奥利力，重力，摩擦力矩和致动器惯性转矩来计算负载转矩在作为目标值的末端执行器位置姿态的约束下，依次改变由冗余的灵活性允许的姿态。在取向参数变化的情况下，CPU获得链接位置姿态，在该位置姿态下，为每个关节设置的第一至第七伺服电动机的负载转矩与额定转矩的比例最小化，并且提供给出上升的前馈值对于将第一至第七伺服电动机的负载转矩与额定转矩的比率最小化为对于每个关节轴线的第一至第七伺服电动机产生的控制命令而获得的每个负载转矩，以实现末端执行器位置姿态作为目标值。

9. 发明专利

JP2013184236A Calibration method and calibration apparatus for robot 审中-公开
标题翻译：机器人的校准方法和校准装置
公开(公告)号：JP2013184236A
公开(公告)日：2013-09-19
申请号：JP2012049329
申请日：2012-03-06
申请人： Jtekt Corp , 株式会社ジェイテクト
发明人： OTA HIROMITSU , MUKAI YASUHARU , NUMAZAKI KAZUYA
IPC分类号： B25J9/10
CPC分类号： B25J9/1674 , B25J9/1682 , B25J9/1692 , G05B2219/39048 , G05B2219/39049 , G05B2219/39051 , Y10S901/02
摘要： PROBLEM TO BE SOLVED: To provide a calibration method and a calibration apparatus for a robot, capable of performing calibration without using devices such as a three-dimensional measuring instrument, a displacement detector, a hand-held camera, by coupling ends of a pair of manipulators to change its attitude.SOLUTION: A pair of manipulators 10A, 10B are caused to take a plurality of attitudes in a state where distal ends of the manipulators are coupled to each other, coordinates of joints between links at each attitude change are acquired on the basis of detection signals, at each attitude change, of rotary encoders provided for servomotors that drive the links of the manipulators 10A, 10B, and a position and attitude of an installation point WB of a slave robot with reference to an installation point WA of a master robot are calculated on the basis of the joint coordinates acquired at the corresponding attitude change in a forward kinematics manner. An error vector for each attitude change between actual measured values and the calculated values of the installation point WB is calculated, and robot constants of both manipulators are identified from the error vector.
摘要翻译：要解决的问题：为了提供一种用于机器人的校准方法和校准装置，能够在不使用三维测量仪器，位移检测器，手持式摄像机等装置的情况下进行校准，的操纵器来改变其姿态。解决方案：使一对操纵器10A，10B在操纵器的远端彼此联接的状态下采取多种态度，获取每个姿势变化处的连杆之间的关节的坐标基于检测信号，在每个姿势变化的基础上，提供驱动操纵器10A，10B的连杆的伺服电机的旋转编码器以及从机器人的安装点WB的位置和姿态参考安装点WA 基于以正向运动学方式在相应的姿态变化处获取的关节坐标来计算主机器人。计算实际测量值与安装点WB的计算值之间的每个姿态变化的误差向量，并且从误差向量识别两个操纵器的机器人常数。

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