专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明公开

KR1020140113209A 로봇 및 그 제어방법 审中-实审
标题翻译：机器人及其控制方法
公开(公告)号：KR1020140113209A
公开(公告)日：2014-09-24
申请号：KR1020130028308
申请日：2013-03-15
申请人： 삼성전자주식회사
发明人： 권웅 , 임복만 , 구렐오간
IPC分类号： A61B19/00 , B25J13/00
CPC分类号： B25J9/1607 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2017/00225 , A61B2034/302 , A61B2034/742 , A61B2090/373 , A61B2090/378 , B25J9/1689 , G05B2219/39079 , G05B2219/40182 , G05B2219/40333 , G05B2219/40336 , G05B2219/40338 , G05B2219/40352 , G05B2219/40371 , G05B2219/45117
摘要： A robot according to the present invention includes: a multi-tool module including a guide tube and a plurality of tools operated in conjunction with the guide tube and branched from the guide tube, the multi-tool module having a marginal degree of freedom; and a control unit for generating a control signal on a motion in an articulate space on the multi-tool module based on motion instruction information on distal ends of the plurality of tools in a work space, and utilizing the marginal degree of freedom to generate a control signal. The present invention can expand a workspace of a tool and perform an operation which cannot be performed in a general tool control method, minimize necessary strengths for articulates of tools, minimize a possibility of a collision between a tool and a peripheral obstacle, minimize a necessary degree of freedom of the tool, and perform a complex task which could not be performed conventionally.
摘要翻译：根据本发明的机器人包括：多工具模块，包括引导管和与引导管一起操作并从引导管分支的多个工具，所述多工具模块具有边缘自由度; 以及控制单元，用于基于关于工作空间中的多个工具的远端的运动指令信息，生成关于多工具模块上的关节空间中的运动的控制信号，并且利用边缘自由度来生成控制信号。本发明可以扩展工具的工作空间，并执行不能以一般的工具控制方法执行的操作，从而最小化工具的关节的必要强度，最小化工具和外围障碍物之间的碰撞的可能性，使必要的工具的自由度，执行常规的无法执行的复杂任务。

2. 发明授权

KR101633357B1 매니퓰레이터 및 그 제어방법 有权
标题翻译：操纵器及其控制方法
公开(公告)号：KR101633357B1
公开(公告)日：2016-06-28
申请号：KR1020100003519
申请日：2010-01-14
申请人： 삼성전자주식회사
发明人： 이광규 , 노경식 , 최종도 , 문경원 , 김지영
IPC分类号： B25J9/16 , B25J13/00 , B25J9/00
CPC分类号： B25J9/1676 , G05B2219/40338 , G05B2219/40362
摘要： 작업에대한우선순위및 충돌회피기여도를고려하여충돌회피에사용되는자유도를산출하고, 산출된자유도를사용하여장애물과의충돌을회피하는매니퓰레이터및 그제어방법을제공한다. 매니퓰레이터는장애물에충돌할위험이있는지확인하고, 충돌할위험이있으면여유자유도만으로장애물과충돌을회피할수 있는지확인하고, 여유자유도만으로장애물과충돌을회피할수 없으면복수개의작업자유도중 장애물과충돌을회피할수 있는작업자유도가존재하는지확인하고, 장애물과충돌을회피할수 있는작업자유도가존재하면장애물과충돌을회피할수 있는작업자유도중 작업수행시 우선순위가가장낮은작업자유도를사용하여장애물과의충돌을회피한다. 그리고, 매니퓰레이터는장애물과충돌을회피할수 있는작업자유도중 작업수행시 우선순위가가장낮은작업자유도가복수개 존재하면복수개의작업자유도중 충돌회피기여도가가장큰 작업자유도를사용하여장애물과의충돌을회피한다.

3. 发明公开

KR1020110083341A 매니퓰레이터 및 그 제어방법 有权
标题翻译：操纵器及其控制方法
公开(公告)号：KR1020110083341A
公开(公告)日：2011-07-20
申请号：KR1020100003519
申请日：2010-01-14
申请人： 삼성전자주식회사
发明人： 이광규 , 노경식 , 최종도 , 문경원 , 김지영
IPC分类号： B25J9/16 , B25J13/00 , B25J9/00
CPC分类号： B25J9/1676 , G05B2219/40338 , G05B2219/40362 , B25J9/00 , B25J13/00
摘要： PURPOSE: A manipulator and a control method thereof are provided to avoid a collision of the manipulator against an obstacle and keep continuous work by calculating the degree of freedom in consideration of the priority and level of contribution to collision avoidance. CONSTITUTION: A control method of a manipulator(1) comprises the following steps. The manipulator checks the risk that the manipulator collides with an obstacle. If the risk that the manipulator collides with an obstacle exists, the operation degree of freedom capable of avoiding a collision with an obstacle is checked among a plurality of operation degrees of freedom. If the operation degree of freedom capable of avoiding a collision exists, when performing operation, the operation degree of freedom with the lowest priority is used primarily so that a collision with an obstacle is prevented.
摘要翻译：目的：提供一种操纵器及其控制方法，以避免操纵器与障碍物的碰撞，并通过考虑到避免碰撞的优先级和水平来计算自由度来保持连续工作。构成：机械手（1）的控制方法包括以下步骤。操纵器检查机械手与障碍物碰撞的风险。如果操纵器与障碍物碰撞的风险存在，则可以在多个操作自由度中检查能够避免与障碍物碰撞的自由度的操作程度。如果存在能够避免碰撞的自由度的操作程度，则在进行操作时，主要使用具有最低优先级的自由度的操作，从而防止与障碍物的碰撞。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式