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91. 发明申请

US20160320765A1 MACHINING METHOD AND APPARATUS 有权
标题翻译：加工方法和装置
公开(公告)号：US20160320765A1
公开(公告)日：2016-11-03
申请号：US14700257
申请日：2015-04-30
申请人： BAE SYSTEMS Plc
发明人： Jonathan Michael Carberry , Austin James Cook , David McMillan , Aron Derecichei
IPC分类号： G05B19/23 , G05B15/02
CPC分类号： G05B19/23 , B25J9/1676 , G05B15/02 , G05B19/4061 , G05B19/4065 , G05B19/4067 , G05B2219/36342 , G05B2219/49146 , G05B2219/50109 , G05B2219/50111
摘要： Disclosed is a method and apparatus for machining a workpiece (2). The method comprises: specifying a path along which a cutting tool (6) is to be moved during machining of the workpiece (2), the path comprising a plurality of segments (26); defining, for each segment (26), an entry point and an entry path (32) from a point remote from the workpiece (2) to that entry point; moving a first cutting tool (6) along the tool path from a first point to a second point and machining the workpiece (2); after the first cutting tool (6) has been moved to the second point, moving the first cutting tool (6) to a point remote from the workpiece (2); moving a second cutting tool (18) along the entry path (32) of the segment (26) that contains the second point, and then from the entry point to the second point.
摘要翻译：公开了一种用于加工工件（2）的方法和装置。该方法包括：指定在加工工件（2）期间移动切割工具（6）的路径，该路径包括多个段（26）; 对于每个段（26），从远离所述工件（2）的点到所述入口点的入口点和入口路径（32）沿着所述刀具路径从第一点移动到第二点并且加工所述工件（2）; 在第一切割工具（6）已经移动到第二点之后，将第一切割工具（6）移动到远离工件（2）的点; 沿着包含第二点的段（26）的入口路径（32）移动第二切割工具（18），然后从入口点移动到第二点。

92. 发明授权

US09452531B2 Controlling a robot in the presence of a moving object 有权
标题翻译：在存在移动物体的情况下控制机器人
公开(公告)号：US09452531B2
公开(公告)日：2016-09-27
申请号：US14172230
申请日：2014-02-04
申请人： Microsoft Corporation
发明人： Harshavardhana Kikkeri , Bryan J. Thibodeau
IPC分类号： B25J9/16 , F16P3/14 , G06T7/00 , G06T7/20
CPC分类号： B25J9/1676 , F16P3/142 , G05B2219/37567 , G05B2219/37571 , G05B2219/39091 , G05B2219/40202 , G05B2219/40203 , G05B2219/49152 , G05B2219/49158 , G06T1/0014 , G06T7/0004 , G06T7/20 , G06T2207/10021 , G06T2207/10028 , G06T2207/20036 , G06T2207/30196 , H04N13/204
摘要： A method, system, and one or more computer-readable storage media for controlling a robot in the presence of a moving object are provided herein. The method includes capturing a number of frames from a three-dimensional camera system and analyzing a frame to identify a connected object. The frame is compared to a previous frame to identify a moving connected object (MCO). If an unexpected MCO is in the frame a determination is made if the unexpected MCO is in an actionable region. If so, the robot is instructed to take an action.
摘要翻译：本文提供了一种用于在存在移动物体的情况下控制机器人的方法，系统和一个或多个计算机可读存储介质。该方法包括从三维相机系统捕获多个帧并分析帧以识别连接的对象。将帧与先前帧进行比较，以识别移动连接对象（MCO）。如果意外的MCO处于框架中，则如果意外的MCO处于可操作区域，则确定。如果是这样，机器人被指示采取行动。

93. 发明授权

US09434072B2 Vision-guided robots and methods of training them 有权
公开(公告)号：US09434072B2
公开(公告)日：2016-09-06
申请号：US13621687
申请日：2012-09-17
申请人： Rethink Robotics, Inc.
发明人： Christopher J. Buehler , Michael Siracusa
IPC分类号： G06F15/18 , B25J9/16 , G06K9/66 , G06F17/00 , B25J13/08 , G06N99/00 , B25J9/00 , G05B19/42 , G06K9/20 , G06K9/62 , B25J11/00 , G06N5/02 , G06N7/00
CPC分类号： B25J9/163 , B25J9/0087 , B25J9/1671 , B25J9/1676 , B25J9/1682 , B25J9/1697 , B25J11/0005 , B25J13/084 , G05B19/42 , G05B19/423 , G05B2219/39451 , G05B2219/39466 , G05B2219/40116 , G06F17/00 , G06K9/2081 , G06K9/6255 , G06K9/66 , G06N5/025 , G06N7/005 , G06N99/005 , Y02P90/86 , Y10S901/01 , Y10S901/03 , Y10S901/09 , Y10S901/31 , Y10S901/46 , Y10S901/47
摘要： Via intuitive interactions with a user, robots may be trained to perform tasks such as visually detecting and identifying physical objects and/or manipulating objects. In some embodiments, training is facilitated by the robot's simulation of task-execution using augmented-reality techniques.

94. 发明申请

US20160243705A1 HUMAN COOPERATION ROBOT SYSTEM IN WHICH ROBOT IS CAUSED TO PERFORM RETREAT OPERATION DEPENDING ON EXTERNAL FORCE 有权
标题翻译：机器人人工合成机器人系统是根据外部力量进行撤退操作
公开(公告)号：US20160243705A1
公开(公告)日：2016-08-25
申请号：US15047633
申请日：2016-02-19
申请人： FANUC Corporation
发明人： Yasuhiro NAITOU , Soichi ARITA , Hiromitsu TAKAHASHI
IPC分类号： B25J13/08 , G01L5/00
CPC分类号： B25J13/085 , B25J9/1676 , G01L5/009 , G05B2219/39529 , G05B2219/40198 , G05B2219/40202 , G05B2219/40559
摘要： A human cooperation robot system includes: an external force detecting unit that detects an external force acting on a robot; a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is greater than a first threshold value; and an external force variation monitoring unit that stops the retreat operation when a variation width of the external force at a predetermined time after the retreat operation is commanded by the retreat operation commanding unit is smaller than a second threshold value.
摘要翻译：人工合作机器人系统包括：外力检测单元，其检测作用在机器人上的外力; 退避操作指令单元，当所述外力检测单元检测到的外力大于第一阈值时，所述撤退操作指令单元执行使所述机器人沿所述外力减小的方向移动的退避操作; 以及外力变化监视单元，其在所述撤退操作指令单元指示所述退避操作之后的预定时间的所述外力的变化幅度小于第二阈值时停止所述退避操作。

95. 发明申请

US20160224012A1 SENSOR-BASED SAFETY FEATURES FOR ROBOTIC EQUIPMENT 有权
标题翻译：基于传感器的机器人设备安全特性
公开(公告)号：US20160224012A1
公开(公告)日：2016-08-04
申请号：US14432732
申请日：2014-08-08
申请人： ROBOTIC VISION TECHNOLOGIES, LLC
发明人： Shawn Hunt
IPC分类号： G05B19/4061 , B25J9/16
CPC分类号： G05B19/4061 , B25J9/1676 , G05B2219/39001 , G05B2219/39082 , G05B2219/39094 , G05B2219/40339
摘要： Technologies are generally described for sensor-based safety features for robotic equipment, and the implementation thereof. One or more sensors may be positioned relative to the robotic equipment such that the sensors may capture light from at least a portion of an environment surrounding the robotic equipment. In some examples, the sensors may be integrated with the robotic equipment and/or may be configured to rotate. An analysis module coupled to the sensors may build a model image of the environment based on the light captured by the sensors. The analysis module may detect that an unintended object is approaching the robotic equipment in response to detecting a change in the model image, and based on a proximity and/or a speed of approach of the object to the robotic equipment, the analysis module may instruct the robotic equipment to reduce an operating speed and/or stop motion of the robotic equipment.
摘要翻译：技术通常描述用于机器人设备的基于传感器的安全特征及其实现。可以相对于机器人设备定位一个或多个传感器，使得传感器可以从围绕机器人设备的环境的至少一部分捕获光。在一些示例中，传感器可以与机器人设备集成和/或可以被配置为旋转。耦合到传感器的分析模块可以基于由传感器捕获的光来构建环境的模型图像。分析模块可以响应于检测到模型图像的变化而检测到非预期对象正在接近机器人设备，并且基于对象到机器人设备的接近度和/或速度接近，分析模块可以指示机器人设备降低机器人设备的运行速度和/或停止运动。

96. 发明申请

US20160176050A1 OVERRIDE-BASED, PREDICTIVE SPEED CAPPING 审中-公开
标题翻译：基于超量，预测速度快
公开(公告)号：US20160176050A1
公开(公告)日：2016-06-23
申请号：US14962760
申请日：2015-12-08
申请人： KUKA Roboter GmbH
发明人： Holger Tronnier , Günther Wiedemann , Stefan Burkhart , Andreas Aurnhammer , Manfred Hüttenhofer
IPC分类号： B25J9/16
CPC分类号： B25J9/1671 , B25J9/1676 , G05B2219/39097 , G05B2219/39098 , G05B2219/40475 , Y10S901/02 , Y10S901/16 , Y10S901/28
摘要： A method for controlling a manipulator, with the method being particularly suitable for the respecting of predetermined monitoring limits. The method operates by initiating a halting movement or a speed capping based on an identified actual override trend, and is thus suitable, in particular, for path movements by means of spline interpolation.
摘要翻译：一种用于控制机械手的方法，该方法特别适用于遵守预定的监视限制。该方法通过基于所识别的实际超驰趋势启动停止运动或速度上限来进行操作，因此特别适用于通过样条插值的路径运动。

97. 发明申请

US20160144504A1 SPECIFIABLE MOBILITY FOR A ROBOTIC DEVICE 有权
标题翻译：机动装置的可移动机动性
公开(公告)号：US20160144504A1
公开(公告)日：2016-05-26
申请号：US14938909
申请日：2015-11-12
申请人： Siemens Aktiengesellschaft
发明人： Rainer KUTH , Philip MEWES
IPC分类号： B25J9/00 , B25J9/16 , B25J13/00 , B25J9/06
CPC分类号： B25J9/1689 , B25J9/1676 , B25J13/003 , B25J13/02 , B25J13/04 , B25J19/06 , G05B2219/35455 , G05B2219/40074 , G05B2219/40184 , G05B2219/45118 , Y10S901/04
摘要： A robotic device includes a kinematic chain of a plurality of components, movable relative to each other; a sensor device configured to capture a force and/or moment exerted on at least one of the mobile components; a control device configured to control a movement of the at least one of the mobile components, in the direction of the force that is exerted, as a function of the force captured by the control device and/or of the moment captured by the control device; and a first capture device coupled to the control device and provided for the purpose of contactlessly capturing an operating action of an operator. In a normal operating mode, the control device is configured to specify a mobility of at least one of the mobile components as a function of the captured operating action, improving accuracy and reliability of the device in interaction with a human operator.
摘要翻译：机器人装置包括可相对于彼此移动的多个部件的运动链; 传感器装置，被配置为捕获施加在至少一个所述移动部件上的力和/或力矩; 控制装置，被配置为根据由所述控制装置捕获的力和/或由所述控制装置捕获的力矩来控制所述至少一个所述可移动部件沿所施加的力的方向的移动 ; 以及耦合到所述控制装置并且被提供以用于非接触地捕获操作者的操作动作的第一捕获装置。在正常操作模式中，控制装置被配置为根据所捕获的操作动作指定移动部件中的至少一个的移动性，从而提高与人类操作者相互作用的装置的精度和可靠性。

98. 发明授权

US09345544B2 Systems and methods for avoiding collisions between manipulator arms using a null-space 有权
标题翻译：使用零空间避免操纵臂之间碰撞的系统和方法
公开(公告)号：US09345544B2
公开(公告)日：2016-05-24
申请号：US13906819
申请日：2013-05-31
申请人： Intuitive Surgical Operations, Inc.
发明人： Arjang M. Hourtash , Pushkar Hingwe , Bruce Michael Schena , Roman L. Devengenzo
IPC分类号： A61B19/00 , B25J9/16
CPC分类号： A61B34/30 , A61B34/37 , B25J9/1607 , B25J9/1643 , B25J9/1676 , G05B2219/39091 , G05B2219/39135 , G05B2219/40202 , G05B2219/40362 , G05B2219/40371 , G05B2219/40476 , G05B2219/40492 , G05B2219/45117
摘要： Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.
摘要翻译：提供了用于避免使用零空间的操纵臂之间的碰撞的装置，系统和方法。在一个方面，系统使用多个操纵器的参考几何之间的关系来计算回避运动，以保持参考几何之间的间隔。在某些实施例中，系统确定相邻参考几何之间的相对状态，确定参考几何之间的回避矢量，并且基于相对状态和回避矢量来计算雅可比的零空间内的一个或多个操纵器的回避运动。可以根据计算的避免运动来驱动关节，同时保持末端执行器的期望状态或仪器轴枢转的远程中心位置，并且可以根据在零垂直空间内的末端执行器移位运动同时驱动关节的雅可比人，以便实现末端执行器或远程中心的期望运动。

99. 发明申请

US20160103500A1 SYSTEM AND METHOD FOR A HUMAN MACHINE INTERFACE UTILIZING NEAR-FIELD QUASI-STATE ELECTRICAL FIELD SENSING TECHNOLOGY 审中-公开
标题翻译：人机界面利用近场状态电场感测技术的系统与方法
公开(公告)号：US20160103500A1
公开(公告)日：2016-04-14
申请号：US14892590
申请日：2014-05-21
申请人： STANLEY INNOVATION, INC.
发明人： Patrick Hussey , Benjamin Shaffer
IPC分类号： G06F3/01 , B25J9/16 , B25J13/08 , G06F3/041
CPC分类号： G06F3/017 , B25J9/161 , B25J9/1676 , B25J9/1694 , B25J9/1697 , B25J13/084 , G06F3/016 , G06F3/0416 , G06F3/046 , G06F2203/04101 , G06F2203/04108 , Y10S901/09 , Y10S901/10
摘要： The system and method for non-contact and/or touch-sensitive human machine interface, for use in numerous capacities wherein a lack of physical contact, with control apparatuses or devices is desirable. Electrical near field three-dimensional tracking and gesture control systems are utilized to interpret the location and movement of an operator, or to provide navigation, mapping, avoidance, localization, and the like for robotics applications.
摘要翻译：用于非接触和/或触摸敏感的人机界面的系统和方法，用于与控制装置或装置的物理接触不足的多种容量。电气近场三维跟踪和手势控制系统被用于解释操作者的位置和移动，或者为机器人应用提供导航，映射，回避，定位等。

100. 发明申请

US20160089790A1 HUMAN-COLLABORATIVE ROBOT SYSTEM 有权
标题翻译：人机协作机器人系统
公开(公告)号：US20160089790A1
公开(公告)日：2016-03-31
申请号：US14855739
申请日：2015-09-16
申请人： FANUC Corporation
发明人： Yuelai WANG , Yasuhiro NAITOU , Soichi ARITA
IPC分类号： B25J9/16
CPC分类号： B25J9/1676 , B25J9/1694 , G05B2219/37351 , G05B2219/40201 , G05B2219/40541 , G05B2219/42288 , Y10S901/09
摘要： A human-collaborative robot system includes a detection unit that directly or indirectly detects a physical quantity which is changed in response to contact force applied to a robot when the robot comes in contact with an external environment, and a stop command unit that compares the physical quantity detected by the detection unit with a first threshold value and a second threshold value greater than the first threshold value, stops the robot according to a predetermined stop method when the physical quantity is equal to or greater than the first threshold value and is smaller than the second threshold value, and stops the robot in a shorter period of time as compared with the predetermined stop method when the physical quantity is equal to or greater than the second threshold value.
摘要翻译：人机协同机器人系统包括：检测单元，其直接或间接地检测当机器人与外部环境接触时响应于施加到机器人的接触力而改变的物理量;以及停止命令单元，由检测单元检测到的具有第一阈值和大于第一阈值的第二阈值的量在物理量等于或大于第一阈值时根据预定的停止方法停止机器人，并且小于第二阈值，并且当物理量等于或大于第二阈值时，与预定的停止方法相比，在更短的时间段内停止机器人。

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