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11. 发明申请

US20160136810A1 MANIPULATOR SYSTEM 有权
标题翻译：操纵器系统
公开(公告)号：US20160136810A1
公开(公告)日：2016-05-19
申请号：US15002721
申请日：2016-01-21
申请人： OLYMPUS CORPORATION
发明人： Hiroshi WAKAI , Naoya HATAKEYAMA , Masatoshi IIDA
IPC分类号： B25J9/16 , A61B1/00 , B25J13/06
CPC分类号： B25J9/1635 , A61B1/00059 , A61B1/00133 , A61B34/30 , A61B34/37 , A61B90/96 , A61B90/98 , A61B2017/00022 , A61B2017/0034 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , B25J9/1638 , B25J9/1689 , B25J13/06 , B25J18/06 , G02B23/2476 , G05B2219/40279 , Y10S901/09
摘要： Provided is a manipulator system including: a manipulator that has an insertion section composed of a flexible section and a bending section and that has a bending-section drive unit for driving the bending section; an operation input unit; a flexible-section shape detecting unit and a bending-section shape detecting unit that detect curved shapes of the flexible section and the bending section, respectively; compensation-value setting units that set a compensation value on the basis of the curved shape detected by each of the shape detecting units; and a control unit that generates a curvature control signal for driving the bending-section drive unit according to an operating instruction input via the operation input unit and furthermore corrects the curvature control signal using the compensation value and transmits it to the bending-section drive unit.
摘要翻译：本发明提供一种机械手系统，包括：具有由柔性部和弯曲部构成的插入部的机械手，具有用于驱动弯曲部的弯曲部驱动部; 操作输入单元; 柔性部分形状检测单元和弯曲部分形状检测单元，其分别检测柔性部分和弯曲部分的弯曲形状; 补偿值设定单元，其基于由所述形状检测单元检测出的所述弯曲形状来设定补偿值; 以及控制单元，其根据经由操作输入单元输入的操作指令生成用于驱动所述弯曲部驱动单元的曲率控制信号，并且还使用所述补偿值来校正所述曲率控制信号，并将其传送到所述弯曲部驱动单元。

12. 发明授权

US09327402B2 Robot, robot control device, and robot system 有权
标题翻译：机器人，机器人控制装置和机器人系统
公开(公告)号：US09327402B2
公开(公告)日：2016-05-03
申请号：US14195937
申请日：2014-03-04
申请人： Seiko Epson Corporation
发明人： Akio Niu
IPC分类号： G05B19/00 , G05B15/00 , B25J9/16 , B25J9/04 , B25J13/08
CPC分类号： B25J9/1651 , B25J9/04 , B25J9/046 , B25J9/1638 , B25J9/1694 , B25J13/088 , Y10S901/09
摘要： A robot includes a base, a first arm rotatably connected to the base around a first rotating axis, a second arm rotatably connected to the first arm around a second rotating axis orthogonal to the first rotating axis, a third arm rotatably connected to the second arm around a third rotating axis parallel to the second rotating axis, a first angular velocity sensor provided in the first arm and having an angular velocity detection axis parallel to the first rotating axis, and a second angular velocity sensor provided in the second arm and having an angular velocity detection axis parallel to the third rotating axis.
摘要翻译：一种机器人，包括：基座，围绕第一旋转轴线可旋转地连接到基座的第一臂;围绕与第一旋转轴线正交的第二旋转轴线可旋转地连接到第一臂的第二臂，与第二臂可旋转地连接的第三臂围绕平行于所述第二旋转轴线的第三旋转轴线，设置在所述第一臂中并且具有平行于所述第一旋转轴线的角速度检测轴线的第一角速度传感器，以及设置在所述第二臂中的第二角速度传感器，角速度检测轴平行于第三旋转轴。

13. 发明申请

US20160107311A1 ROBOT, ROBOT CONTROL DEVICE, AND ROBOT SYSTEM 审中-公开
标题翻译：机器人，机器人控制装置和机器人系统
公开(公告)号：US20160107311A1
公开(公告)日：2016-04-21
申请号：US14979004
申请日：2015-12-22
申请人： Seiko Epson Corporation
发明人： Akio NIU
IPC分类号： B25J9/16 , B25J9/04
CPC分类号： B25J9/1651 , B25J9/04 , B25J9/046 , B25J9/1638 , B25J9/1694 , B25J13/088 , Y10S901/09
摘要： A robot includes a base, a first arm rotatably connected to the base around a first rotating axis, a second arm rotatably connected to the first arm around a second rotating axis orthogonal to the first rotating axis, a third arm rotatably connected to the second arm around a third rotating axis parallel to the second rotating axis, a first angular velocity sensor provided in the first arm and having an angular velocity detection axis parallel to the first rotating axis, and a second angular velocity sensor provided in the second arm and having an angular velocity detection axis parallel to the third rotating axis.
摘要翻译：一种机器人，包括：基座，围绕第一旋转轴线可旋转地连接到基座的第一臂;围绕与第一旋转轴线正交的第二旋转轴线可旋转地连接到第一臂的第二臂，与第二臂可旋转地连接的第三臂围绕平行于所述第二旋转轴线的第三旋转轴线，设置在所述第一臂中并且具有平行于所述第一旋转轴线的角速度检测轴线的第一角速度传感器，以及设置在所述第二臂中的第二角速度传感器，角速度检测轴平行于第三旋转轴。

14. 发明申请

US20150355647A1 APPARATUS AND METHOD FOR CONTROLLING AND REGULATING A MULTI-ELEMENT SYSTEM 有权
标题翻译：用于控制和调节多元素系统的装置和方法
公开(公告)号：US20150355647A1
公开(公告)日：2015-12-10
申请号：US14734747
申请日：2015-06-09
申请人： SIEMENS AKTIENGESELLSCHAFT
发明人： DAVID BITTEROLF , JENS HAMANN , CARSTEN HAMM , SVEN TAUCHMANN
IPC分类号： G05D17/02 , G05B13/04
CPC分类号： G05D17/02 , B25J9/1638 , G05B13/04 , G05B2219/39176 , G05B2219/39194 , G05B2219/39319
摘要： An apparatus for controlling and regulating a movement of a system includes a load calculating device calculating continuously during the movement of the system a respective force vector for each of the individual elements as a function of predetermined reference coordinates and a torque calculating device calculating continuously during the movement at least one compensating variable, wherein the compensating variable compensates the force vectors as a function of the reference coordinates and the force vectors. The apparatus for controlling and regulating has a control unit controlling continuously during the movement a force-producing variable for the at least one drive as a function of the reference and the at least one compensating variable.
摘要翻译：一种用于控制和调节系统运动的装置，包括负载计算装置，在系统运动期间连续地计算作为预定参考坐标的函数的每个单独元件的相应力矢量，以及在该系统期间连续计算的扭矩计算装置运动至少一个补偿变量，其中所述补偿变量作为所述参考坐标和所述力矢量的函数来补偿所述力矢量。用于控制和调节的装置具有控制单元，该控制单元在运动期间连续地控制作为参考和至少一个补偿变量的函数的至少一个驱动器的力产生变量。

15. 发明授权

US09002519B2 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：US09002519B2
公开(公告)日：2015-04-07
申请号：US13795967
申请日：2013-03-12
申请人： JTEKT Corporation
发明人： Hiromichi Ohta , Yasuharu Mukai , Kazuya Numazaki
IPC分类号： G05B19/00 , B25J9/16
CPC分类号： B25J9/1628 , B25J9/1633 , B25J9/1638 , B25J9/1641 , B25J9/1643 , G05B2219/40367 , G05B2219/40461 , Y10S901/09
摘要： A CPU of a robot control device calculates load torque based on the inertia force, centrifugal force or Coriolis force, gravity force, friction torque, and actuator inertia torque applied to a joint axis of each link, each time an orientation parameter indicative of the link position and orientation allowed by a redundant degree of freedom is sequentially changed, under a constraint of end-effector position and orientation as target values. The CPU obtains the link position and orientation at which the ratio of the load torque to the rated torque of a rotary actuator provided for each joint is minimized, while the orientation parameter is being changed, and provides a feed-forward value that gives rise to each load torque obtained when the ratio of the load torque to the rated torque of the rotary actuator is minimized, to a control command generated to the rotary actuator of each joint axis for achieving the end-effector position and orientation as target values.
摘要翻译：机器人控制装置的CPU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，每次指示链接的取向参数在作为目标值的末端执行器位置和方向的约束下，顺序地改变由冗余自由度允许的位置和取向。在取向参数改变的同时，CPU获得链接位置和方向，在该位置和方向上，为每个接头设置的旋转致动器的负载转矩与额定转矩的比例最小化，并且提供一个前馈值，当将负载转矩与旋转致动器的额定转矩的比率最小化时获得的每个负载转矩相对于为了实现末端执行器位置和方位而成为每个关节轴的旋转致动器的控制指令作为目标值。

16. 发明申请

US20150073435A1 CONTROL SYSTEM FOR REDUCING INTERNALLY GENERATED FRICTIONAL AND INERTIAL RESISTANCE TO MANUAL POSITIONING OF A SURGICAL MANIPULATOR 审中-公开
标题翻译：控制系统，用于减少内部生成的手动定位和手动定位
公开(公告)号：US20150073435A1
公开(公告)日：2015-03-12
申请号：US14490090
申请日：2014-09-18
申请人： Intuitive Surgical Operations, Inc.
发明人： Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/75 , A61B90/361 , B25J9/1638 , B25J9/1641 , B25J9/1689 , G05B2219/41213 , G05B2219/41426 , Y10S901/02 , Y10S901/15 , Y10S901/28 , Y10S901/30
摘要： A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.
摘要翻译：机器人控制系统被置于离合器模式中，使得保持手术器械的从操作器暂时脱离主操纵器的控制，以允许手术器械在患者体内的手术部位手动定位。在处理器中实现的控制系统补偿在定位期间经历的内部产生的摩擦和惯性阻力，从而使得移动者更容易移动，并且从控制的角度来看稳定。每个控制系统使用饱和转矩指令信号来驱动从动操纵器中的联合马达，该饱和转矩指令信号使用估计的关节角速度产生以补偿非线性粘滞力，库伦摩擦，齿槽效应和经受关节的惯性力，通过从与关节相关联的传感器接收到的采样位移测量，由控制系统中的观察者产生的加速度和外部施加的扭矩。

17. 发明申请

US20150039128A1 ROBOT CONTROL DEVICE 有权
标题翻译：机器人控制装置
公开(公告)号：US20150039128A1
公开(公告)日：2015-02-05
申请号：US14448292
申请日：2014-07-31
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Junji OAKI
IPC分类号： B25J9/16
CPC分类号： B25J9/1651 , B25J9/1638 , B25J9/1641 , B25J9/1653 , G05B2219/41392 , G05B2219/41398
摘要： A robot control device according to an embodiment includes: an observer receiving the angular velocity of the motor and the current command value, and estimating an angular acceleration of the link, and angular velocities of the link and the motor from a simulation model of an angular velocity control system of the motor; a first feedback unit calculating an axis torsion angular velocity from a difference between the angular velocities of the link and the motor estimated by the observer, and giving feedback to the angular velocity control system; a second feedback unit feeding back the angular acceleration of the link estimated by the observer to the angular velocity control system; and a first feedback constant calculating unit compensating an end effector load mass and increases inertia at the second feedback unit when an end effector load in the nonlinear dynamic model has low inertia.
摘要翻译：根据实施例的机器人控制装置包括：观察者接收电动机的角速度和当前指令值，并且从角度的模拟模型估计链路的角加速度和链路和电动机的角速度电机速度控制系统; 第一反馈单元，从所述链路的角速度与由所述观测者估计的所述电动机之间的差计算轴扭转角速度，并向所述角速度控制系统提供反馈; 第二反馈单元将由观察者估计的链路的角加速度反馈到角速度控制系统; 以及当非线性动力学模型中的末端执行器负载具有低惯性时，第一反馈常数计算单元补偿末端执行器负载质量并增加第二反馈单元处的惯性。

18. 发明授权

US08864751B2 Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator 有权
标题翻译：用于减少内部产生的摩擦和惯性阻力的控制系统，以手动定位外科手术器械
公开(公告)号：US08864751B2
公开(公告)日：2014-10-21
申请号：US12877263
申请日：2010-09-08
申请人： Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin
发明人： Giuseppe Maria Prisco , David Q. Larkin , William C. Nowlin
IPC分类号： G06F19/00 , B25J9/16 , A61B19/00
CPC分类号： A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/75 , A61B90/361 , B25J9/1638 , B25J9/1641 , B25J9/1689 , G05B2219/41213 , G05B2219/41426 , Y10S901/02 , Y10S901/15 , Y10S901/28 , Y10S901/30
摘要： A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.
摘要翻译：机器人控制系统被置于离合器模式中，使得保持手术器械的从操作器暂时脱离主操纵器的控制，以允许手术器械在患者体内的手术部位手动定位。在处理器中实现的控制系统补偿在定位期间经历的内部产生的摩擦和惯性阻力，从而使得移动者更容易移动，并且从控制的角度来看稳定。每个控制系统使用饱和转矩指令信号来驱动从动操纵器中的联合马达，该饱和转矩指令信号使用估计的接头角速度产生以补偿非线性粘性力，库仑摩擦，齿槽效应以及接受关节的惯性力，通过从与关节相关联的传感器接收到的采样位移测量，由控制系统中的观察者产生的加速度和外部施加的扭矩。

19. 发明授权

US08702578B2 Positioning device and method for positioning a load 有权
标题翻译：定位装置及定位方法
公开(公告)号：US08702578B2
公开(公告)日：2014-04-22
申请号：US12130826
申请日：2008-05-30
申请人： Wolfram Fahrig , Klaus Herrmann , Jochen Miguel Löseken
发明人： Wolfram Fahrig , Klaus Herrmann , Jochen Miguel Löseken
IPC分类号： A61G10/00 , A61G7/00 , G01B7/00
CPC分类号： A61B6/4092 , A61B6/0457 , A61B6/5276 , A61G13/02 , A61G13/04 , A61G13/06 , A61N5/1049 , A61N2005/1057 , B25J9/1638 , G05B2219/35285 , G05B2219/37285 , G05B2219/39176 , G05B2219/45117 , G05B2219/49189
摘要： A positioning device for positioning a load is provided. The positioning device includes a motor, a measuring device, and an evaluation device. The measuring device is associated with the motor, and is operable to ascertain measurement data that characterizes the motor current consumption by the motor in the positioning of the load. The evaluation device evaluates the measurement data that have been ascertained by the measuring device, so that in that way the loading of the positioning device by the load can be ascertained.
摘要翻译：提供了一种用于定位负载的定位装置。定位装置包括电动机，测量装置和评估装置。测量装置与电动机相关联，并且可操作地确定表征电动机在负载定位中的电动机电流消耗的测量数据。评估装置评估由测量装置确定的测量数据，从而可以确定负载时定位装置的负载。

20. 发明授权

US08655488B2 Position control method and robot 有权
标题翻译：位置控制方法和机器人
公开(公告)号：US08655488B2
公开(公告)日：2014-02-18
申请号：US13849098
申请日：2013-03-22
申请人： Seiko Epson Corporation
发明人： Izumi Iida
IPC分类号： G05B19/04 , B25J19/04 , B25J9/10 , B25J9/16
CPC分类号： B25J9/1638 , B25J9/10 , B25J9/12 , B25J9/1694 , B25J9/1697 , B25J19/04 , G05B19/404 , G05B2219/39199 , G05B2219/40549 , G05B2219/41117 , G05B2219/41122 , G05B2219/41123 , G05B2219/41168 , Y10S901/09 , Y10T156/19
摘要： A position control method for controlling a position of a movable portion, includes: performing control of allowing the movable portion to approach a predetermined position by moving the movable portion; and performing control of moving the movable portion to the predetermined position by moving the movable portion and detecting a relative position of the movable portion with respect to the predetermined position by using an imaging unit.
摘要翻译：一种用于控制可动部分的位置的位置控制方法，包括：通过移动可动部分来执行允许可动部分接近预定位置的控制; 以及通过移动可动部分并通过使用成像单元检测可移动部分相对于预定位置的相对位置来执行将可移动部分移动到预定位置的控制。

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