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21. 发明授权

US3909600A Method and apparatus for controlling an automation along a predetermined path 失效
标题翻译：用于沿着预定路径控制自动化的方法和装置
公开(公告)号：US3909600A
公开(公告)日：1975-09-30
申请号：US36438173
申请日：1973-05-31
申请人： CINCINNATI MILACRON INC
发明人： HOHN RICHARD EDWARD
IPC分类号： B25J9/16 , B25J9/18 , G05B19/4093 , G05B19/4103 , G05B19/416 , G05B19/42 , B25J9/00 , G06F15/46
CPC分类号： B25J9/161 , B25J9/1651 , G05B19/416 , G05B2219/33099 , G05B2219/35354 , G05B2219/35543 , G05B2219/41477 , G05B2219/43006 , G05B2219/45051
摘要： A method and apparatus for controlling a function element of an automaton at a predetermined velocity and acceleration along a predetermined path in space between two predetermined points. The automaton has a plurality of axes of motion, at least one of which is an axis of rotary motion for moving a function element along the predetermined path. The automaton has other axes of motion for controlling the orientation of the function element in a predetermined manner while said element is moving from one position to another position. From an input, signals are generated representing the predetermined velocity and rectangular coordinate values of end points of the predetermined path; and the disclosed apparatus is operative on a fixed time basis to iteratively calculate a number of incremental displacements. Coordinate values defining each of the increments are calculated, and these coordinate values are transformed into corresponding generalized coordinate values defined by the geometric configuration of the automaton. A servomechanism drive circuit is responsive to output signals representing changes in the generalized coordinate values along each incremental displacement for causing actuators on the automaton to move proportionally. Hence, the automaton is moved at a predetermined velocity along the predetermined path.
摘要翻译：一种用于以预定速度和加速度沿着两个预定点之间的空间中的预定路径来控制自动机的功能元件的方法和装置。自动机具有多个运动轴，其中至少一个是沿着预定路径移动功能元件的旋转运动轴。自动机具有其它运动轴，用于在所述元件从一个位置移动到另一个位置时以预定的方式控制功能元件的定向。从输入中产生表示预定路径的端点的预定速度和直角坐标值的信号; 并且所公开的装置在固定的时间基础上操作以迭代地计算增量位移的数量。计算定义每个增量的坐标值，并将这些坐标值转换为由自动机的几何配置定义的相应的广义坐标值。伺服机构驱动电路响应于表示沿着每个增量位移的广义坐标值的变化的输出信号，以使自动机上的致动器成比例地移动。因此，自动机沿预定路径以预定速度移动。

22. 发明申请

US20180178376A1 Multi-Agent Coordination Under Sparse Networking 审中-公开
公开(公告)号：US20180178376A1
公开(公告)日：2018-06-28
申请号：US15390013
申请日：2016-12-23
申请人： X DEVELOPMENT LLC
发明人： Geoffrey Lalonde , Peter Anderson-Sprecher
IPC分类号： B25J9/00 , B25J9/16 , G05D1/02
CPC分类号： B25J9/0084 , B25J9/1651 , B25J9/1666 , B25J9/1676 , G05D1/0214 , G05D1/0223 , G05D1/024 , G05D1/0289 , G05D2201/0206 , G05D2201/0216 , G08G1/163 , Y10S901/01
摘要： A method includes receiving a first time-parameterized path for the first robotic device, and an indication of a second robotic device having a second time-parameterized path that overlaps with the first time-parameterized path at a first location. The method also includes executing, by the first robotic device, a first portion of the first time-parameterized path before reaching the first location, wherein execution of the first portion corresponds to a first rate of progress of the first robotic device along the first time-parameterized path. The first robotic device then receives a communication signal from the second robotic device indicating a second rate of progress of the second robotic device along the second time-parameterized path. The method then includes the first robotic device determining a difference between the first rate of progress and the second rate of progress, and modifying execution of the first time-parameterized path based on the determined difference.

23. 发明授权

US09950427B2 Robot, control apparatus, and robot system 有权
公开(公告)号：US09950427B2
公开(公告)日：2018-04-24
申请号：US15208950
申请日：2016-07-13
申请人： Seiko Epson Corporation
发明人： Akihiro Gomi , Shunsuke Toshimitsu
IPC分类号： G06F19/00 , B25J9/16 , B25J13/08
CPC分类号： B25J9/1638 , B25J9/1651 , B25J9/1694 , B25J13/088 , G05B2219/37134 , G05B2219/37388 , G05B2219/39195 , G05B2219/40597 , G05B2219/41021 , G05B2219/41025 , Y10S901/46
摘要： A robot includes a robot arm and an inertial sensor provided in the robot arm. The robot arm is controlled using a weighting value for weighting output from the inertial sensor. In at least apart of a range in which the robot arm is movable, the weighting value is a first value when acceleration of the robot arm is first acceleration, and changes from the first value to a second value higher than the first value when the acceleration of the robot arm changes from the first acceleration to second acceleration lower than the first acceleration.

24. 发明申请

US20180099410A1 ROBOT CONTROL DEVICE HAVING FUNCTION FOR LIMITING SPEED AND/OR ACCELERATION OF ROBOT 审中-公开
公开(公告)号：US20180099410A1
公开(公告)日：2018-04-12
申请号：US15725425
申请日：2017-10-05
申请人： FANUC CORPORATION
发明人： Tsuyoshi HANNYA
IPC分类号： B25J9/16
CPC分类号： B25J9/1651 , B25J9/1674 , B25J9/1676 , G05B2219/43203 , Y10S901/09
摘要： A robot control device includes: a robot tool tip position calculator configured to calculate a position of a tip part of a tool of a robot; an operation limited region setting unit provided for a user to set an operation limited region having a desired size; a determination unit configured to determine whether or not the position of the tip part of the tool is within the operation limited region; and an operation limiting unit configured to, in the case where the position of the tip part of the tool is within the operation limited region, limit at least one of a speed and an acceleration of the robot.

25. 发明授权

US09870002B1 Velocity control of position-controlled motor controllers 有权
公开(公告)号：US09870002B1
公开(公告)日：2018-01-16
申请号：US15257066
申请日：2016-09-06
申请人： X Development LLC
发明人： Robert Holmberg , Jared Russell , Ethan Rublee
IPC分类号： G05D1/00 , G05B6/00 , B25J9/00 , G05B19/00 , G05B6/02 , B25J9/16 , G05B19/18
CPC分类号： G05D1/0088 , B25J9/162 , B25J9/1651 , G05B6/02 , G05B19/00 , G05B19/18 , G05B19/416 , G05B2219/42175 , G05D1/0223 , G05D2201/0216 , Y10S901/01
摘要： An example system may include a motor, a position-controlled motor controller configured to drive the motor to a commanded position with a characteristic acceleration profile, and a control system. The control system may be configured to determine a target velocity for the motor. The control system may be additionally configured to determine a target position that, when commanded to the motor controller, is predicted to cause the motor controller to drive the motor with the target velocity at a target time point by driving the motor with the characteristic acceleration profile. Further, the control system may be configured to provide an instruction for execution by the position-controlled motor controller, the instruction may be configured to cause the motor controller to drive the motor to the target position.

26. 发明申请

US20180012789A1 ROBOTIC APPARATUS AND METHOD FOR TRANSPORT OF A WORKPIECE 审中-公开
公开(公告)号：US20180012789A1
公开(公告)日：2018-01-11
申请号：US15644828
申请日：2017-07-10
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Hiroyuki HANDA , John D. PAYNE , John Charles ROGERS , Carl Michael TRAYNOR
IPC分类号： H01L21/687 , B25J9/16 , B25J13/08 , B25J15/06
CPC分类号： H01L21/68707 , B25J9/042 , B25J9/1651 , B25J11/0095 , B25J13/088 , B25J15/0616 , B25J19/023 , H01L21/67742 , H01L21/67766
摘要： A robotic apparatus for transporting a workpiece includes a first arm that pivots about a first axis and a second arm that is pivotably connected to the first arm. The second arm has a surface upon which the workpiece can be received. A first drive unit of the robotic apparatus drives the first arm member to pivot about the first axis. The robotic apparatus includes a controller that controls the first drive unit to move the surface of the second arm member to transport the workpiece. The control unit also controls the first drive unit such that the surface is not moved at an acceleration value that exceeds a predetermined acceleration limit during the transport of the workpiece.

27. 发明申请

US20170341200A1 GRINDING ROBOT SYSTEM 审中-公开
公开(公告)号：US20170341200A1
公开(公告)日：2017-11-30
申请号：US15482994
申请日：2017-04-10
申请人： FANUC CORPORATION
发明人： Tetsuji UEDA
IPC分类号： B24B27/04 , B24B49/00 , B24B27/00 , B25J9/16 , B25J11/00
CPC分类号： B24B27/04 , B24B27/0084 , B24B49/006 , B25J9/1651 , B25J11/0065 , G05B2219/45058
摘要： The occurrence of grinding unevenness is prevented even when the movement speed of a robot is changed. Provided is a grinding robot system including: a motor-driven grinder that performs grinding; a robot that grinds a grinding target by means of the grinder in a state in which one of the grinder or the grinding target is attached to a distal end thereof and is moved, and the other is set at a fixed position; and a control unit that controls the robot and the grinder, wherein the control unit calculates a rotational-speed command value for the grinder that changes according to the movement speed of the distal end of the robot and controls the rotational speed of the grinder on the basis of the calculated rotational-speed command value.

28. 发明申请

US20170106535A1 ROBOT SYSTEM HAVING FUNCTION TO CALCULATE POSITION AND ORIENTATION OF SENSOR 有权
公开(公告)号：US20170106535A1
公开(公告)日：2017-04-20
申请号：US15281084
申请日：2016-09-30
申请人： FANUC CORPORATION
发明人： Nobuaki YAMAOKA , Wenjie CHEN , Kaimeng WANG
IPC分类号： B25J9/16 , B25J13/08
CPC分类号： B25J9/1651 , B25J9/1692 , B25J13/088 , B25J13/089 , G05B2219/39017 , G05B2219/39058
摘要： A robot control device which controls a robot includes a sensor coordinate system calculation unit which calculates a position and an orientation of a sensor by making the robot perform a predetermined operation. The sensor coordinate system calculation unit comprises an operation parameter optimization unit which is configured to obtain a combination most suitable for calculating the position and orientation of the sensor, from a plurality of combinations of modified. values of a predetermined type of operation. parameters, by making the robot perform the predetermined operation, successively using each of the combinations.

29. 发明申请

US20170080574A1 ROBOT ARM APPARATUS, ROBOT ARM APPARATUS CONTROL METHOD, AND PROGRAM 审中-公开
公开(公告)号：US20170080574A1
公开(公告)日：2017-03-23
申请号：US15126552
申请日：2015-03-20
申请人： SONY CORPORATION , SONY OLYMPUS MEDICAL SOLUTIONS INC.
发明人： Yohei KURODA , Takara KASAI , Yasuhisa KAMIKAWA , Wataru KOKUBO , Toshimitsu TSUBOI , Tetsuharu FUKUSHIMA , Yasuhiro MATSUDA , Atsushi MIYAMOTO , Kenji HIROSE
IPC分类号： B25J9/16 , A61B34/35 , A61B34/00 , A61B34/30
CPC分类号： B25J9/1697 , A61B34/30 , A61B34/35 , A61B34/74 , A61B90/361 , A61B90/50 , A61B2034/743 , A61B2034/744 , A61B2090/371 , B25J9/1641 , B25J9/1651 , G05B2219/40613 , G05B2219/41397 , H04N5/2251
摘要： A robot arm apparatus according to the present disclosure includes: one or a plurality of a joint unit that joins a plurality of links constituting a multi-link structure; an acquisition unit that acquires an on-screen enlargement factor of a subject imaged by an imaging unit attached to the multi-link structure; and a driving control unit that controls driving of the joint unit based on a state of the joint unit and the enlargement factor.

30. 发明申请

US20170066129A1 ROBOT, CONTROL APPARATUS, AND ROBOT SYSTEM 审中-公开
标题翻译：机器人，控制装置和机器人系统
公开(公告)号：US20170066129A1
公开(公告)日：2017-03-09
申请号：US15257003
申请日：2016-09-06
申请人： Seiko Epson Corporation
发明人： Masaki MOTOYOSHI , Ryosuke IMAI , Shunsuke TOSHIMITSU
IPC分类号： B25J9/16
CPC分类号： B25J9/1651 , B25J9/1615 , G05B2219/40269
摘要： A robot includes an nth (n is an integer equal to or more than one) arm rotatable about an nth rotation axis, and an (n+1)th arm provided on the nth arm to be rotatable about an (n+1)th rotation axis in an axis direction different from an axis direction of the nth rotation axis, wherein a length of the nth arm is longer than a length of the (n+1)th arm, the nth arm and the (n+1)th arm can overlap as seen from the axis direction of the (n+1)th rotation axis, and a shortest time taken for a second action of rotating the (n+1)th arm from a first attitude to a first angle is shorter than a shortest time taken for a first action of rotating the nth arm from the first attitude to the first angle.
摘要翻译：机器人包括第n个旋转轴可旋转的第n个（n是等于或大于1的整数）臂，以及设置在第n臂上的第（n + 1）臂可绕第（n + 1）旋转轴在与第n旋转轴的轴方向不同的轴方向上，其中第n臂的长度比第（n + 1）臂，第n臂和第（n + 1）臂的长度长从第（n + 1）旋转轴的轴线方向看，臂可以重叠，并且将第（n + 1）臂从第一姿态旋转到第一角度的第二动作所花费的最短时间短于将第n臂从第一姿态旋转到第一角度的第一动作所需的最短时间。

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