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    • 43. 发明申请
    • Backlash compensation control method, backlash compensation controller and backlash compensation control program
    • 间隙补偿控制方法,间隙补偿控制器和齿隙补偿控制程序
    • US20050217406A1
    • 2005-10-06
    • US11133368
    • 2005-05-20
    • Shan Jiang
    • Shan Jiang
    • B25J5/00B25J9/10B25J9/16F16H55/18G05B19/404
    • B25J9/1641Y10T74/19898Y10T74/20305
    • To allow a robot performing a cyclic movement upon receipt of a driving force transmitted through a driving force transmission system from a driving source along with a backlash to perform the movement compensated for the backlash, during a first period within a cycle of the movement of the robot, a predetermined first movement control value is repeatedly cumulatively added with a correction value so as to be gradually biased to a predetermined second movement control value over the first period, and during a second period within that cycle, a correction value is repeatedly cumulatively subtracted from the second movement control value so as to gradually return to the first movement control value over the second period, thereby generating the movement control value for controlling the movement of the robot, and based on the movement control value thus generated, the movement of the robot is controlled.
    • 为了允许机器人在接收到通过驱动力传递系统从驱动源传递的驱动力以及间隙执行循环运动以执行补偿间隙的运动时,在运动的循环的第一周期期间执行循环运动 机器人,预定的第一移动控制值被反复累积地加上校正值,以便在第一周期内逐渐地偏向预定的第二移动控制值,并且在该周期内的第二时段期间,反复地累积地减去校正值 从第二移动控制值开始,在第二期间逐渐返回到第一移动控制值,由此生成用于控制机器人的移动的移动控制值,并且基于由此产生的移动控制值, 机器人受到控制。
    • 45. 发明授权
    • Digital trimming in a microelectronic device
    • 微电子器件中的数字微调
    • US07760008B2
    • 2010-07-20
    • US12259361
    • 2008-10-28
    • Jia PengKwee Chong ChangShan Jiang
    • Jia PengKwee Chong ChangShan Jiang
    • H01H37/76
    • G01R31/318511
    • Digital trimming logic is included in a microelectronic device of a type that produces an output signal in response to an input signal and a threshold signal. Trimming logic values are produced in response to a clock signal that is applied to the device in a trimming mode. The clock signal can be applied to a device pin that is used in normal operation to provide an output signal, thus allowing the pin to serve a dual function. The trimming logic changes the trimming logic value in response to the clock signal until the trimming logic value reaches a trim value at which the threshold signal is substantially equal to the input signal. The trimming logic then stores the trim value in a non-volatile memory and enters a locked mode in which further trimming is prevented and the device is ready for normal operation.
    • 数字微调逻辑包括在产生响应于输入信号和阈值信号的输出信号的类型的微电子器件中。 修整逻辑值是响应于以修剪模式应用于器件的时钟信号产生的。 时钟信号可以应用于在正常操作中使用的器件引脚以提供输出信号,从而允许引脚具有双重功能。 修整逻辑响应于时钟信号改变修整逻辑值,直到修整逻辑值达到阈值信号基本上等于输入信号的修整值。 然后,修整逻辑将修整值存储在非易失性存储器中,并进入锁定模式,在该模式中防止进一步修整,并且器件准备好进行正常操作。
    • 48. 发明申请
    • DIGITAL TRIMMING IN A MICROELECTRONIC DEVICE
    • 微电子设备中的数字调制
    • US20100105155A1
    • 2010-04-29
    • US12259361
    • 2008-10-28
    • Jia PengKwee Chong ChangShan Jiang
    • Jia PengKwee Chong ChangShan Jiang
    • G01R31/26
    • G01R31/318511
    • Digital trimming logic is included in a microelectronic device of a type that produces an output signal in response to an input signal and a threshold signal. Trimming logic values are produced in response to a clock signal that is applied to the device in a trimming mode. The clock signal can be applied to a device pin that is used in normal operation to provide an output signal, thus allowing the pin to serve a dual function. The trimming logic changes the trimming logic value in response to the clock signal until the trimming logic value reaches a trim value at which the threshold signal is substantially equal to the input signal. The trimming logic then stores the trim value in a non-volatile memory and enters a locked mode in which further trimming is prevented and the device is ready for normal operation.
    • 数字微调逻辑包括在产生响应于输入信号和阈值信号的输出信号的类型的微电子器件中。 修整逻辑值是响应于以修剪模式应用于器件的时钟信号产生的。 时钟信号可以应用于在正常操作中使用的器件引脚以提供输出信号,从而允许引脚具有双重功能。 修整逻辑响应于时钟信号改变修整逻辑值,直到修整逻辑值达到阈值信号基本上等于输入信号的修整值。 然后,修整逻辑将修整值存储在非易失性存储器中,并进入锁定模式,在该模式中防止进一步修整,并且器件准备好进行正常操作。
    • 50. 发明授权
    • Backlash compensation control method, backlash compensation controller and backlash compensation control program
    • 间隙补偿控制方法,间隙补偿控制器和齿隙补偿控制程序
    • US07363109B2
    • 2008-04-22
    • US11133368
    • 2005-05-20
    • Shan Jiang
    • Shan Jiang
    • G06F19/00
    • B25J9/1641Y10T74/19898Y10T74/20305
    • To allow a robot performing a cyclic movement upon receipt of a driving force transmitted through a driving force transmission system from a driving source along with a backlash to perform the movement compensated for the backlash, during a first period within a cycle of the movement of the robot, a predetermined first movement control value is repeatedly cumulatively added with a correction value so as to be gradually biased to a predetermined second movement control value over the first period, and during a second period within that cycle, a correction value is repeatedly cumulatively subtracted from the second movement control value so as to gradually return to the first movement control value over the second period, thereby generating the movement control value for controlling the movement of the robot, and based on the movement control value thus generated, the movement of the robot is controlled.
    • 为了允许机器人在接收到通过驱动力传递系统从驱动源传递的驱动力以及间隙执行循环运动以执行补偿间隙的运动时,在运动的循环的第一周期期间执行循环运动 机器人,预定的第一移动控制值被反复累积地加上校正值,以便在第一周期内逐渐地偏向预定的第二移动控制值,并且在该周期内的第二时段期间,反复地累积地减去校正值 从第二移动控制值开始,在第二期间逐渐返回到第一移动控制值,由此生成用于控制机器人的移动的移动控制值,并且基于由此产生的移动控制值, 机器人受到控制。