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51. 发明授权

US09844874B2 Method for controlling a segment of an arm of a co-manipulator 有权
公开(公告)号：US09844874B2
公开(公告)日：2017-12-19
申请号：US14904728
申请日：2014-07-08
申请人： COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES
发明人： Neil Abroug
IPC分类号： G05B15/00 , G05B19/00 , B25J9/16 , H02P6/08
CPC分类号： B25J9/1638 , B25J9/1641 , H02P6/08 , Y10S901/02
摘要： A method for controlling an actuator of a hinged segment including the steps of: estimating an inertia J of the segment and a minimum viscous hinge friction f; estimating or measuring a traveling speed {dot over (X)} of the segment and an internal deformation ΔX of the actuator; synthesizing a control law H∞ generating a control current (or torque) from the estimates or measurements and meeting a performance objective pertaining to a transfer function (I) between an acceleration {umlaut over (X)} of the segment and an external force F to which the segment is subjected: (II) with (III), ε being a mathematical artifact and s being the Laplace variable; and controlling the actuation of the hinged segment according to the control law thus synthesized.

52. 发明申请

US20170334067A1 SYSTEM AND METHOD FOR INSTRUMENT DISTURBANCE COMPENSATION 审中-公开
公开(公告)号：US20170334067A1
公开(公告)日：2017-11-23
申请号：US15522073
申请日：2015-10-27
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： NITISH SWARUP , PAUL G. GRIFFITHS , GORAN A. LYNCH , DANIEL N. MILLER
IPC分类号： B25J9/16 , A61B34/30 , B25J19/00 , B25J9/06 , B25J19/02 , A61B90/00 , A61B34/35
CPC分类号： B25J9/1641 , A61B34/30 , A61B34/35 , A61B90/361 , A61B2034/2059 , A61B2034/305 , A61B2090/373 , A61B2090/508 , B25J9/06 , B25J9/1607 , B25J9/1653 , B25J9/1682 , B25J19/0004 , B25J19/021 , Y10S901/02
摘要： A computer-assisted medical device including a first joint set on an articulated arm, a second joint set on the articulated arm, and a control unit coupled to the first joint set and second joint set. The control unit determines a disturbance to the first joint set caused by a release of one or more brakes and compensates for the disturbance using the second joint set to reduce motion to a position of a point of interest. In some embodiments, the control unit compensates for the disturbance by determining an initial position for the point of interest with respect to a reference point, determining a predicted motion for the point of interest based on the disturbance to the first joint set, and sending a drive command to the second joint set to move the point of interest in a direction opposite to the predicted motion.

53. 发明申请

US20170120444A1 ROBOT, CONTROL APPARATUS, AND ROBOT SYSTEM 审中-公开
公开(公告)号：US20170120444A1
公开(公告)日：2017-05-04
申请号：US15340232
申请日：2016-11-01
申请人： Seiko Epson Corporation
发明人： Masaki MOTOYOSHI , Ryosuke IMAI
IPC分类号： B25J9/16 , B25J9/00 , B25J13/08
CPC分类号： B25J9/0018 , B25J9/046 , B25J9/1641 , B25J13/088 , G05B2219/39195
摘要： A robot includes a first arm rotatable about a first rotation axis, a second arm provided to be rotatable about a second rotation axis in a axis direction different from a axis direction of the first rotation axis, and inertial sensors, wherein the first arm and the second arm can overlap as seen from the axis direction of the second rotation axis.

54. 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.

55. 发明授权

US09579792B2 Method and device for adjusting and controlling manipulators 有权
标题翻译：调节和控制机械手的方法和装置
公开(公告)号：US09579792B2
公开(公告)日：2017-02-28
申请号：US11719182
申请日：2005-11-16
申请人： Gerhard Hietmann , Martin Weiss
发明人： Gerhard Hietmann , Martin Weiss
IPC分类号： G06F17/00 , B25J9/16
CPC分类号： B25J9/1641 , G05B2219/37429 , G05B2219/39181 , G05B2219/41127 , G05B2219/41154
摘要： Methods and apparatus for adjusting and controlling a robotic manipulator based on a dynamic manipulator model. A model for gear mechanism friction torque is determined for at least one axis, based on driven axis speeds and accelerations, and on a motor temperature on the drive side of one of the motors that is associated with the axis. The model is used to determine target values, such as motor position or current. The gear mechanism friction torque that complies with the model is determined in accordance with a gear mechanism temperature.
摘要翻译：基于动态机械手模型调整和控制机器人操纵器的方法和装置。基于从动轴速度和加速度以及与轴相关联的一个电动机的驱动侧的电动机温度，确定用于至少一个轴的齿轮机构摩擦转矩的模型。该模型用于确定目标值，如电机位置或电流。根据齿轮机构温度确定符合型号的齿轮机构摩擦转矩。

56. 发明申请

US20160318183A1 ROBOT CONTROL DEVICE AND ROBOT 审中-公开
公开(公告)号：US20160318183A1
公开(公告)日：2016-11-03
申请号：US15206933
申请日：2016-07-11
申请人： Seiko Epson Corporation
发明人： Masaki MOTOYOSHI
IPC分类号： B25J9/16
CPC分类号： B25J9/1641 , B25J9/1694 , G05B2219/39195 , G05B2219/39335 , G05B2219/40597 , Y10S901/28 , Y10S901/46
摘要： A robot control device controls the operation of a robot including a base; a robot arm that has at least three links, at least three joint portions, and at least three drive sources; an inertia sensor; and at least three angle sensors. The robot control device includes a first coordinate system vibration calculation unit; a second coordinate system vibration calculation unit; a weighting unit; a third coordinate system vibration calculation unit; a correction value calculation unit that obtains correction values for correcting the respective drive commands of the drive sources based on vibration information in a third coordinate system, and the respective detected results of the angle sensors; and a drive source control unit that controls the operations of the drive sources based on the respective drive commands of the drive sources, the correction values, and the respective detected results of the angle sensors.

57. 发明授权

US09452534B2 Horizontal articulated robot, and method of controlling the same 有权
公开(公告)号：US09452534B2
公开(公告)日：2016-09-27
申请号：US14804928
申请日：2015-07-21
申请人： Seiko Epson Corporation
发明人： Katsuji Igarashi , Masaki Motoyoshi
IPC分类号： G05B15/00 , G05B19/00 , B25J13/08 , B25J9/16 , B25J19/02
CPC分类号： B25J13/088 , B25J9/042 , B25J9/1641 , B25J9/1694 , B25J19/02 , G05B2219/41193 , G05B2219/41195 , G05B2219/41205 , G05B2219/42077 , Y10S901/02 , Y10S901/09 , Y10S901/46
摘要： A robot includes a first horizontal arm coupled to a base, a second horizontal arm coupled to the base via the first horizontal arm, first and second motors adapted to rotate the respective arms, and first and second encoders adapted to calculate rotational angles and rotational velocities of the respective motors. A first motor control section subtracts first and second angular velocities based on the first and second encoders from a sensor angular velocity detected by an angular sensor, and controls the first motor so that a velocity measurement value obtained by adding a vibration velocity based on a vibration angular velocity as the subtraction result and a first rotational velocity becomes equal to a velocity command value.

58. 发明授权

US09329092B2 Method for determining a torque and an industrial robot 有权
标题翻译：确定扭矩的方法和工业机器人
公开(公告)号：US09329092B2
公开(公告)日：2016-05-03
申请号：US13759795
申请日：2013-02-05
申请人： KUKA Roboter GmbH
发明人： Gernot Nitz , Michael Thummel
IPC分类号： G01L3/02 , B25J9/16
CPC分类号： G01L3/02 , B25J9/1633 , B25J9/1641 , G01L3/04 , G05B2219/37279 , G05B2219/37319 , G05B2219/37356 , G05B2219/39061 , G05B2219/39186 , G05B2219/39261 , G05B2219/49197
摘要： The invention concerns an industrial robot and a method to determine a torque having an effect on a limb of the robotic arm. The robotic arm has several sequentially arranged limbs, of which a first limb is stored relative to a second limb of the limbs on an axis of rotation, and using a stationary motor relative to the second limb and a gearbox connected to the motor, is rotatable around the axis of rotation.
摘要翻译：本发明涉及一种工业机器人和确定对机器臂的肢体具有影响的扭矩的方法。机器臂具有几个顺序排列的肢体，其中第一肢体相对于肢体在旋转轴线上的第二肢体被储存，并且使用相对于第二肢体的固定电动机和连接到电动机的齿轮箱可旋转围绕旋转轴。

59. 发明授权

US09283682B2 Robot system having wireless acceleration sensor 有权
标题翻译：具有无线加速度传感器的机器人系统
公开(公告)号：US09283682B2
公开(公告)日：2016-03-15
申请号：US14583073
申请日：2014-12-24
申请人： FANUC Corporation
发明人： Shougo Takahashi , Takehisa Sera
IPC分类号： G05B15/00 , B25J13/00 , B25J9/16 , B25J13/08
CPC分类号： B25J13/006 , B25J9/1641 , B25J9/1692 , B25J9/1694 , B25J13/088 , G05B2219/33192 , G05B2219/39195 , G05B2219/40549 , Y10S901/09
摘要： A robot system capable of effectively transmitting acceleration data from a wireless acceleration sensor to a robot controller. The acceleration sensor has a time series number adding part which adds a number representing time series of the acceleration data of the robot, a data set generating part which generates a data set including acceleration data in a plurality of periods of time, and a first wireless communication part which transmits the data set to the robot controller by radio. The robot controller has an acceleration data judging part which checks the time series number added to the acceleration data contained in the data set received by a second wireless communication part and judges as to whether the time series is correctly received, and a vibration suppression controlling part which carries out vibration suppression control for the robot based on the time series of the acceleration data.
摘要翻译：一种能够有效地将加速度数据从无线加速度传感器传送到机器人控制器的机器人系统。该加速度传感器具有时间序列数加法部，其添加表示机器人的加速度数据的时间序列的数字，生成包含多个时间段的加速度数据的数据组的数据组生成部，以及第一无线通过无线电将数据集发送到机器人控制器的通信部分。机器人控制器具有加速度数据判定部，该加速度数据判定部检查与由第二无线通信部接收的数据集中包含的加速度数据相加的时间序列号，并判定是否正确接收到时间序列，以及振动抑制控制部其基于加速度数据的时间序列来执行机器人的振动抑制控制。

60. 发明申请

US20160067865A1 CONTROL SYSTEM FOR POWER UNIT 有权
标题翻译：电源控制系统
公开(公告)号：US20160067865A1
公开(公告)日：2016-03-10
申请号：US14743416
申请日：2015-06-18
申请人： HONDA MOTOR CO., LTD.
发明人： Masahiko Osada , Yoshiki Kanemoto , Kei Usui
IPC分类号： B25J9/16
CPC分类号： B25J9/1641 , B25J9/1633 , G05B2219/39186 , G05B2219/39353 , Y10S901/09
摘要： A control system of a power unit in accordance with the present invention corrects a basic command value of an electric motor 2, which has been determined such that the detection value of a driving force to be applied to a rotary member 5 is converged to a desired value, according to a manipulated variable determined by an observer 16. The electric motor 2 is controlled according to a desired control value after the correction. The observer 16 determines the manipulated variable such that the driving force based on the desired control value is brought close to the resultant force of a force indicated by the rotary member 5 and an inertial force.
摘要翻译：根据本发明的动力单元的控制系统校正已经被确定为使得施加到旋转构件5的驱动力的检测值会聚到期望的电动机2的基本指令值值，根据由观察者16确定的操作变量。电动机2根据校正后的期望控制值进行控制。观察者16确定操纵变量，使得基于所需控制值的驱动力接近旋转构件5所示的力的合力和惯性力。

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