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1. 发明申请

US20110106311A1 INFORMATION PROCESSING METHOD, APPARATUS, AND COMPUTER READABLE MEDIUM 失效
标题翻译：信息处理方法，装置和计算机可读介质
公开(公告)号：US20110106311A1
公开(公告)日：2011-05-05
申请号：US12913078
申请日：2010-10-27
申请人： Ryo Nakajima , Hideari Kamachi , Gentoku Fujii
发明人： Ryo Nakajima , Hideari Kamachi , Gentoku Fujii
IPC分类号： G05B19/04
CPC分类号： B25J9/163 , B25J9/1697 , G05B2219/39338 , G05B2219/39391 , Y10S901/03
摘要： An apparatus executes movement control that causes a robot arm equipped with a camera to move up to an object, thereby enabling to cause a manipulator to move to an object quickly, accurately, and stably as a control system. Specifically, when the object is not detected, the apparatus executes teaching playback control to cause a manipulator to move along a path up to a target position set in advance based on a position of the object (Step S1). When the object is detected, the apparatus defines a position closer to the object than the target position as a new target position, sets a new path up to the new target position, executes teaching playback control to cause the manipulator to move along the new path until a switching condition for switching the movement control is fulfilled (Steps S3 and S4). When the switching condition is fulfilled, the apparatus executes visual servo control (Step S5).
摘要翻译：一种装置执行使配备有照相机的机器人手臂向上移动到物体的移动控制，从而能够使操纵器作为控制系统快速，准确且稳定地移动到对象。具体而言，当没有检测到物体时，设备执行教学重放控制，以使得操纵器基于物体的位置沿着路径移动到预先设定的目标位置（步骤S1）。当检测到物体时，该装置将比目标位置更靠近物体的位置定义为新的目标位置，将新路径设置到新的目标位置，执行教学重放控制以使机械手沿着新的路径移动直到满足切换移动控制的切换条件（步骤S3和S4）。当满足切换条件时，设备执行视觉伺服控制（步骤S5）。

2. 发明授权

US08950050B2 Vehicle body door opening method and device, door removing device and method, door holding device and method, and socket 有权
标题翻译：车身门开启方法及装置，门拆装置及方法，门保持装置及方法及插座
公开(公告)号：US08950050B2
公开(公告)日：2015-02-10
申请号：US13337585
申请日：2011-12-27
申请人： Kenichi Asamizu , Masashi Iwata , Tomohisa Katayama , Gentoku Fujii , Sumio Noguchi
发明人： Kenichi Asamizu , Masashi Iwata , Tomohisa Katayama , Gentoku Fujii , Sumio Noguchi
IPC分类号： B25J9/02 , B25J9/00 , B62D65/06
CPC分类号： B25J9/0087 , B62D65/06 , Y10T29/49213 , Y10T29/49815 , Y10T29/53961
摘要： A door opening method and device are provided that can reduce the size of the installation location of a robot, as well as achieve a reduction in cycle time. In a dual arm robot, two arms are rotated by each of an shaft S1 and an shaft S2. As a result, a door opening action (Step ST2) is realized by rotation using the shaft S1. Then, a movement to enter an interior side of a door (91) in order to perform a bolt loosening action is realized by rotation using the shaft S1 and shaft S2. The movement in this case is movement such as to face the direction of the door (91). As a result, when moving to a door holding position (Step S26), the dual arm robot is at an attitude facilitating performing a bolt loosening action.
摘要翻译：提供了一种可以减小机器人的安装位置的尺寸的开门方法和装置，并且可以实现循环时间的减少。在双臂机器人中，两个臂由轴S1和轴S2中的每一个旋转。结果，通过使用轴S1的旋转来实现门打开动作（步骤ST2）。然后，通过使用轴S1和轴S2的旋转来实现进入门（91）的内侧以进行螺栓松动的动作。在这种情况下的运动是例如面向门（91）的方向的运动。结果，当移动到门保持位置（步骤S26）时，双臂机器人处于有助于执行螺栓松动的姿态。

3. 发明授权

US08554369B2 Machining system and method 有权
标题翻译：加工系统及方法
公开(公告)号：US08554369B2
公开(公告)日：2013-10-08
申请号：US13026551
申请日：2011-02-14
申请人： Yoshito Otake , Tomohiro Sugimoto , Gentoku Fujii , Shinichiro Watanabe , Takeshi Nakamura , Ryo Nakajima , Hideari Kamachi
发明人： Yoshito Otake , Tomohiro Sugimoto , Gentoku Fujii , Shinichiro Watanabe , Takeshi Nakamura , Ryo Nakajima , Hideari Kamachi
IPC分类号： G06F19/00 , G05B19/418 , B25J9/00
CPC分类号： G05B19/4182 , B25J9/0093 , B25J9/1697 , G05B2219/39102 , G05B2219/39387 , G05B2219/40554 , Y02P90/083
摘要： According to the present invention, even during and immediately before a machining operation by a machining apparatus, it is possible to improve positioning control accuracy thereof and, as a result, machining accuracy thereof. A robot 11 equipped with a machining tool 12 performs a moving operation to a target position 41 of a machining target workpiece 2 and a machining operation on the machining target. A robot moving mechanism 14 moves the robot 11 in parallel with the workpiece 2 that is being conveyed by a conveyance carriage 18. A robot control device 17 controls movement of the robot moving mechanism 14 using a detection result of a synchronizing sensor 15 and carries out positioning control of the robot 11 using the detection result of a visual sensor 13 or a synchronizing sensor 15.
摘要翻译：根据本发明，即使在加工装置的加工操作之前和之前，也可以提高其定位控制精度，结果是提高其加工精度。配备有加工工具12的机器人11对加工对象工件2的目标位置41进行移动操作，并对加工对象进行加工操作。机器人移动机构14使机器人11与由输送台车18输送的工件2平行移动。机器人控制装置17使用同步传感器15的检测结果来控制机器人移动机构14的移动，并进行使用视觉传感器13或同步传感器15的检测结果进行机器人11的定位控制。

4. 发明申请

US20120163948A1 VEHICLE BODY DOOR OPENING METHOD AND DEVICE, DOOR REMOVING DEVICE AND METHOD, DOOR HOLDING DEVICE AND METHOD, AND SOCKET 有权
标题翻译：车身车门开启方法和装置，门去除装置和方法，门保持装置和方法以及插座
公开(公告)号：US20120163948A1
公开(公告)日：2012-06-28
申请号：US13337585
申请日：2011-12-27
申请人： Kenichi Asamizu , Masashi Iwata , Tomohisa Katayama , Gentoku Fujii , Sumio Noguchi
发明人： Kenichi Asamizu , Masashi Iwata , Tomohisa Katayama , Gentoku Fujii , Sumio Noguchi
IPC分类号： B25J9/10 , B25B13/06
CPC分类号： B25J9/0087 , B62D65/06 , Y10T29/49213 , Y10T29/49815 , Y10T29/53961
摘要： A door opening method and device are provided that can reduce the size of the installation location of a robot, as well as achieve a reduction in cycle time. In a dual arm robot, two arms are rotated by each of an shaft S1 and an shaft S2. As a result, a door opening action (Step ST2) is realized by rotation using the shaft S1. Then, a movement to enter an interior side of a door (91) in order to perform a bolt loosening action is realized by rotation using the shaft S1 and shaft S2. The movement in this case is movement such as to face the direction of the door (91). As a result, when moving to a door holding position (Step S26), the dual arm robot is at an attitude facilitating performing a bolt loosening action.
摘要翻译：提供了一种可以减小机器人的安装位置的尺寸的开门方法和装置，并且可以实现循环时间的减少。在双臂机器人中，两个臂由轴S1和轴S2中的每一个旋转。结果，通过使用轴S1的旋转来实现门打开动作（步骤ST2）。然后，通过使用轴S1和轴S2的旋转来实现进入门（91）的内侧以进行螺栓松动的动作。在这种情况下的运动是例如面向门（91）的方向的运动。结果，当移动到门保持位置（步骤S26）时，双臂机器人处于有助于执行螺栓松动的姿态。

5. 发明申请

US20110301758A1 METHOD OF CONTROLLING ROBOT ARM 审中-公开
标题翻译：控制机器人ARM的方法
公开(公告)号：US20110301758A1
公开(公告)日：2011-12-08
申请号：US13132763
申请日：2009-10-07
申请人： Ryo Nakajima , Gentoku Fujii
发明人： Ryo Nakajima , Gentoku Fujii
IPC分类号： B25J13/06
CPC分类号： B25J9/1641 , B25J9/1633
摘要： [SUMMARY][OBJECT]Provide a method for controlling a robot arm which retrains the vibration of the arm during a switch of operating method from teaching play back control to feedback control.[SOLUTION]Operate robot arm by the control method comprising the following steps and the vibration of the robot arm is restrained at the time of the control change, by using a non-contact type impedance control method;A step to move a robot arm along a course decided beforehand, the step is performed with teaching play hack control, the teaching play back control is carried out by the instruction of a program which is stored in the control department of a control unit.A step to recognize the presence or absence of the work by a work recognition means which is provided to the arm.A step to move the robot arm to follow the work changing the program of the control department at the same time to recognize the work, the program is changed to feedback control of the non-contact type impedance control method from teaching play back control.
摘要翻译：发明内容提供一种用于控制机器人手臂的方法，其在操作方法的切换期间从教学回放控制到反馈控制再训练臂的振动。 [解决方案]通过包括以下步骤的控制方法来操作机器人手臂，并且通过使用非接触式阻抗控制方法在控制变化时抑制机器人手臂的振动; 通过预先决定的步骤来移动机器人手臂的步骤，通过教学游戏黑客控制进行该步骤，通过存储在控制单元的控制部中的程序的指令进行教学回放控制。通过提供给手臂的工作识别装置来识别工作的存在或不存在的步骤。移动机器人手臂跟随工作改变控制部门的程序同时识别工作的一个步骤，该程序从教学回放控制改变为非接触式阻抗控制方法的反馈控制。

6. 发明授权

US08600552B2 Information processing method, apparatus, and computer readable medium 失效
公开(公告)号：US08600552B2
公开(公告)日：2013-12-03
申请号：US12913078
申请日：2010-10-27
申请人： Ryo Nakajima , Hideari Kamachi , Gentoku Fujii
发明人： Ryo Nakajima , Hideari Kamachi , Gentoku Fujii
IPC分类号： G05B19/18 , G06F19/00
CPC分类号： B25J9/163 , B25J9/1697 , G05B2219/39338 , G05B2219/39391 , Y10S901/03
摘要： An apparatus executes movement control that causes a robot arm equipped with a camera to move up to an object, thereby enabling a manipulator to move to an object quickly, accurately, and stably as a control system. Specifically, when the object is not detected, the apparatus executes teaching playback control to cause a manipulator to move along a path up to a target position set in advance based on a position of the object. When the object is detected, the apparatus defines a position closer to the object than the target position as a new target position, sets a new path up to the new target position, executes teaching playback control to cause the manipulator to move along the new path until a switching condition for switching the movement control is fulfilled. When the switching condition is fulfilled, the apparatus executes visual servo control.

7. 发明申请

US20110208347A1 MACHINING SYSTEM AND METHOD 有权
标题翻译：加工系统与方法
公开(公告)号：US20110208347A1
公开(公告)日：2011-08-25
申请号：US13026551
申请日：2011-02-14
申请人： Yoshito Otake , Tomohiro Sugimoto , Gentoku Fujii , Shinichiro Watanabe , Takeshi Nakamura , Ryo Nakajima , Hideari Kamachi
发明人： Yoshito Otake , Tomohiro Sugimoto , Gentoku Fujii , Shinichiro Watanabe , Takeshi Nakamura , Ryo Nakajima , Hideari Kamachi
IPC分类号： G06F19/00
CPC分类号： G05B19/4182 , B25J9/0093 , B25J9/1697 , G05B2219/39102 , G05B2219/39387 , G05B2219/40554 , Y02P90/083
摘要： According to the present invention, even during and immediately before a machining operation by a machining apparatus, it is possible to improve positioning control accuracy thereof and, as a result, machining accuracy thereof. A robot 11 equipped with a machining tool 12 performs a moving operation to a target position 41 of a machining target workpiece 2 and a machining operation on the machining target. A robot moving mechanism 14 moves the robot 11 in parallel with the workpiece 2 that is being conveyed by a conveyance carriage 18. A robot control device 17 controls movement of the robot moving mechanism 14 using a detection result of a synchronizing sensor 15 and carries out positioning control of the robot 11 using the detection result of a visual sensor 13 or a synchronizing sensor 15.
摘要翻译：根据本发明，即使在加工装置的加工操作之前和之前，也可以提高其定位控制精度，结果是提高其加工精度。配备有加工工具12的机器人11对加工对象工件2的目标位置41进行移动操作，并对加工对象进行加工操作。机器人移动机构14使机器人11与由输送台车18输送的工件2平行移动。机器人控制装置17使用同步传感器15的检测结果来控制机器人移动机构14的移动，并进行使用视觉传感器13或同步传感器15的检测结果进行机器人11的定位控制。

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