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1. 发明申请

US20060229766A1 Motion control apparatus for teaching robot position, robot-position teaching apparatus, motion control method for teaching robot position, robot-position teaching method, and motion control program for teaching robot-position 审中-公开
标题翻译：用于教授机器人位置的运动控制装置，机器人位置教学装置，用于教导机器人位置的运动控制方法，机器人位置教学方法和用于教导机器人位置的运动控制程序
公开(公告)号：US20060229766A1
公开(公告)日：2006-10-12
申请号：US11399676
申请日：2006-04-06
申请人： Nobuyuki Setsuda
发明人： Nobuyuki Setsuda
IPC分类号： G06F19/00
CPC分类号： B25J9/1697 , G05B19/425 , G05B2219/39057 , G05B2219/39442 , G05B2219/40003 , G05B2219/40523
摘要： A motion control apparatus for teaching a robot position includes an operating unit that inputs an operating command to a robot on a camera coordinate system having, as a reference, an image capturing screen displayed on the monitor, a converting unit that generates a motion vector on the camera coordinate system for moving the robot from the current position to the next moving position in accordance with the operating command on the camera coordinate system input from the operating unit and converts the motion vector on the camera coordinate system into a motion vector on a robot coordinate system, an operating-instruction generating unit that generates a motor instructing value to be given to a motor arranged at a joint of the robot 1 based on the motion vector on the robot coordinate system obtained by the converting unit, and a motor control unit that controls the motor arranged at the joint of the robot in accordance with the motor instructing value generated by the operating-instruction generating unit.
摘要翻译：一种用于示教机器人位置的运动控制装置包括：操作单元，其将摄像机坐标系上的机器人的操作命令输入到作为参考的显示在监视器上的图像拍摄屏幕的摄像机坐标系上，生成运动矢量的转换单元根据从操作单元输入的摄像机坐标系上的操作命令将机器人从当前位置移动到下一移动位置的相机坐标系，并将摄像机坐标系上的运动矢量转换为机器人上的运动矢量基于由所述转换单元获得的所述机器人坐标系上的运动矢量，生成针对设置在所述机器人1的接合处的电动机的电动机指示值的操作指令生成单元，以及电动机控制单元其根据由操作部产生的电动机指示值来控制布置在机器人的接合处的电动机发电机组。

2. 发明授权

US09399289B2 Robot control apparatus and robot system 有权
标题翻译：机器人控制装置和机器人系统
公开(公告)号：US09399289B2
公开(公告)日：2016-07-26
申请号：US13609823
申请日：2012-09-11
申请人： Nobuyuki Setsuda
发明人： Nobuyuki Setsuda
IPC分类号： G05B19/04 , B25J9/16
CPC分类号： B25J9/1602 , B25J9/1697 , G05B2219/39369
摘要： A robot control apparatus, which controls motions of an industrial robot based on processing results of an image processing apparatus which images the robot or objects around the robot, includes: a first communication unit which communicates with a computer for development as an external computer; a second communication unit which is connected to the image processing apparatus via a network; and a command processing unit which opens a communication port of the second communication unit and causes the second communication unit to start communication with the image processing apparatus via a server on the network in response to an open command received by the first communication unit.
摘要翻译：一种机器人控制装置，其基于对机器人周围的机器人进行成像的图像处理装置的处理结果来控制工业机器人的运动，包括：第一通信单元，其与作为外部计算机的显影用计算机通信; 第二通信单元，经由网络连接到图像处理装置; 以及命令处理单元，其打开第二通信单元的通信端口，并使第二通信单元响应于由第一通信单元接收到的打开命令，经由网络上的服务器开始与图像处理设备的通信。

3. 发明申请

US20130073091A1 ROBOT CONTROL APPARATUS AND ROBOT SYSTEM 有权
标题翻译：机器人控制装置和机器人系统
公开(公告)号：US20130073091A1
公开(公告)日：2013-03-21
申请号：US13609823
申请日：2012-09-11
申请人： Nobuyuki SETSUDA
发明人： Nobuyuki SETSUDA
IPC分类号： B25J13/08 , B25J19/04
CPC分类号： B25J9/1602 , B25J9/1697 , G05B2219/39369
摘要： A robot control apparatus, which controls motions of an industrial robot based on processing results of an image processing apparatus which images the robot or objects around the robot, includes: a first communication unit which communicates with a computer for development as an external computer; a second communication unit which is connected to the image processing apparatus via a network; and a command processing unit which opens a communication port of the second communication unit and causes the second communication unit to start communication with the image processing apparatus via a server on the network in response to an open command received by the first communication unit.
摘要翻译：一种机器人控制装置，其基于对机器人周围的机器人进行成像的图像处理装置的处理结果来控制工业机器人的运动，包括：第一通信单元，其与作为外部计算机的显影用计算机通信; 第二通信单元，经由网络连接到图像处理装置; 以及命令处理单元，其打开第二通信单元的通信端口，并使第二通信单元响应于由第一通信单元接收到的打开命令，经由网络上的服务器开始与图像处理设备的通信。

4. 发明授权

US09457472B2 Position detection device for robot, robotic system, and position detection method for robot 有权
标题翻译：机器人位置检测装置，机器人系统和位置检测方法
公开(公告)号：US09457472B2
公开(公告)日：2016-10-04
申请号：US13372866
申请日：2012-02-14
申请人： Katsuji Igarashi , Atsushi Asada , Nobuyuki Setsuda , Chieko Iuchi
发明人： Katsuji Igarashi , Atsushi Asada , Nobuyuki Setsuda , Chieko Iuchi
IPC分类号： G05B15/00 , B25J9/16
CPC分类号： B25J9/1697 , G05B2219/39397
摘要： A position detection device for a horizontal articulated robot includes a camera for imaging the robot or a work as an imaging object, a control section for calculating a location of the imaging object from an image, an acquisition section (I/O) for obtaining the drive amounts of first and second electric motors of the robot, and a storage section for storing the calculated location of the imaging object and the drive amounts so as to correspond to each other. A common trigger signal for detecting the location of the imaging object is input to the camera and the I/O. The camera starts to image the imaging object in response to the input of the trigger signal. The I/O starts to obtain the drive amounts in response to the input of the trigger signal.
摘要翻译：一种用于水平关节式机器人的位置检测装置，包括：摄像机，用于对机器人进行成像或作为成像对象的作品;控制部分，用于从图像计算成像对象的位置，获取部分（I / O）机器人的第一和第二电动机的驱动量以及用于存储计算出的成像对象的位置和驱动量以便彼此对应的存储部。用于检测成像对象的位置的公共触发信号被输入到相机和I / O。响应于触发信号的输入，相机开始对成像对象进行成像。 I / O响应于触发信号的输入开始获得驱动量。

5. 发明申请

US20120209430A1 POSITION DETECTION DEVICE FOR ROBOT, ROBOTIC SYSTEM, AND POSITION DETECTION METHOD FOR ROBOT 有权
标题翻译：机器人的位置检测装置，机器人系统和机器人的位置检测方法
公开(公告)号：US20120209430A1
公开(公告)日：2012-08-16
申请号：US13372866
申请日：2012-02-14
申请人： Katsuji IGARASHI , Atsushi ASADA , Nobuyuki SETSUDA , Chieko IUCHI
发明人： Katsuji IGARASHI , Atsushi ASADA , Nobuyuki SETSUDA , Chieko IUCHI
IPC分类号： G05B15/02
CPC分类号： B25J9/1697 , G05B2219/39397
摘要： A position detection device for a horizontal articulated robot includes a camera for imaging the robot or a work as an imaging object, a control section for calculating a location of the imaging object from an image, an acquisition section (I/O) for obtaining the drive amounts of first and second electric motors of the robot, and a storage section for storing the calculated location of the imaging object and the drive amounts so as to correspond to each other. A common trigger signal for detecting the location of the imaging object is input to the camera and the I/O. The camera starts to image the imaging object in response to the input of the trigger signal. The I/O starts to obtain the drive amounts in response to the input of the trigger signal.
摘要翻译：一种用于水平关节式机器人的位置检测装置，包括：摄像机，用于对机器人进行成像或作为成像对象的作品;控制部分，用于从图像计算成像对象的位置，获取部分（I / O）机器人的第一和第二电动机的驱动量以及用于存储计算出的成像对象的位置和驱动量以便彼此对应的存储部。用于检测成像对象的位置的公共触发信号被输入到相机和I / O。响应于触发信号的输入，相机开始对成像对象进行成像。 I / O响应于触发信号的输入开始获得驱动量。

6. 发明授权

US06646404B2 Method for controlling robot and robot controller using the method 有权
公开(公告)号：US06646404B2
公开(公告)日：2003-11-11
申请号：US10026057
申请日：2001-12-21
申请人： Masayuki Okuyama , Takayuki Kameyama , Nobuyuki Setsuda
发明人： Masayuki Okuyama , Takayuki Kameyama , Nobuyuki Setsuda
IPC分类号： B25J922
CPC分类号： B25J9/1669 , G05B2219/39401 , G05B2219/40554 , G05B2219/45054
摘要： The current position of a work is sequentially updated in a conveyor coordinate system, and the path of a robot to follow the work is formed by transforming the position of the work from the conveyor coordinate system to a robot coordinate system.

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