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1. 发明授权

US5239248A Servo control system 失效
标题翻译：伺服控制系统
公开(公告)号：US5239248A
公开(公告)日：1993-08-24
申请号：US822341
申请日：1992-01-17
申请人： Akira Shimada , Norio Yokoshima
发明人： Akira Shimada , Norio Yokoshima
IPC分类号： G05B19/29
CPC分类号： G05B19/291 , G05B2219/41367
摘要： A servo control system effects control of a control object directly from an arbitrary stop position to a target position smoothly and safely. The servo control system has a detector for detecting an absolute position of the control object, and an observer for observing state values such as the position and/or velocity of the control object and a disturbance applied to the control object so as to servo-control the control object. The servo control system calculates initial state values of the observer determined according to the stop or rest position of the control object at the start of the operation so that the initial values are utilized for calculation of the state values by the observer. The observer calculates the state values and estimated values according to an algorithm at one sample preceding period, thereby enabling computation suitable to digital processing by the sampling mode operation.
摘要翻译：伺服控制系统可以顺利，安全地对控制对象直接从任意停止位置到目标位置进行控制。伺服控制系统具有用于检测控制对象的绝对位置的检测器和用于观察诸如控制对象的位置和/或速度以及施加到控制对象的干扰的状态值的观察器，以便伺服控制控制对象。伺服控制系统计算在操作开始时根据控制对象的停止或静止位置确定的观察者的初始状态值，以便将初始值用于由观察者计算状态值。观察者根据前一个采样周期的算法计算状态值和估计值，从而使得能够通过采样模式操作进行数字处理的计算。

2. 发明授权

US5102289A Damper device for precision assembling robot 失效
标题翻译：用于精密组装机器人的减震装置
公开(公告)号：US5102289A
公开(公告)日：1992-04-07
申请号：US351762
申请日：1989-05-15
申请人： Norio Yokoshima , Masahide Nagai , Akira Shimada
发明人： Norio Yokoshima , Masahide Nagai , Akira Shimada
IPC分类号： B25J9/06 , B25J18/00 , B25J19/00 , F16F7/108 , F16F15/02
CPC分类号： F16F7/108 , B25J19/0091
摘要： A damper device for a precision assembling robot is capable of dampening the residual vibrations of the robot arm resulting from a lack of rigidity of the arm. The damper device is fixed to the tip of the robot arm to absorb the vibration energy of the swinging robot arm. The damper device includes a cylindrical weight member and a columnar rubber member. The damper device further includes a metallic rod inserted in the columnar rubber member. The length and position of the inserted metallic rod controls the dampening factor of the damper device. Therefore, the precision assembling robot with the damper device is capable of preventing a failure of assembly due to positioning errors resulting from residual vibrations, or nonconformities due to the impact of the robot arm against an object.
摘要翻译：用于精密组装机器人的阻尼器装置能够抑制由于臂的刚性而导致的机器人手臂的残余振动。阻尼器装置固定在机器人臂的末端，以吸收摆动机器人手臂的振动能量。阻尼器装置包括圆柱形配重构件和柱状橡胶构件。阻尼装置还包括插入柱状橡胶构件的金属杆。插入的金属杆的长度和位置控制阻尼器装置的阻尼系数。因此，具有阻尼装置的精密组装机器人能够防止由于由于机器人手臂对物体的冲击而导致的由残余振动引起的定位误差或不整合而导致的组装失败。

3. 发明授权

US6031973A Robot and its controller method 失效
标题翻译：用于在实时处理中执行事件的机器人控制器
公开(公告)号：US6031973A
公开(公告)日：2000-02-29
申请号：US876697
申请日：1997-06-16
申请人： Kazuhiro Gomi , Hiroshi Miyazawa , Masayuki Okuyama , Norio Yokoshima , Toshimi Shioda
发明人： Kazuhiro Gomi , Hiroshi Miyazawa , Masayuki Okuyama , Norio Yokoshima , Toshimi Shioda
IPC分类号： G06F9/48 , B25J9/16 , B25J9/18 , B25J13/00 , G05B19/18 , G05B19/4155 , G06F9/46 , G05B19/04
CPC分类号： B25J9/161 , G05B2219/31293 , G05B2219/33095 , G05B2219/34258 , G05B2219/34266 , G05B2219/34338 , G05B2219/34383 , G05B2219/40389
摘要： A robot controller and its control method use a generic personal computer and a PC operating system. The controller 10 comprises the following: a task-switching unit 30 that switches tasks on a pre-emptive basis; an external interrupt generator 50 that uses an external timer to generate interrupts at specified fixed time intervals; an event drive unit 40 that performs event drive processing in synchronization with the interrupts generated by the external interrupt generator 50; an event registration unit 60 that registers the fact that the application program which performs processing in response to the occurrence of the event is waiting for the occurrence of the event; an event resource state storage unit 70 that stores event resource states in order to keep track of and recall the occurrence of events; an event resource state update unit 80 that updates the conditions of event resources stored in the event resource state storage unit 70; and a swap-out prevention unit 90 that prevents the swapping out of programs for which real time processing is required.
摘要翻译：机器人控制器及其控制方法使用通用个人计算机和PC操作系统。控制器10包括：任务切换单元30，其以先发制的方式切换任务; 外部中断发生器50，其使用外部定时器以指定的固定时间间隔产生中断; 与由外部中断发生器50产生的中断同步地执行事件驱动处理的事件驱动单元40; 注册响应于事件发生而执行处理的应用程序等待事件发生的事实的事件登记单元60; 事件资源状态存储单元70，其存储事件资源状态以便跟踪和调用事件的发生; 更新存储在事件资源状态存储单元70中的事件资源的条件的事件资源状态更新单元80; 以及防止从需要进行实时处理的程序中进行交换的切换防止单元90。

4. 发明授权

US06301634B1 Real time control method for a robot controller 有权
标题翻译：机器人控制器的实时控制方法
公开(公告)号：US06301634B1
公开(公告)日：2001-10-09
申请号：US09482387
申请日：2000-01-12
申请人： Kazuhiro Gomi , Hiroshi Miyazawa , Masayuki Okuyama , Norio Yokoshima , Toshimi Shioda
发明人： Kazuhiro Gomi , Hiroshi Miyazawa , Masayuki Okuyama , Norio Yokoshima , Toshimi Shioda
IPC分类号： G06F1324
CPC分类号： B25J9/161 , G05B2219/31293 , G05B2219/33095 , G05B2219/34258 , G05B2219/34266 , G05B2219/34338 , G05B2219/34383 , G05B2219/40389
摘要： A robot controller and its control method use a generic personal computer and a PC operating system. The controller 10 comprises the following: a task-switching unit 30 that switches tasks on a pre-emptive basis; an external interrupt generator 50 that uses an external timer to generate interrupts at specified fixed time intervals; an event drive unit 40 that performs event drive processing in synchronization with the interrupts generated by the external interrupt generator 50; an event registration unit 60 that registers the fact that the application program which performs processing in response to the occurrence of the event is waiting for the occurrence of the event; an event resource state storage unit 70 that stores event resource states in order to keep track of and recall the occurrence of events; an event resource state update unit 80 that updates the conditions of event resources stored in the event resource state storage unit 70; and a swap-out prevention unit 90 that prevents the swapping out of programs for which real time processing is required.
摘要翻译：机器人控制器及其控制方法使用通用个人计算机和PC操作系统。控制器10包括：任务切换单元30，其以先发制的方式切换任务; 外部中断发生器50，其使用外部定时器以指定的固定时间间隔产生中断; 与由外部中断发生器50产生的中断同步地执行事件驱动处理的事件驱动单元40; 注册响应于事件发生而执行处理的应用程序等待事件发生的事实的事件登记单元60; 事件资源状态存储单元70，其存储事件资源状态以便跟踪和调用事件的发生; 更新存储在事件资源状态存储单元70中的事件资源的条件的事件资源状态更新单元80; 以及防止从需要进行实时处理的程序中进行交换的切换防止单元90。

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