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1. 发明申请

US20050107921A1 Robot operation program modification device 审中-公开
标题翻译：机器人操作程序修改装置
公开(公告)号：US20050107921A1
公开(公告)日：2005-05-19
申请号：US10986022
申请日：2004-11-12
申请人： Atsushi Watanabe , Tatsuya Oumi
发明人： Atsushi Watanabe , Tatsuya Oumi
IPC分类号： B25J9/22 , B25J9/16 , G05B19/42 , G05B19/425 , G06F19/00
CPC分类号： B25J9/1664 , G05B19/425 , G05B2219/36043 , G05B2219/36484 , G05B2219/40519 , Y02P90/265
摘要： An operation program modification device for a robot that is made efficient in positional modification of a cluster of taught points in a corner segment and the like. Sequential N taught points A1 through A6 to be grouped are designated, and the operator executes the operation of positional modification of an intermediate taught point A4. A modification vector for modifying A4 into B4 is calculated. Taught points A2, A3 and A5 located in between the taught point A4 and end points A1 and A6 are grouped into first-region taught points A2 and A3 and a second-region taught point A5. The required modification amounts of the taught points A2, A3 and A5 are calculated by prorating the modification vector according to distance (path distance or straight line distance) from the end-point A1 or A6 to be modified into taught points B2, B3 and B5, respectively. The modification vector may be set to correspond to a modified taught point of a user selection. It is possible to perform necessary input from a teaching operation panel instead of utilizing an offline programming system using a personal computer.
摘要翻译：一种用于机器人的操作程序修改装置，其在角部段等中的教导点的集群的位置修改中有效。指定顺序N教导要分组的点A 1至A 6，并且操作者执行中间教导点A 4的位置修改的操作。计算用于将A 4修改为B 4的修改向量。位于教导点A 4和终点A 1和A 6之间的授课点A 2，A 3和A 5分组为第一区域教导点A 2和A 3以及第二区域教导点A 5。通过根据距离（路径距离或直线距离）的距离（路径距离或直线距离）将修改矢量分配给要修改为教学点B的计算点A 2，A 3和A 5的所需修改量 2，B 3和B 5。可以将修改向量设置为对应于用户选择的修改的教导点。可以从教学操作面板执行必要的输入，而不是利用使用个人计算机的离线编程系统。

2. 发明申请

US20070213874A1 Device, program, recording medium and method for robot simulation 审中-公开
标题翻译：装置，程序，记录介质和机器人仿真方法
公开(公告)号：US20070213874A1
公开(公告)日：2007-09-13
申请号：US11715959
申请日：2007-03-09
申请人： Tatsuya Oumi , Yoshiharu Nagatsuka
发明人： Tatsuya Oumi , Yoshiharu Nagatsuka
IPC分类号： G06F19/00
CPC分类号： G05B19/4061 , B25J9/1697 , G05B2219/40053
摘要： A robot simulation device for simulating an operation of a robot having a vision sensor in an off-line mode. The device includes a working-environment model setting section for arranging a sensor model, a robot model and a plurality of irregularly piled workpiece models in a virtual working environment; and an operation simulating section for allowing the sensor model and the robot model to simulate a workpiece detecting operation and a bin picking motion. The operation simulating section includes a workpiece-model image generating section for allowing the sensor model to pick up the workpiece models and generating a virtual image thereof; a workpiece-model position detecting section for identifying an objective workpiece model from the virtual image and detecting a virtual position thereof; and a robot-model operation controlling section for allowing the robot model to pick out the objective workpiece model based on the virtual position.
摘要翻译：一种用于模拟具有离线模式的视觉传感器的机器人的操作的机器人模拟装置。该装置包括工作环境模型设置部分，用于在虚拟工作环境中布置传感器模型，机器人模型和多个不规则堆叠的工件模型; 以及用于使传感器模型和机器人模型模拟工件检测操作和料仓拾取运动的操作模拟部分。操作模拟部分包括工件模型图像生成部分，用于允许传感器模型拾取工件模型并生成其虚像; 工件模型位置检测部分，用于从虚拟图像中识别目标工件模型并检测其虚拟位置; 以及机器人模型操作控制部分，用于允许机器人模型基于虚拟位置挑出目标工件模型。

3. 发明申请

US20050080515A1 Manual-mode operating system for robot 失效
标题翻译：机器人手动操作系统
公开(公告)号：US20050080515A1
公开(公告)日：2005-04-14
申请号：US10959434
申请日：2004-10-07
申请人： Atsushi Watanabe , Tatsuya Oumi
发明人： Atsushi Watanabe , Tatsuya Oumi
IPC分类号： B25J9/22 , B25J1/00 , B25J9/16 , B25J13/06 , G05B19/18 , G05B19/409 , G05B19/42 , G05B19/425 , G05D3/00 , G06F19/00
CPC分类号： B25J9/1671 , B25J13/06 , G05B2219/40311 , G05B2219/40562 , G05D3/00
摘要： A manual-mode operating system for a robot provided with an end-effector. The manual-mode operating system includes a display section including a screen for displaying an image of an end-effector; a first input section for an input of coordinate system data on the screen of the display section, displaying the image of the end-effector, the coordinate system data designating a manual-mode coordinate system used for describing an orientation of the end-effector; a coordinate system setting section for setting the manual-mode coordinate system at a spatial position corresponding to an input position on the screen of the display section, based on the coordinate system data input through the first input section; a second input section for an input of orientation data using the manual-mode coordinate system set through the coordinate system setting section, the orientation data instructing the orientation of the end-effector; and an orientation adjusting section for adjusting the orientation of the end-effector, based on the orientation data input through the second input section.
摘要翻译：用于机器人的手动模式操作系统，其具有末端执行器。手动模式操作系统包括显示部分，其包括用于显示末端执行器的图像的屏幕; 第一输入部分，用于在显示部分的屏幕上输入坐标系统数据，显示末端执行器的图像，指定用于描述末端执行器的取向的手动模式坐标系的坐标系统数据; 坐标系设定部，基于通过第一输入部输入的坐标系数据，将手动模式坐标系设定在与显示部的画面上的输入位置对应的空间位置上; 第二输入部分，用于使用通过坐标系设置部分设置的手动模式坐标系输入定向数据，所述定向数据指示末端执行器的方向; 以及基于通过第二输入部输入的取向数据来调整末端执行器的取向的取向调整部。

4. 发明申请

US20070242073A1 Robot simulation apparatus 审中-公开
标题翻译：机器人模拟装置
公开(公告)号：US20070242073A1
公开(公告)日：2007-10-18
申请号：US11785175
申请日：2007-04-16
申请人： Yoshiharu Nagatsuka , Tatsuya Oumi
发明人： Yoshiharu Nagatsuka , Tatsuya Oumi
IPC分类号： G06T15/70
CPC分类号： B25J9/1671
摘要： A robot simulation apparatus which simulates a motion of a robot equipped with an end effector on a display screen, having: a position specifying portion, which, along with a three-dimensional model of the robot and three-dimensional models of a workpiece and a peripheral device displayed in prescribed positions relative to each other on the display screen, specifies a two-dimensional position on the screen to designate a prescribed position at a destination as a target to which the end effector, moving relative to the workpiece and the peripheral device, is to be moved; a position data acquiring portion, which converts data representing the two-dimensional position specified by the position specifying portion into data representing a three-dimensional position and thereby acquires the three-dimensional position of the destination; a shape data acquiring portion, which acquires shape data of the workpiece based on the three-dimensional position acquired by the position data acquiring portion; and a position/orientation computing portion, which based on the three-dimensional position and the shape data, computes the three-dimensional position and three-dimensional orientation of the robot.
摘要翻译：一种机器人模拟装置，其模拟在显示屏幕上配备有末端执行器的机器人的运动，该机器人模拟装置具有：位置指定部分，其与机器人的三维模型和工件的三维模型以及在显示画面上以相对于彼此的规定位置显示的外围设备，指定屏幕上的二维位置，以将目的地的规定位置指定为目标，终端执行器相对于工件和外围设备移动，被移动; 位置数据获取部分，将表示由位置指定部分指定的二维位置的数据转换为表示三维位置的数据，从而获取目的地的三维位置; 形状数据获取部分，其基于由位置数据获取部分获取的三维位置获取工件的形状数据; 并且基于三维位置和形状数据的位置/取向计算部分计算机器人的三维位置和三维取向。

5. 发明授权

US5937143A Teaching pendant for a robot 失效
标题翻译：教学吊坠机器人
公开(公告)号：US5937143A
公开(公告)日：1999-08-10
申请号：US836752
申请日：1997-07-10
申请人： Atsushi Watanabe , Tomoyuki Terada , Hirotsugu Kaihori , Tatsuya Oumi , Shinsuke Sakamoto
发明人： Atsushi Watanabe , Tomoyuki Terada , Hirotsugu Kaihori , Tatsuya Oumi , Shinsuke Sakamoto
IPC分类号： B25J9/16 , B25J9/22 , G05B19/42 , H01H9/02 , G05B19/48
CPC分类号： B25J9/1671 , G05B2219/36162 , G05B2219/36168 , G05B2219/39438 , G05B2219/39443 , G05B2219/39444 , G05B2219/39446 , G05B2219/40522 , H01H2300/026 , H01H9/0214
摘要： The invention is a robot teaching pendant containing a display device with graphic display capabilities. Display data is displayed on the graphic display and includes the movement of a robot and taught points. This display data is generated by a display data generation unit based on robot programs stored in data storage unit by buffering the data from a robot controller. This display data may also include representative images of the robot tool along with its coordinates in a tool coordinate system and the taught points in a user or world coordinate system. Thus, the action of the robot can be visually recognized with ease, and the robot can be taught easily and accurately.
摘要翻译： PCT No.PCT / JP96 / 02688 Sec。 371日期1997年7月10日 102（e）1997年7月10日PCT PCT 1996年9月18日PCT公布。公开号WO97 / 10931 日期1997年3月27日本发明是一种包含具有图形显示能力的显示装置的机器人教学装置。显示数据显示在图形显示屏上，包括机器人和教导点的移动。该显示数据由显示数据生成单元基于通过缓冲来自机器人控制器的数据而存储在数据存储单元中的机器人程序来生成。该显示数据还可以包括机器人工具的代表性图像及其在工具坐标系中的坐标以及用户或世界坐标系中的教导点。因此，可以容易地视觉识别机器人的动作，并且可以容易且准确地教导机器人。

6. 发明申请

US20080301072A1 ROBOT SIMULATION APPARATUS 审中-公开
标题翻译：机器人模拟装置
公开(公告)号：US20080301072A1
公开(公告)日：2008-12-04
申请号：US12127400
申请日：2008-05-27
申请人： Yoshiharu Nagatsuka , Tatsuya Oumi
发明人： Yoshiharu Nagatsuka , Tatsuya Oumi
IPC分类号： G06F15/18
CPC分类号： B25J9/1669 , B25J9/1671 , G05B2219/39484 , G05B2219/39543 , G05B2219/40308 , Y02P90/083
摘要： A robot simulation apparatus including: a display section which displays models of at least a conveyance apparatus, an object, and a robot respectively laid out at predetermined positions; a movement condition designating section which designates a direction and a speed of movement of the object; a imaging condition designating section which designates a relative position of the camera with respect to the object and imaging condition in order to obtain a still image of the object located within an imaging area; a teaching model storage section which stores a teaching model of the object to be compared with the still image obtained with the camera; a grasping position calculating section which calculates a grasping position of the object to be grasped by the robot based on a position and an attitude of the object obtained by comparing the still image with the teaching model, and on the direction and the speed of movement of the object; and a teaching position setting section which sets a teaching position for said robot based on the grasping position.
摘要翻译：一种机器人模拟装置，包括：显示部，其显示分别布置在预定位置的至少一个输送装置，对象和机器人的模型; 指定对象的移动方向和速度的移动条件指定部; 成像条件指定部分，其指定相机相对于对象和成像条件的相对位置，以便获得位于成像区域内的对象的静止图像; 教学模型存储部，其存储要与与所述照相机获得的静止图像进行比较的对象的教学模型; 掌握位置计算部，其基于通过比较静止图像与教学模型获得的对象的位置和姿态以及运动的方向和速度来计算被机器人掌握的对象的抓握位置; 物体; 以及教学位置设定部，其基于所述把持位置来设定所述机器人的教导位置。

7. 发明授权

US07181315B2 Manual-mode operating system for robot 失效
标题翻译：机器人手动操作系统
公开(公告)号：US07181315B2
公开(公告)日：2007-02-20
申请号：US10959434
申请日：2004-10-07
申请人： Atsushi Watanabe , Tatsuya Oumi
发明人： Atsushi Watanabe , Tatsuya Oumi
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： B25J9/1671 , B25J13/06 , G05B2219/40311 , G05B2219/40562 , G05D3/00
摘要： A manual-mode operating system for a robot provided with an end-effector. The manual-mode operating system includes a display section including a screen for displaying an image of an end-effector; a first input section for an input of coordinate system data on the screen of the display section, displaying the image of the end-effector, the coordinate system data designating a manual-mode coordinate system used for describing an orientation of the end-effector; a coordinate system setting section for setting the manual-mode coordinate system at a spatial position corresponding to an input position on the screen of the display section, based on the coordinate system data input through the first input section; a second input section for an input of orientation data using the manual-mode coordinate system set through the coordinate system setting section, the orientation data instructing the orientation of the end-effector; and an orientation adjusting section for adjusting the orientation of the end-effector, based on the orientation data input through the second input section.
摘要翻译：用于机器人的手动模式操作系统，其具有末端执行器。手动模式操作系统包括显示部分，其包括用于显示末端执行器的图像的屏幕; 第一输入部分，用于在显示部分的屏幕上输入坐标系数据，显示末端执行器的图像，指定用于描述末端执行器的取向的手动模式坐标系的坐标系统数据; 坐标系设定部，基于通过第一输入部输入的坐标系数据，将手动模式坐标系设定在与显示部的画面上的输入位置对应的空间位置上; 第二输入部分，用于使用通过坐标系设置部分设置的手动模式坐标系输入定向数据，所述定向数据指示末端执行器的方向; 以及基于通过第二输入部输入的取向数据来调整末端执行器的取向的取向调整部。

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