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1. 发明授权

US08798790B2 Apparatus and method for detecting contact position of robot 有权
标题翻译：机器人接触位置检测装置及方法
公开(公告)号：US08798790B2
公开(公告)日：2014-08-05
申请号：US13043493
申请日：2011-03-09
申请人： Yosuke Kamiya , Yasuyuki Inoue , Hideo Nagata
发明人： Yosuke Kamiya , Yasuyuki Inoue , Hideo Nagata
IPC分类号： G06F19/00
CPC分类号： G05B19/401
摘要： An apparatus for detecting a contact position where a robot makes contact with an object includes a probe, a probe-position calculating unit, a contact detecting unit, and a contact-position calculating unit. The probe is attached to the robot and is configured to make a displacement in a direction of making contact with the object in an elastic manner. The probe-position calculating unit calculates a position of the probe of the robot in operation. The contact detecting unit detects a contact state of the probe with the object. When the contact state of the probe is detected, the contact-position calculating unit derives the contact position based on a calculated position of the probe.
摘要翻译：用于检测机器人与物体接触的接触位置的装置包括探针，探针位置计算单元，接触检测单元和接触位置计算单元。探针附接到机器人，并且被配置为使得能够以弹性方式与物体接触的方向发生位移。探测位置计算单元计算操作中的机器人的探头的位置。接触检测单元检测探头与物体的接触状态。当检测到探针的接触状态时，接触位置计算单元基于计算出的探针的位置导出接触位置。

2. 发明授权

US07958438B2 CAN system 有权
公开(公告)号：US07958438B2
公开(公告)日：2011-06-07
申请号：US12076980
申请日：2008-03-26
申请人： Toshiyuki Uemura , Yasuyuki Inoue
发明人： Toshiyuki Uemura , Yasuyuki Inoue
IPC分类号： G08C25/00
CPC分类号： G06F11/2215 , H04L1/24
摘要： Provided is a CAN system that can generate an error signal without requiring hardware for generating an error signal to be connected to a bus. A protocol processing part within a CAN controller incorporates error data into receive data or send data, based on error data information stored in a register.

3. 发明申请

US20110116802A1 Optical Wavelength Multiplexing/ De-multiplexing Circuit 有权
标题翻译：光波长复用/解复用电路
公开(公告)号：US20110116802A1
公开(公告)日：2011-05-19
申请号：US13054158
申请日：2009-06-30
申请人： Shin Kamei , Tsutomu Kitoh , Masaki Kohtoku , Tomohiro Shibata , Takuya Tanaka , Yasuyuki Inoue , Mikitaka Itoh
发明人： Shin Kamei , Tsutomu Kitoh , Masaki Kohtoku , Tomohiro Shibata , Takuya Tanaka , Yasuyuki Inoue , Mikitaka Itoh
IPC分类号： H04J14/02
CPC分类号： G02B6/12028 , G02B6/12019 , G02B6/29352 , G02B6/29398
摘要： An optical wavelength multiplexing/de-multiplexing circuit having a low loss and a flat transmission spectrum is provided. The optical wavelength multiplexing/de-multiplexing circuit compensates a temperature dependence of a center transmission wavelength which remains in an athermal AWG, and has an excellent accuracy of the center transmission wavelength in a whole operating temperature range or has a comparatively wide operable temperature range. The temperature dependence of the transmission wavelength in the athermal MZI is modulated and set so as to cancel the temperature dependence of the center wavelength which remains in the athermal AWG. The present invention focuses particularly on an optical coupler in the MZI and modulates the temperature dependence of the transmission wavelength in the MZI by providing the optical coupler itself with a mechanism which changes a phase difference between two outputs by temperature.
摘要翻译：提供具有低损耗和平坦透射光谱的光波长多路复用/解复用电路。光波长复用/解复用电路补偿保持在无热AWG中的中心透射波长的温度依赖性，并且在整个工作温度范围内具有优异的中心透射波长的精度或具有相当宽的可操作温度范围。在无热MZI中的透射波长的温度依赖性被调制和设定，以抵消保持在无热AWG中的中心波长的温度依赖性。本发明特别着重于MZI中的光耦合器，并且通过为光耦合器本身提供一种通过温度改变两个输出之间的相位差的机构来调制MZI中的透射波长的温度依赖性。

4. 发明申请

US20090009125A1 ROBOT SYSTEM 有权
标题翻译：机器人系统
公开(公告)号：US20090009125A1
公开(公告)日：2009-01-08
申请号：US11814839
申请日：2006-01-05
申请人： Kenji Matsukuma , Michiharu Tanaka , Yasuyuki Inoue
发明人： Kenji Matsukuma , Michiharu Tanaka , Yasuyuki Inoue
IPC分类号： G05B19/42
CPC分类号： G05B19/409 , B25J9/1674 , B25J13/06 , B25J19/06 , G05B2219/23172 , G05B2219/33192 , G05B2219/33228 , G05B2219/36162 , G05B2219/36535 , G05B2219/45104 , G05B2219/50198
摘要： The present invention provides a safe robot system adapted to always and clearly indicate a worker whether an emergency stop operation can be performed by an emergency stop operation section in an unwired portable teaching operation section, thereby to prevent occurrence of a misconception.A portable teaching operation portion 3 includes a display section (13) configured to indicate whether an emergency stop operation to be conducted by an emergency stop operation section (9) can be performed.
摘要翻译：本发明提供了一种安全的机器人系统，其适于始终且清楚地指示工作人员是否可以通过无绳便携式教学操作部分中的紧急停止操作部分进行紧急停止操作，从而防止误解。便携式教学操作部3包括：显示部（13），其被配置为指示是否能够执行由紧急停止操作部（9）进行的紧急停止操作。

5. 发明申请

US20060278960A1 Y branch circuit and method for manufacturing the same 有权
公开(公告)号：US20060278960A1
公开(公告)日：2006-12-14
申请号：US11447229
申请日：2006-06-05
申请人： Yasuhiro Hida , Toshimi Kominato , Yasuyuki Inoue , Norio Takato , Yasumori Ohmura
发明人： Yasuhiro Hida , Toshimi Kominato , Yasuyuki Inoue , Norio Takato , Yasumori Ohmura
IPC分类号： H01L29/40
CPC分类号： G02B6/125 , G02B2006/1215
摘要： A Y branch circuit according to the present invention includes; a under clad; a circuit core, formed on the under clad and having a main core and two branch cores, connected to the main core, and an over clad that embeds the circuit core. The main core and the two branch cores are connected across an interval. The two branch cores have a width-to-height ratio of 50% to 150% and have a gap, at the main core end, that is narrower at the over clad side than at the under clad side.

6. 发明授权

US07127325B2 Controllable object remote control and diagnosis apparatus 有权
标题翻译：可控物体遥控和诊断装置
公开(公告)号：US07127325B2
公开(公告)日：2006-10-24
申请号：US10472942
申请日：2002-03-26
申请人： Hideo Nagata , Yasuyuki Inoue , Ken'ichi Yasuda , Hiroyuki Handa
发明人： Hideo Nagata , Yasuyuki Inoue , Ken'ichi Yasuda , Hiroyuki Handa
IPC分类号： G06F19/00
CPC分类号： G05B19/4063 , B25J9/1674 , G05B2219/33284 , G05B2219/33286 , Y02P90/14 , Y02P90/86
摘要： A robot apparatus having a robot and a controller for controlling the robot. The apparatus has a diagnosing computer connected to the controller and acquiring a state quantity of the robot. An analyzing computer is provided remotely from the robot and has a control parameter adjuster for adjusting a control parameter of the robot, and a communicating function of connecting the computers. The state quantity is transmitted to the analyzing computer by the communicating function and a control parameter of the robot is obtained based on the state quantity. The control parameter is transmitted to the controller through the diagnosing computer to control the robot.
摘要翻译：具有机器人的机器人装置和用于控制机器人的控制器。该装置具有连接到控制器并且获取机器人的状态量的诊断计算机。从机器人远程地提供分析计算机，并具有用于调整机器人的控制参数的控制参数调节器以及连接计算机的通信功能。通过通信功能将状态量发送到分析计算机，并且基于状态量获得机器人的控制参数。控制参数通过诊断计算机传输到控制器，以控制机器人。

7. 发明授权

US06320888B1 Frequency stabilized laser and method for preparing thereof 失效
标题翻译：频率稳定型激光及其制备方法
公开(公告)号：US06320888B1
公开(公告)日：2001-11-20
申请号：US09156500
申请日：1998-09-18
申请人： Takuya Tanaka , Hiroshi Takahashi , Akimasa Kaneko , Akira Himeno , Yasuyuki Inoue
发明人： Takuya Tanaka , Hiroshi Takahashi , Akimasa Kaneko , Akira Himeno , Yasuyuki Inoue
IPC分类号： H01S514
CPC分类号： H01S5/146 , H01S5/02248 , H01S5/02469 , H01S5/06256 , H01S5/1039 , H01S5/141 , H01S5/4087
摘要： A frequency stabilized laser using an integrated external cavity, comprising a semiconductor laser diode and an optical waveguide installed on the same substrate, and having an optically induced grating formed in the optical waveguide suppresses mode hopping due to a temperature change to stabilize the oscillation frequencies of the laser. A material having a refractive index temperature coefficient opposite in sign to the refractive index temperature coefficient of the semiconductor laser diode is installed on that portion of the optical waveguide between the semiconductor laser diode and the optically induced grating which has been formed by removing an upper cladding and a core, or removing the upper cladding, the core, and a lower cladding.
摘要翻译：使用集成外部空腔的频率稳定化激光器，包括安装在同一基板上的半导体激光二极管和光波导，并且具有形成在光波导中的光学感应光栅，抑制由于温度变化引起的模式跳变，以使振荡频率稳定激光。具有与半导体激光二极管的折射率温度系数相反的折射率温度系数的材料安装在半导体激光二极管和通过去除上部包层而形成的光学感应光栅之间的光波导部分和芯，或去除上包层，芯和下包层。

8. 发明授权

US5994864A Robot controller 失效
标题翻译：机器人控制器
公开(公告)号：US5994864A
公开(公告)日：1999-11-30
申请号：US29735
申请日：1998-06-10
申请人： Yasuyuki Inoue , Hideo Nagata
发明人： Yasuyuki Inoue , Hideo Nagata
IPC分类号： B25J9/16 , G05B19/04
CPC分类号： B25J9/1633 , G05B2219/42123
摘要： A control apparatus and compliance control apparatus of a robot which performs operations while switching between a position control and a compliance control. When a transition from the position control to the compliance control is made, an integration operation of a speed control system is stopped. Thereafter, an integration value of the speed control system is stored in a memory, and, at the same time, the integration value is added to a torque reference. Alternately, a gravity compensation value is added to the torque reference, the gravity compensation value being computed based on a joint angle of a robot arm and a link mass and a position of a center of gravity of the robot. When the control returns from the compliance control to the position control, a present position is dealt with an instruction position. The compliance control apparatus includes a device (102) for controlling a torque of a servo motor to drive a joint portion; a device (106) for measuring a joint angle; a device (108) for computing a very small displacement between coordinates based on the measurement information; a device (102) for converting a limitation value (107) of either a force or a torque set in a working coordinate system by giving the foregoing very small displacement correspondence relation to the foregoing computation means (108); and devices (104, 105, 106) for limiting the torque.
摘要翻译： PCT No.PCT / JP96 / 02574 Sec。 371日期：1998年6月10日 102（e）1998年6月10日PCT PCT 1996年9月10日PCT公布。公开号WO97 / 10081 日期1997年3月20日一种机械手的控制装置和顺从控制装置，其在位置控制和合规控制之间切换时执行操作。当进行从位置控制向合规控制的转换时，停止对速度控制系统的积分动作。此后，将速度控制系统的积分值存储在存储器中，并且同时将积分值加到转矩基准。或者，重力补偿值被添加到转矩基准，重力补偿值是基于机器人手臂和连杆质量的关节角度以及机器人的重心位置来计算的。当控制从顺从性控制返回到位置控制时，处理当前位置的指令位置。柔性控制装置包括：用于控制伺服电动机的扭矩以驱动接合部的装置（102）; 用于测量关节角度的装置（106）; 用于基于所述测量信息计算坐标之间的非常小的位移的装置（108）; 通过给出与上述计算装置（108）的上述非常小的位移对应关系，转换在工作坐标系中设定的力或扭矩的限制值（107）的装置（102）。以及用于限制转矩的装置（104,105,106）。

9. 发明授权

US5901259A Optical waveplate, method of manufacturing the same, and waveguide device using the same 失效
公开(公告)号：US5901259A
公开(公告)日：1999-05-04
申请号：US840139
申请日：1997-04-11
申请人： Shinji Ando , Takashi Sawada , Yasuyuki Inoue
发明人： Shinji Ando , Takashi Sawada , Yasuyuki Inoue
IPC分类号： C08G73/10 , G02B5/30 , G02B6/00 , G02B6/12 , G02B6/122 , G02B6/126 , G02B6/34 , G02F1/035 , G02B6/26
CPC分类号： G02B6/12011 , C08G73/1039 , G02B5/3083 , G02B6/12007 , G02B6/12023 , G02B6/122 , G02B6/1221 , G02B6/126 , G02B6/29341 , G02B6/29352 , G02B2006/12116
摘要： An optical waveplate includes a polyimide with a film thickness of 20 .mu.m or less.

10. 发明授权

US5546483A Integrated optical waveguide circuit and optical branch line test system using the same 失效
标题翻译：集成光波导电路和光分支线路测试系统使用相同
公开(公告)号：US5546483A
公开(公告)日：1996-08-13
申请号：US285633
申请日：1994-08-01
申请人： Yasuyuki Inoue , Masao Kawachi , Katsunari Okamoto , Norio Takato , Fumihiko Yamamoto , Hiroyuki Suda , Shinichi Furukawa , Akira Morinaka
发明人： Yasuyuki Inoue , Masao Kawachi , Katsunari Okamoto , Norio Takato , Fumihiko Yamamoto , Hiroyuki Suda , Shinichi Furukawa , Akira Morinaka
IPC分类号： G01M11/00 , G02B6/12 , G02B6/30 , G02B6/34 , G01B9/02 , H04B10/24
CPC分类号： G01M11/3154 , G01M11/3136 , G02B6/12011 , G02B6/12014 , G02B6/12016 , G02B6/12019 , G02B6/12023 , G02B2006/12164 , G02B6/12033 , G02B6/30
摘要： An integrated optical waveguide circuit includes a substrate; an optical wavelength multiplexer and an optical power splitter formed on a same surface of the substrate. The optical wavelength multiplexer is composed of a first slab optical waveguide, a second slab optical waveguide, a single or a plurality of input optical waveguides connected to the first slab optical waveguide at one end of the first slab optical waveguide, a plurality of arrayed optical waveguides arranged in parallel and having different lengths and connected to the first slab optical waveguide and the second slab optical waveguide, and a plurality of output optical waveguides arranged in parallel and connected to the second slab optical waveguide. The optical power splitter is composed of the second slab optical waveguide, one or more input optical waveguides, and the plurality of output optical waveguides arranged in parallel and connected to the second slab optical waveguide.
摘要翻译：集成光波导电路包括基板; 形成在基板的同一表面上的光波长多路复用器和光功率分配器。光波长多路复用器由第一平板光波导，第二平板光波导，连接到第一平板光波导一端的第一平板光波导的单个或多个输入光波导组成，多个阵列光学平行布置且具有不同长度并且连接到第一平板光波导和第二平板光波导的波导和平行布置并连接到第二平板光波导的多个输出光波导。光功率分配器由第二平板光波导，一个或多个输入光波导和多个平行布置并连接到第二平板光波导的输出光波导组成。

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