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1. 发明授权

US09120223B2 Method of controlling seven-axis articulated robot, control program, and robot control device 有权
标题翻译：控制七轴关节机器人，控制程序和机器人控制装置的方法
公开(公告)号：US09120223B2
公开(公告)日：2015-09-01
申请号：US13977272
申请日：2011-12-21
申请人： Hideki Tanaka , Takamasa Ogata , Tetsuya Kubota
发明人： Hideki Tanaka , Takamasa Ogata , Tetsuya Kubota
IPC分类号： G06F19/00 , B25J9/06 , B25J9/04 , B25J9/16
CPC分类号： B25J9/06 , B25J9/046 , B25J9/1607 , B25J9/1643 , G05B2219/39018 , G05B2219/39414 , G05B2219/40344
摘要： Provided is a method of controlling a seven-axis articulated robot including seven joints sequentially arranged from a proximal end of the robot to a distal end of the robot, the seven joints including rotational axes each causing a next joint to turn and rotational axes each causing a next joint to pivot, such that the rotational axes causing turning and the rotational axes causing pivoting are arranged alternately, the seven-axis articulated robot being configured such that rotational axes of three proximal end side joints of the robot do not intersect with each other at one point. The method includes performing inverse transformation using, as a constraint condition, such a joint angle of a middle joint among the three joints as to cause an assumed elbow angle to be constant in a case where a rotational axis of the middle joint is assumed as a shoulder.
摘要翻译：提供了一种控制七轴铰接机器人的方法，其包括从机器人的近端顺序地排列到机器人的远端的七个接头，所述七个接头包括各自引起下一个接头转动的旋转轴和各自引起的旋转轴下一个枢转枢转，使得旋转的旋转轴和引起枢转的旋转轴交替布置，所述七轴铰接机器人构造成使得机器人的三个近端侧接头的旋转轴线彼此不相交在一个点上。该方法包括使用三个关节之间的中间关节的这种关节角度作为约束条件来执行逆变换，以便在将中间关节的旋转轴假设为假定的情况下使假设的肘角恒定肩。

2. 发明授权

US09073211B2 Control system and teaching method for seven-axis articulated robot 有权
标题翻译：七轴铰接机器人的控制系统和教学方法
公开(公告)号：US09073211B2
公开(公告)日：2015-07-07
申请号：US13977281
申请日：2011-12-21
申请人： Hidenori Tanaka , Takamasa Ogata , Tetsuya Kubota
发明人： Hidenori Tanaka , Takamasa Ogata , Tetsuya Kubota
IPC分类号： G05B19/4155 , B25J9/16 , G05B19/425
CPC分类号： B25J9/1664 , G05B19/425 , G05B2219/39032 , G05B2219/39414 , G05B2219/40074
摘要： A control system and teaching method for a seven-axis articulated robot are provided, which system and method are capable of easily grasping a motion trajectory of the whole robotand thereby performing proper teaching during teaching operation. The control system includes a setting device for setting a specified plane in a teaching mode for teaching a seven-axis articulated robot; a control unit for controlling the movement of the seven-axis articulated robot so as to restrict a motion trajectory of an elbow portion within the plane set by the setting device; and a computing unit for performing inverse transform operation to calculate the pivot angle of each pivot axis based on a change in a position of the hand end, setting the restriction of the movement of the elbow portion as a constraint condition, when the position for the hand end is taught.
摘要翻译：提供了一种用于七轴铰接机器人的控制系统和教学方法，该系统和方法能够容易地掌握整个机器人的运动轨迹，从而在教学操作期间进行适当的教学。该控制系统包括用于在用于示教七轴铰接机器人的示教模式中设定指定平面的设定装置; 控制单元，用于控制七轴铰接机器人的移动，以限制由设置装置设定的平面内的肘部的运动轨迹; 以及计算单元，用于执行逆变换操作，以基于所述手端的位置的变化来计算每个枢转轴的枢转角度，将所述肘部的移动的限制设置为约束条件，当所述肘部的位置为手端被教

3. 发明申请

US20130310973A1 METHOD OF CONTROLLING SEVEN-AXIS ARTICULATED ROBOT, CONTROL PROGRAM, AND ROBOT CONTROL DEVICE 有权
标题翻译：控制七轴机器人，控制程序和机器人控制装置的方法
公开(公告)号：US20130310973A1
公开(公告)日：2013-11-21
申请号：US13977272
申请日：2011-12-21
申请人： Hidenori Tanaka , Takamasa Ogata , Tetsuya Kubota
发明人： Hidenori Tanaka , Takamasa Ogata , Tetsuya Kubota
IPC分类号： B25J9/06
CPC分类号： B25J9/06 , B25J9/046 , B25J9/1607 , B25J9/1643 , G05B2219/39018 , G05B2219/39414 , G05B2219/40344
摘要： Provided is a method of controlling a seven-axis articulated robot including seven joints sequentially arranged from a proximal end of the robot to a distal end of the robot, the seven joints including rotational axes each causing a next joint to turn and rotational axes each causing a next joint to pivot, such that the rotational axes causing turning and the rotational axes causing pivoting are arranged alternately, the seven-axis articulated robot being configured such that rotational axes of three proximal end side joints of the robot do not intersect with each other at one point. The method includes performing inverse transformation using, as a constraint condition, such a joint angle of a middle joint among the three joints as to cause an assumed elbow angle to be constant in a case where a rotational axis of the middle joint is assumed as a shoulder.
摘要翻译：提供了一种控制七轴铰接机器人的方法，其包括从机器人的近端顺序地排列到机器人的远端的七个接头，所述七个接头包括各自引起下一个接头转动的旋转轴和各自引起的旋转轴下一个枢转枢转，使得旋转的旋转轴和引起枢转的旋转轴交替布置，所述七轴铰接机器人构造成使得机器人的三个近端侧接头的旋转轴线彼此不相交在一个点上。该方法包括使用三个关节之间的中间关节的这种关节角度作为约束条件来执行逆变换，以便在将中间关节的旋转轴假设为假定的情况下使假设的肘角恒定肩。

4. 发明申请

US20130345866A1 CONTROL SYSTEM AND TEACHING METHOD FOR SEVEN-AXIS ARTICULATED ROBOT 有权
标题翻译：七轴机器人的控制系统和教学方法
公开(公告)号：US20130345866A1
公开(公告)日：2013-12-26
申请号：US13977281
申请日：2011-12-21
申请人： Hidenori Tanaka , Takamasa Ogata , Tetsuya Kubota
发明人： Hidenori Tanaka , Takamasa Ogata , Tetsuya Kubota
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , G05B19/425 , G05B2219/39032 , G05B2219/39414 , G05B2219/40074
摘要： A control system and teaching method for a seven-axis articulated robot are provided, which system and method are capable of easily grasping a motion trajectory of the whole robot and thereby performing proper teaching during teaching operation. The control system includes a setting device for setting a specified plane in a teaching mode for teaching a seven-axis articulated robot; a control unit for controlling the movement of the seven-axis articulated robot so as to restrict a motion trajectory of an elbow portion within the plane set by the setting device; and a computing unit for performing inverse transform operation to calculate the pivot angle of each pivot axis based on a change in a position of the hand end, setting the restriction of the movement of the elbow portion as a constraint condition, when the position for the hand end is taught.
摘要翻译：提供了一种用于七轴铰接机器人的控制系统和教学方法，该系统和方法能够容易地掌握整个机器人的运动轨迹，从而在教学操作期间进行适当的教学。该控制系统包括用于在用于示教七轴铰接机器人的示教模式中设定指定平面的设定装置; 控制单元，用于控制七轴铰接机器人的移动，以限制由设置装置设定的平面内的肘部的运动轨迹; 以及计算单元，用于执行逆变换操作，以基于所述手端的位置的变化来计算每个枢转轴的枢转角度，将所述肘部的移动的限制设置为约束条件，当所述肘部的位置为手端被教

5. 发明授权

US07883887B2 Automatic cell cultivation apparatus utilizing autoclave sterilization and method for using the same 有权
标题翻译：使用高压灭菌器的自动细胞培养装置及其使用方法
公开(公告)号：US07883887B2
公开(公告)日：2011-02-08
申请号：US11257950
申请日：2005-10-25
申请人： Mutsumi Takagi , Katsumi Nakashima , Toshihisa Doi , Takamasa Ogata
发明人： Mutsumi Takagi , Katsumi Nakashima , Toshihisa Doi , Takamasa Ogata
IPC分类号： C12M1/00 , C12M3/00 , A61L2/08 , A61L2/00
CPC分类号： A61L2/07 , C12M23/50 , C12M37/00 , C12M41/48 , Y10S435/809
摘要： To present an automatic cell cultivation apparatus capable of sterilizing completely including a cold storage unit and a normal temperature storage unit, without causing cross contamination, in used of cell cultivation of plural subjects. An automatic cell cultivation apparatus comprising an operation unit 11 for operating to cultivate cells of subjects, incubator units 14 for cultivating the cells, a cold storage unit 16 for storing reagents necessary for cultivation, a normal temperature storage unit 17 for storing culture tools, an inlet-outlet unit 15 for taking in and out reagents and culture tools, and a steam supply unit 22 for autoclave sterilization, in which the incubator units 14, the cold storage unit 16, the normal temperature storage unit 17, and the inlet-outlet unit 15 communicate with the operation unit 11, and have sealing doors 18a to 18d leading to the operation unit 11, filters 20a and 20b for cleaning and sterilizing the air stream supplied in the operation unit 11 are provided, and sealing doors 30a and 30b are provided between the filter units and the operation unit 11. By selecting the sealing doors 18a to 18d and opening and closing, sterilizing steam from the steam supply unit 22 is supplied into any of the sterilization required units, operation unit 11, and the incubator units 14, the cold storage unit 16, the normal temperature storage unit 17, and the inlet-outlet unit 15, communicating with the operation unit 11.
摘要翻译：为了呈现能够完全包括冷藏单元和常温储存单元的自动细胞培养装置，而不会引起交叉污染，用于多个受试者的细胞培养。一种自动细胞培养装置，包括用于培养受试者细胞的操作单元11，用于培养细胞的培养单元14，用于培养培养所需的试剂的冷藏单元16，用于储存培养工具的常温储存单元17，用于取出和取出试剂和培养工具的入口 - 出口单元15和用于高压灭菌的蒸汽供应单元22，其中培养箱单元14，冷藏单元16，常温储存单元17和入口单元15与操作单元11连通，并且具有通向操作单元11的密封门18a至18d，设置用于清洁和消毒在操作单元11中供应的空气流的过滤器20a和20b，并且密封门30a和30b是设置在过滤器单元和操作单元11之间。通过选择密封门18a至18d并打开和关闭来自蒸汽供应单元22的蒸汽灭菌，与操作单元11和培养箱单元14，冷藏单元16，常温存储单元17和入口出口单元15中的任一个进行通信。

6. 发明授权

US5475613A Ultrasonic defect testing method and apparatus 失效
标题翻译：超声波缺陷检测方法及装置
公开(公告)号：US5475613A
公开(公告)日：1995-12-12
申请号：US965378
申请日：1992-12-17
申请人： Kouyu Itoga , Takamasa Ogata , Hideyuki Hirasawa , Takaya Misumi , Sumihiro Ueda , Osamu Miki , Hiroo Owaki , Harutaka Koike , Yuji Sugita , Katsuhiro Onda , Takaaki Okumura
发明人： Kouyu Itoga , Takamasa Ogata , Hideyuki Hirasawa , Takaya Misumi , Sumihiro Ueda , Osamu Miki , Hiroo Owaki , Harutaka Koike , Yuji Sugita , Katsuhiro Onda , Takaaki Okumura
IPC分类号： G01N29/06 , G01S5/16 , G01S15/02 , E21B49/00
CPC分类号： G01S15/025 , G01N29/0609 , G01N29/0627 , G01S5/163 , G01N2291/02827 , G01N2291/02854 , G01N2291/0289
摘要： A three dimensional object under test is measured to obtain shape data representing a shape of the three dimensional object. The object under test is measured using, for example, an ultrasonic probe LED to obtain defect test data. A processing mechanism forms a three-dimensional graphic image of a defect zone from the defect test data and a three-dimensional graphic image of the object under test from the shape data. A display mechanism is provided for displaying the three-dimensional graphic image of the defect zone superimposed over the three-dimensional graphic image of the object under test.
摘要翻译： PCT No.PCT / JP92 / 00501 Sec。 371日期：1992年12月17日 102（e）日期1992年12月17日PCT 1992年4月18日提交PCT公布。第WO92 / 18862号公报日期为1992年10月29日。测量三维物体，以获得表示三维物体形状的形状数据。使用例如超声波探头LED来测量被测物体，以获得缺陷测试数据。处理机构根据形状数据从缺陷测试数据和待测物体的三维图形图像形成缺陷区的三维图形图像。提供了显示机构，用于显示叠加在被测对象的三维图形图像上的缺陷区域的三维图形图像。

7. 发明申请

US20060151185A1 Automatic cell cultivation apparatus utilizing autoclave sterilization and method for using the same 有权
标题翻译：使用高压灭菌器的自动细胞培养装置及其使用方法
公开(公告)号：US20060151185A1
公开(公告)日：2006-07-13
申请号：US11257950
申请日：2005-10-25
申请人： Mutsumi Takagi , Katsumi Nakashima , Toshihisa Doi , Takamasa Ogata
发明人： Mutsumi Takagi , Katsumi Nakashima , Toshihisa Doi , Takamasa Ogata
IPC分类号： A01B63/111
CPC分类号： A61L2/07 , C12M23/50 , C12M37/00 , C12M41/48 , Y10S435/809
摘要： To present an automatic cell cultivation apparatus capable of sterilizing completely including a cold storage unit and a normal temperature storage unit, without causing cross contamination, in used of cell cultivation of plural subjects. An automatic cell cultivation apparatus comprising an operation unit 11 for operating to cultivate cells of subjects, incubator units 14 for cultivating the cells, a cold storage unit 16 for storing reagents necessary for cultivation, a normal temperature storage unit 17 for storing culture tools, an inlet-outlet unit 15 for taking in and out reagents and culture tools, and a steam supply unit 22 for autoclave sterilization, in which the incubator units 14, the cold storage unit 16, the normal temperature storage unit 17, and the inlet-outlet unit 15 communicate with the operation unit 11, and have sealing doors 18a to 18d leading to the operation unit 11, filters 20a and 20b for cleaning and sterilizing the air stream supplied in the operation unit 11 are provided, and sealing doors 30a and 30b are provided between the filter units and the operation unit 11. By selecting the sealing doors 18a to 18d and opening and closing, sterilizing steam from the steam supply unit 22 is supplied into any of the sterilization required units, operation unit 11, and the incubator units 14, the cold storage unit 16, the normal temperature storage unit 17, and the inlet-outlet unit 15, communicating with the operation unit 11.
摘要翻译：为了呈现能够完全包括冷藏单元和常温储存单元的自动细胞培养装置，而不会引起交叉污染，用于多个受试者的细胞培养。一种自动细胞培养装置，包括用于培养受试者细胞的操作单元11，用于培养细胞的培养单元14，用于培养培养所需的试剂的冷藏单元16，用于储存培养工具的常温储存单元17，用于取出和取出试剂和培养工具的入口出口单元15和用于高压灭菌的蒸汽供应单元22，其中培养箱单元14，冷藏单元16，常温储存单元17和入口插座单元15与操作单元11通信，并且具有通向操作单元11的密封门18a至18d，设置用于清洁和消毒供应在操作单元11中的空气流的过滤器20a和20b，并且密封门 30a和30b设置在过滤器单元和操作单元11之间。通过选择密封门18a至18d并打开和关闭，来自蒸汽供应单元22的灭菌蒸汽被供应到任何灭菌要求的单元，操作单元11和孵化器单元14，冷藏单元16，常温存储单元17和入口出口单元15与操作单元11连通。

8. 发明授权

US5433106A Method for detecting moisture in a honeycomb panel 失效
标题翻译：用于检测蜂窝板中的水分的方法
公开(公告)号：US5433106A
公开(公告)日：1995-07-18
申请号：US46992
申请日：1993-04-16
申请人： Hiroyuki Matsumura , Takamasa Ogata , Hideyuki Hirasawa , Masato Uchiyama , Kenji Tsubaki
发明人： Hiroyuki Matsumura , Takamasa Ogata , Hideyuki Hirasawa , Masato Uchiyama , Kenji Tsubaki
IPC分类号： G01N25/56 , G01N25/72
CPC分类号： G01N25/56 , G01N25/72
摘要： To improve the detection precision and detection efficiency and further to automatize the detection process, moisture in a honeycomb panel is detected as follows: the honeycomb panel is heated by a lamp; the surface temperature of the heated construction is measured by an infrared radiation thermometer; the measured temperature is displayed to roughly discriminate an abnormal portion (i.e., a portion containing moisture); the honeycomb panel is further heated continuously to detect temperature-change-rates at both abnormal and normal portions (i.e., a portion not containing moisture); and the two temperature-change-rates are compared with each other to discriminate a presence of moisture.
摘要翻译：为了提高检测精度和检测效率，进一步使检测过程自动化，蜂窝板中的水分检测如下：蜂窝板被灯加热; 加热结构的表面温度由红外辐射温度计测量; 显示测量温度以粗略地区分异常部分（即，含有水分的部分）; 进一步加热蜂窝板以检测异常和正常部分（即不含水分的部分）的温度变化率; 并且将两个温度变化率彼此进行比较以区分湿气的存在。

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