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    • 8. 发明申请
    • ROBOT SYSTEM, AND CONTROL APPARATUS AND METHOD THEREOF
    • 机器人系统及其控制装置及其方法
    • US20110153076A1
    • 2011-06-23
    • US12972916
    • 2010-12-20
    • Hideo Noro
    • Hideo Noro
    • G06F19/00
    • B25J9/1687B25J9/1612B25J9/1664B25J9/1666B25J9/1676B25J13/02B25J15/00B25J15/10G05B2219/36504G05B2219/39487G05B2219/40032
    • A robot system, including an arm capable of controlling a position and orientation of an arm tip portion, a hand, which is attached to the arm tip portion and which includes a grasping mechanism configured to grasp an operation target, capable of controlling a relative position and orientation from the arm tip portion of the grasped operation target, and a position and orientation measurement apparatus configured to perform relative position and orientation measurement from the arm tip portion of the grasped operation target, wherein measurement of the relative position and orientation from the arm tip portion of the operation target is performed after the operation target is grasped by the grasping mechanism, while the arm tip portion is still moving, and correction of the relative position and orientation from the arm tip portion of the hand is performed based on a result of the position and orientation measurement so that the arm tip portion takes a predetermined relative position and orientation from the arm tip portion.
    • 一种机器人系统,包括能够控制臂末端部的位置和姿势的手臂,附接到臂末端部的手,其包括构造成抓住操作对象的抓握机构,能够控制相对位置 以及从被抓握的操作对象的手柄前端部取向的姿势取向测定装置,以及从所述抓持操作对象的手柄前端部进行相对位置取向测定的姿势测定装置,其特征在于, 在手臂前端部仍在移动的同时,通过把持机构掌握了操作对象之后,执行操作对象的前端部分,并且基于结果来执行相对于手指臂部的相对位置和姿势的校正 的位置和取向测量,使得臂尖部分采取预定的相对位置a 从臂尖部分取向。