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1. 发明申请

US20060071625A1 Robot arm control method and control device 有权
标题翻译：机器人手臂控制方法和控制装置
公开(公告)号：US20060071625A1
公开(公告)日：2006-04-06
申请号：US10546712
申请日：2004-07-02
申请人： Hiroyuki Nakata , Naoto Masunaga , Atsumi Hashimoto , Yasushi Mukai
发明人： Hiroyuki Nakata , Naoto Masunaga , Atsumi Hashimoto , Yasushi Mukai
IPC分类号： B25J5/00
CPC分类号： G05B19/4061 , B25J9/1633 , B25J9/1676 , G05B2219/39355 , G05B2219/40226 , G05B2219/42288
摘要： When either a command value or an actually measured value is appropriately selected as an angular velocity used for the frictional torque calculation, the frictional compensation can be made valid at all times in both the case in which a robot is actively operated according to an angular velocity command and the case in which the robot is passively operated being pushed by an external force. In the case where a motor rotating direction and a collision direction are reverse to each other after a collision has been detected, the control mode is switched from the positional control to the electric current control and a torque, the direction of which is reverse to the direction of the motor rotation is generated by the motor, so that the motor rotating speed can be reduced and the collision energy can be alleviated. After that, when the motor rotating speed is reduced to a value not more than the setting value, the control mode is switched to the compliance control and the distortion caused in a reduction gear is dissolved. On the other hand, in the case where the motor rotating direction and the collision direction are the same, the control mode is directly switched from the positional control to the compliance control without passing through the electric current control. When the robot is operated whole following a collision force, the collision force can be alleviated.
摘要翻译：当将命令值或实际测量值适当地选择为用于摩擦力矩计算的角速度时，可以在机器人根据角速度主动操作的情况下始终使摩擦补偿始终有效通过外力推动机器人被动地操作的情况。在检测到碰撞之后电动机旋转方向和碰撞方向相反的情况下，控制模式从位置控制切换到电流控制，转向与由电动机产生电动机旋转的方向，从而能够减小电动机的转速，能够缓和碰撞能量。此后，当电动机转速降低到不大于设定值的值时，控制模式切换到顺从控制，并且在减速装置中引起的变形被解除。另一方面，在电动机旋转方向和碰撞方向相同的情况下，控制模式从位置控制直接切换到柔性控制，而不经过电流控制。当机器人在碰撞力之后整体运行时，可以减轻碰撞力。

2. 发明授权

US07102315B2 Robot arm control method and control device 有权
公开(公告)号：US07102315B2
公开(公告)日：2006-09-05
申请号：US10546712
申请日：2004-07-02
申请人： Hiroyuki Nakata , Naoto Masunaga , Atsumi Hashimoto , Yasushi Mukai
发明人： Hiroyuki Nakata , Naoto Masunaga , Atsumi Hashimoto , Yasushi Mukai
IPC分类号： G05B6/02 , B25J13/00
CPC分类号： G05B19/4061 , B25J9/1633 , B25J9/1676 , G05B2219/39355 , G05B2219/40226 , G05B2219/42288
摘要： When either a command value or an actually measured value is appropriately selected as an angular velocity used for the frictional torque calculation, the frictional compensation can be made valid at all times in both the case in which a robot is actively operated according to an angular velocity command and the case in which the robot is passively operated being pushed by an external force. In the case where a motor rotating direction and a collision direction are reverse to each other after a collision has been detected, the control mode is switched from the positional control to the electric current control and a torque, the direction of which is reverse to the direction of the motor rotation is generated by the motor, so that the motor rotating speed can be reduced and the collision energy can be alleviated. After that, when the motor rotating speed is reduced to a value not more than the setting value, the control mode is switched to the compliance control and the distortion caused in a reduction gear is dissolved. On the other hand, in the case where the motor rotating direction and the collision direction are the same, the control mode is directly switched from the positional control to the compliance control without passing through the electric current control. When the robot is operated whole following a collision force, the collision force can be alleviated.

3. 发明授权

US6084374A Controller and filter used therein 有权
标题翻译：其中使用的控制器和过滤器
公开(公告)号：US6084374A
公开(公告)日：2000-07-04
申请号：US159624
申请日：1998-09-24
申请人： Takashi Nakatsuka , Atsumi Hashimoto , Yasushi Mukai , Kazuhito Ochiai
发明人： Takashi Nakatsuka , Atsumi Hashimoto , Yasushi Mukai , Kazuhito Ochiai
IPC分类号： G05B13/02 , B25J9/10 , G05B20060101 , G05B19/19 , G05B19/416 , G05D3/12
CPC分类号： G05B19/416 , B25J9/1638 , G05B2219/41151 , G05B2219/43099
摘要： The controller comprises (a) an interpolation calculator for dividing move data of a robot arm tip position into each sample period, the data fed from a position teaching section, (b) a load inertia calculator, (c) a gravity torque calculator, (d) acceleration and deceleration (A & D) time calculator for calculating an optimum A & D time by using the load inertia calculated by the load inertia calculator and the gravity torque calculated by the gravity torque calculator, (e) an A & D processor for providing an A & D process to move data of each sample time calculated by the interpolation calculator based on the A & D time calculated by the A & D time calculator, and (f) position controllers for controlling each motor based on the move data processed by the A & D processor. The A & D time is calculated with the following equation:T=.alpha..multidot.(J.sub.m +J.sub.L)/(T.sub.m -T.sub.L).multidot.Vwhere: V=desirable speed, J.sub.m =motor inertia, J.sub.L =load inertia, T.sub.m =motor torque, T.sub.L =disturbance torque including gravity torque, .alpha.=proportional coefficient and T=A & D time. The robot having the above construction can figure out an optimum A & D time by considering change of load inertia and also that of gravity torque produced by a posture change of the robot, whereby A & D time can be varied. As a result, the robot can be operated at a higher speed.
摘要翻译：控制器包括：（a）插入计算器，用于将机器人臂尖位置的移动数据分割成每个采样周期，从位置示教部分馈送的数据，（b）负载惯量计算器，（c）重力矩计算器， d）加速和减速（A＆D）时间计算器，用于通过使用由负载惯量计算器计算的负载惯量和由重力矩计算器计算的重力矩来计算最佳A＆D时间，（e）A＆D处理器用于提供A＆D处理以基于由A＆D时间计算器计算的A＆D时间来计算由插值计算器计算的每个采样时间的数据，以及（f）基于移动数据控制每个电动机的位置控制器由A＆D处理器处理。 A＆D时间用以下公式计算：T =αx（Jm + JL）/（Tm-TL）xV其中：V =期望速度，Jm =电机惯量，JL =负载惯量，Tm =电机转矩，TL =干扰转矩，包括重力矩，α=比例系数，T = A＆D时间。具有上述结构的机器人可以通过考虑负载惯量的变化以及由机器人的姿势变化产生的重力矩的变化来确定最佳的A＆D时间，从而可以改变A＆D时间。结果，机器人可以以更高的速度运行。

4. 发明授权

US5986424A Control system and control method 失效
标题翻译：控制系统及控制方法
公开(公告)号：US5986424A
公开(公告)日：1999-11-16
申请号：US26588
申请日：1998-02-20
申请人： Takashi Nakatsuka , Atsumi Hashimoto , Yasushi Mukai , Kiyoshi Ohishi
发明人： Takashi Nakatsuka , Atsumi Hashimoto , Yasushi Mukai , Kiyoshi Ohishi
IPC分类号： B25J13/08 , B25J9/18 , B25J13/00 , G05B13/02 , G05B13/04 , G05B19/408 , G05D20060101 , G05D3/12 , G05D17/00 , H02P5/00 , H02P29/00
CPC分类号： G05B19/404 , B25J9/1641 , G05B2219/41398 , G05B2219/41402 , G05B2219/49197
摘要： A control system which comprises a reduction gear unit containing gears, a motor being disposed on an input side of said reduction gear unit, a sensor for detecting a turning angle of said motor, and control means for inputting output from said sensor and controlling turning of said motor. The control system further includes gear output angle variation estimation means for estimating a gear output angle variation of said reduction gear unit based on the motor turning angle. An angle transmission error is estimated based on the motor turning angle, whereby load tip locus accuracy can be improved without lowering responsivity of the control system.
摘要翻译：一种控制系统，包括：减速齿轮单元，其包含齿轮;马达设置在所述减速装置的输入侧;传感器，用于检测所述马达的转角;以及控制装置，用于输入所述传感器的输出，说电机。控制系统还包括齿轮输出角度变化估计装置，用于基于马达转动角度来估计所述减速齿轮单元的齿轮输出角度变化。基于马达转角来估计角度传递误差，从而可以提高负载尖端轨迹精度，而不降低控制系统的响应性。

5. 发明授权

US4330782A Fully-automatic antenna driving device 失效
标题翻译：全自动天线驱动装置
公开(公告)号：US4330782A
公开(公告)日：1982-05-18
申请号：US174508
申请日：1980-08-01
申请人： Atsumi Hashimoto , Kazumasa Takagi
发明人： Atsumi Hashimoto , Kazumasa Takagi
IPC分类号： H01Q1/10 , H01Q1/32
CPC分类号： H01Q1/32 , H01Q1/103
摘要： A fully-automatic antenna driving device comprises a radio switch consisting of a push type switch which is on only during being pushed, a self-holding circuit for self-holding an excited condition by the turning on of the push type switch, and a further push type switch which is off only during being pushed, thereby preventing an antenna from being extended only by turning on an ignition switch.
摘要翻译：一种全自动天线驱动装置，包括无线电开关，该无线电开关包括仅在推动状态下的推压型开关，用于通过按压型开关的接通自保持激励状态的自保持电路，以及另外推式开关仅在被按压时关闭，从而仅通过接通点火开关来防止天线延伸。

6. 发明授权

US06684131B2 Device and method for controlling robot 有权
标题翻译：用于控制机器人的装置和方法
公开(公告)号：US06684131B2
公开(公告)日：2004-01-27
申请号：US10183897
申请日：2002-06-25
申请人： Atsumi Hashimoto , Takashi Nakatsuka , Masahiro Ohto
发明人： Atsumi Hashimoto , Takashi Nakatsuka , Masahiro Ohto
IPC分类号： G06F1900
CPC分类号： B25J9/1651 , G05B2219/40454
摘要： A robot controller capable of minimizing an increase in the tact time during work, reducing changes in joint axes of the robot, thereby providing the structure with long mechanical life. The robot controller i) stores a plurality of movement data formed of amount and time for movement; ii) checks whether a movement of a robot has acceleration exceeding a predetermined level by calculation on the basis of the stored movement data; iii) increases the time for movement of the corresponding movement data, the preceding and following data to the movement data, if the calculation indicates over-acceleration; and iv) controls the robot according to the time-increased movement data.
摘要翻译：一种机器人控制器，其能够最小化工作中的节拍时间的增加，减少机器人的关节轴线的变化，从而提供具有较长机械寿命的结构。机器人控制器i）存储由移动量和时间形成的多个运动数据; ii）基于存储的运动数据，通过计算来检查机器人的运动是否具有超过预定水平的加速度; iii）如果计算指示过度加速，则将相应的移动数据，前一个和后续数据移动到移动数据的时间增加; 并且iv）根据时间增加的运动数据来控制机器人。

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