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1. 发明授权

US4620436A Method and apparatus for calibrating transformation matrix of force sensor 失效
标题翻译：用于校准力传感器转换矩阵的方法和装置
公开(公告)号：US4620436A
公开(公告)日：1986-11-04
申请号：US784502
申请日：1985-10-04
申请人： Hisaaki Hirabayashi , Koichi Sugimoto , Shinichi Arai , Tomoyuki Masui , Hidetoshi Inaba
发明人： Hisaaki Hirabayashi , Koichi Sugimoto , Shinichi Arai , Tomoyuki Masui , Hidetoshi Inaba
IPC分类号： B25J9/16 , B25J13/08 , G01L5/16 , G01L5/22 , G01L25/00
CPC分类号： G01L25/00 , B25J13/085 , B25J9/1692 , G01L5/161 , G01L5/226
摘要： The present invention relates to a method and an apparatus for calibrating a transformation matrix of a force sensor, in which: a force sensor is attached between a wrist portion and a hand portion of a robot; a standard work (weight) whose weight and position of a center of gravity are known is attached or held to the hand portion; each driving source of the robot is made operative in response to commands from a control unit and thereby sequentially changing the posture of the force sensor attached to the robot; the control unit obtains a force consisting of a force and a moment due to an arithmetic operation from the posture and position information of the force sensor which is detected on the basis of signals from encoders to detect an operational amount of each operating element of the robot and from the weights and the positions of the centers of gravity of the standard work and the hand portion and the like inputted as data; the control unit receives a strain voltage detected from the force sensor; the control unit calculates the transformation matrix of the force sensor from the force consisting of the force and moment derived and from the strain voltage received in accordance with a predetermined arithmetic logic equation and then stores the transformation matrix into memory means; and then the transformation matrix of the force sensor is calibrated.
摘要翻译：本发明涉及一种用于校准力传感器的变换矩阵的方法和装置，其中：力传感器安装在机械手的腕部和手部之间; 其重量和重心位置已知的标准作业（重量）被附着或保持在手部; 机器人的每个驱动源响应于来自控制单元的命令而操作，从而顺序地改变附接到机器人的力传感器的姿势; 控制单元根据来自编码器的信号检测到的力传感器的姿态和位置信息，从由运算操作产生的力和力矩构成的力，以检测机器人的每个操作元件的操作量并且从作为数据输入的标准作品的重心和作为数据的手部等的重量和位置; 控制单元接收从力传感器检测到的应变电压; 控制单元根据由力和力导出的力，根据预定的算术逻辑方程从接收的应变电压计算力传感器的变换矩阵，然后将变换矩阵存储到存储装置中; 然后校正力传感器的变换矩阵。

2. 发明授权

US4884015A Probing control method and apparatus for mechanism with multiple degrees of freedom 失效
标题翻译：探测具有多重自由度的机构的控制方法和装置
公开(公告)号：US4884015A
公开(公告)日：1989-11-28
申请号：US875189
申请日：1986-06-17
申请人： Koichi Sugimoto , Hisaaki Hirabayashi , Tomoyuki Masui
发明人： Koichi Sugimoto , Hisaaki Hirabayashi , Tomoyuki Masui
IPC分类号： B23Q1/36 , B23Q15/24 , G02B6/38 , G02B6/42
CPC分类号： B23Q1/36 , B23Q15/24 , G02B6/3803 , G02B6/4226 , G02B6/4227
摘要： A probing control apparatus for use in aligning an object comprises: a mechanism having n-degrees of freedom and adapted for controlling the object; n pieces of actuators for actuating the mechanism; detecting means for detecting change in the output from the object in response to the operation of each actuator; and control means for computing a command for each actuator in accordance with a change in the output detected by the detecting means and amount of movement of the mechanism, and for controlling each actuator in accordance with the command such that the output from the object takes the maximum value.
摘要翻译：用于对准物体的探测控制装置包括：具有n个自由度并适于控制物体的机构; n个用于致动机构的致动器; 检测装置，用于响应于每个致动器的操作检测来自物体的输出的变化; 以及控制装置，用于根据由检测装置检测的输出的变化和机构的移动量来计算每个致动器的命令，并且用于根据命令控制每个致动器，使得来自对象的输出取为最大值。

3. 发明授权

US4621332A Method and apparatus for controlling a robot utilizing force, position, velocity, spring constant, mass coefficient, and viscosity coefficient 失效
标题翻译：使用力，位置，速度，弹簧常数，质量系数和粘度系数来控制机器人的方法和装置
公开(公告)号：US4621332A
公开(公告)日：1986-11-04
申请号：US621717
申请日：1984-06-18
申请人： Koichi Sugimoto , Hisaaki Hirabayashi , Shinichi Arai , Shiyuki Sakaue
发明人： Koichi Sugimoto , Hisaaki Hirabayashi , Shinichi Arai , Shiyuki Sakaue
IPC分类号： B25J9/16 , B25J9/18 , B25J13/08 , G05B13/00
CPC分类号： B25J9/1633 , B25J13/085
摘要： Method and apparatus for controlling a robot wherein a force signal is calculated by detecting a force applied to a hand of the robot, a first value representing a difference between the force signal and a force reference is calculated, a second value representing a product of a difference between a position signal representing current position and attitude of the hand and a position reference, multiplied by a spring constant is calculated, a third value representing a product of a velocity signal representing a current velocity of the hand, multiplied by a viscosity coefficient is calculated, and a command velocity of the hand is calculated based on the first, second and third values and a mass coefficient.
摘要翻译：用于控制机器人的方法和装置，其中通过检测施加到机器人的手的力来计算力信号，计算表示力信号和力参考之间的差的第一值，第二值表示计算代表当前位置的位置信号和手的姿势与位置参考乘以弹簧常数之间的差异，表示表示当前手速度的速度信号乘以粘度系数的乘积的第三值是并且基于第一，第二和第三值以及质量系数来计算手的指令速度。

4. 发明授权

US4367591A Fitting device 失效
标题翻译：配件装置
公开(公告)号：US4367591A
公开(公告)日：1983-01-11
申请号：US184915
申请日：1980-09-08
申请人： Hisaaki Hirabayashi , Koichi Sugimoto
发明人： Hisaaki Hirabayashi , Koichi Sugimoto
IPC分类号： B23P19/02 , B23P19/00 , B25J17/02 , B25G3/00 , F16D1/00 , F16G11/00
CPC分类号： B23P19/102 , B23P19/12 , B25J17/0208 , Y10T403/1616 , Y10T403/32
摘要： A fitting device for fitting a peg member and a hole formed in a hole member into each other including a stationary base, a movable base for supporting one of the peg member and the hole member, and a three-dimensional spatial mechanism having at least six degrees of freedom. The three-dimensional spatial mechanism includes a plurality of sliders supported on the stationary base for non-linear movements.
摘要翻译：一种用于将栓构件和形成在孔构件中的孔彼此配合的装配装置，包括固定基座，用于支撑栓构件和孔构件中的一个的可移动基座以及具有至少六个自由程度。三维空间机构包括支撑在固定基座上用于非线性移动的多个滑块。

5. 发明授权

US4788482A Position correcting control system for servomechanism device 失效
标题翻译：伺服机构位置校正控制系统
公开(公告)号：US4788482A
公开(公告)日：1988-11-29
申请号：US75987
申请日：1987-07-21
申请人： Kyozo Tachibana , Toshihiko Sakai , Hisaaki Hirabayashi , Koichi Sugimoto , Hiroshi Sugai , Hisakazu Ninomiya
发明人： Kyozo Tachibana , Toshihiko Sakai , Hisaaki Hirabayashi , Koichi Sugimoto , Hiroshi Sugai , Hisakazu Ninomiya
IPC分类号： G05D3/12 , B25J9/16 , G05B19/19 , G05B5/01
CPC分类号： G05B19/19 , B25J9/1633 , G05B2219/37357
摘要： The present invention relates to a control system for a servomechanism device such as robot, and more particularly to a position correcting control system for a servomechanism device which is well suited to perform high-precision positioning or high-perfomance operations on the basis of a sensor feedback control system such as force detection feedback control. It is characterized in that a plurality of algorithms for correcting a position target value on the basis of a sensor signal are prepared and are switchedly used so as to readily switch functions, depending upon whether the purpose of a sensor control is a high-precision control or any other high-performance control, that the position target value is corrected through a threshold characteristic element or a dead band element so as to make effective the correction of the position target value based on the sensor signal, and that a correcting signal is applied through a response lag element so as to attain stabilization owing to a viscous effect bestowed on the position correcting operation based on the sensor signal.
摘要翻译：本发明涉及一种用于诸如机器人的伺服机构的控制系统，更具体地涉及一种适用于基于传感器执行高精度定位或高性能操作的伺服机构的位置校正控制系统反馈控制系统如力检测反馈控制。其特征在于，根据传感器控制的目的是否是高精度控制，准备用于基于传感器信号校正位置目标值的多种算法，并且切换使用以便容易地切换功能或任何其他高性能控制，通过阈值特征元件或死区元素校正位置目标值，以便基于传感器信号有效地校正位置目标值，并且应用校正信号通过响应滞后元件，由于基于传感器信号的位置校正操作产生的粘性效果而实现稳定化。

6. 发明授权

US4197627A Interfitting apparatus 失效
标题翻译：接头装置
公开(公告)号：US4197627A
公开(公告)日：1980-04-15
申请号：US934718
申请日：1978-08-21
申请人： Hisaaki Hirabayashi , Koichi Sugimoto
发明人： Hisaaki Hirabayashi , Koichi Sugimoto
IPC分类号： B23P19/02 , B23P19/00 , B25B27/14
CPC分类号： B23P19/12 , Y10T29/53978
摘要： Interfitting apparatus including a fitting jig formed with a plurality of regulating openings each for receiving therein one of a plurality of shaft members having chamfered forward ends, which are objects of interest, to hold the shaft members by regulating their posture and allow them to move freely within tight tolerances, and a table at least slightly movable in a horizontal direction for supporting, by precision positioning, an object formed with a plurality of holes separated from one another by a spacing substantially the same as the spacing between the regulating openings of the fitting jig. In fitting the shaft members in the respective holes in the object, the fitting jig is moved in a vertical direction toward the table, and guiding members and guided members mounted in the fitting jig and the table respectively are brought into engagement with each other so that the former may guide the latter, to thereby allow the table to move slightly in the horizontal direction to effect positioning of the shaft members and the object horizontally relative to each other within the range of the chamfers. Thereafter the fitting jig is further moved in the vertical direction to interfit the shaft members and the holes in the object with each other by exerting a fitting force on the shaft members from outside a jamming area.
摘要翻译：一种接合装置，包括形成有多个调节开口的配合夹具，每个调节开口用于在其中容纳具有倒角前端的多个轴构件中的一个，所述多个轴构件是有意义的物体，以通过调节它们的姿态并允许它们自由移动来保持轴构件以及在水平方向上至少可稍微移动的桌子，通过精确定位来支撑形成有彼此分开的多个孔的物体，其间隔与配件的调节开口之间的间隔基本相同夹具在将轴构件安装在物体的相应孔中时，装配夹具沿着垂直方向朝向工作台移动，并且安装在装配夹具和工作台中的引导构件和引导构件彼此接合，使得前者可以引导后者，从而允许工作台在水平方向上稍微移动，以在轴倒角的范围内相对于彼此水平地定位轴构件和物体。此后，通过在干扰区域的外部对轴构件施加配合力，使装配夹具在垂直方向上进一步移动，以使轴构件和物体中的孔相互配合。

7. 发明授权

US4674181A Working/assembling system 失效
标题翻译：工作/装配系统
公开(公告)号：US4674181A
公开(公告)日：1987-06-23
申请号：US840197
申请日：1986-03-17
申请人： Toyohide Hamada , Hisaaki Hirabayashi
发明人： Toyohide Hamada , Hisaaki Hirabayashi
IPC分类号： B23Q41/02 , B23P19/00 , B23P21/00 , B23Q41/00 , B25J9/00 , G05B19/418 , B23Q15/00
CPC分类号： B23P19/10 , B23P21/004 , B23Q41/00 , B25J9/0093 , G05B19/4182 , Y02P90/04 , Y02P90/083 , Y10T29/49829 , Y10T29/49831 , Y10T29/5191 , Y10T29/5196 , Y10T29/53013 , Y10T29/53052 , Y10T29/53061 , Y10T29/53087 , Y10T29/534 , Y10T29/53435 , Y10T29/53548
摘要： A working/assembling system including a dosed loop endless track, moving units adapted to travel on the endless track, at least one robot supported on one of the moving units for a working or assembling operation, and a control unit mounted on the other moving unit connected to the one moving unit having stored therein operations to be performed by the robot and causing the robot to perform the operations. The robot moves on the moving units as the latter travel on the endless track, and performs the operations for working on workpieces or assembling parts as it is controlled by the control unit.
摘要翻译：一种工作/组装系统，包括计量循环环形轨道，适于在循环轨道上行进的移动单元，至少一个支撑在用于工作或组装操作的移动单元中的一个机器人，以及安装在另一移动单元上的控制单元连接到已经存储有由机器人执行的操作的一个移动单元，并使机器人执行操作。机器人随着移动单元在环形履带上移动时移动，并且在由控制单元控制的情况下执行用于在工件或组装部件上的操作。

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