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1. 发明申请

US20080288109A1 CONTROL METHOD FOR SYNCHRONOUS HIGH SPEED MOTION STOP FOR MULTI-TOP LOADERS ACROSS CONTROLLERS 有权
标题翻译：同步高速运动停止控制方法多控制器多载荷装置
公开(公告)号：US20080288109A1
公开(公告)日：2008-11-20
申请号：US11750082
申请日：2007-05-17
申请人： Jianming Tao , H. Dean McGee , Chi-Keng Tsai , Ho Cheung Wong , Ian Orr , Richard Motley
发明人： Jianming Tao , H. Dean McGee , Chi-Keng Tsai , Ho Cheung Wong , Ian Orr , Richard Motley
IPC分类号： B25J9/16 , B25J19/06
CPC分类号： B25J9/1666 , G05B19/4061 , G05B2219/39088 , G05B2219/39097
摘要： A synchronous high speed motion stop for a series of multi-top loaders residing on “n” controllers on one rail achieves effective detection of the servo-error status and shut off of the trailing controller's servo power within 3 ITP time. The control method reduces the unnecessary error recovery because it only shuts off its immediate trailing controller without aborting its leading controller, allowing the leading controller to complete the cycle tasks. The cascade control method produces a synchronous high-speed motion stop for the robots across the controllers and effectively prevents the collision between the robots.
摘要翻译：一个轨道上“n”个控制器上的一系列多顶装载机的同步高速运动停止可以有效检测伺服误差状态，并在3 ITP时间内关闭拖尾控制器的伺服电源。控制方法减少了不必要的错误恢复，因为它只会在不中断其前导控制器的情况下关闭其直接拖动控制器，从而允许前台控制器完成循环任务。级联控制方法为机器人跨越控制器产生同步高速运动停止，并有效防止机器人之间的碰撞。

2. 发明授权

US08046102B2 Control method for synchronous high speed motion stop for multi-top loaders across controllers 有权
标题翻译：跨控制器的多顶装载机的同步高速运动停止控制方法
公开(公告)号：US08046102B2
公开(公告)日：2011-10-25
申请号：US11750082
申请日：2007-05-17
申请人： Jianming Tao , H. Dean McGee , Chi-Keng Tsai , Ho Cheung Wong , Ian Orr , Richard Motley
发明人： Jianming Tao , H. Dean McGee , Chi-Keng Tsai , Ho Cheung Wong , Ian Orr , Richard Motley
IPC分类号： B25J9/16 , B25J19/06
CPC分类号： B25J9/1666 , G05B19/4061 , G05B2219/39088 , G05B2219/39097
摘要： A synchronous high speed motion stop for a series of multi-top loaders residing on “n” controllers on one rail achieves effective detection of the servo-error status and shut off of the trailing controller's servo power within 3 ITP time. The control method reduces the unnecessary error recovery because it only shuts off its immediate trailing controller without aborting its leading controller, allowing the leading controller to complete the cycle tasks. The cascade control method produces a synchronous high-speed motion stop for the robots across the controllers and effectively prevents the collision between the robots.
摘要翻译：一个轨道上“n”个控制器上的一系列多顶装载机的同步高速运动停止可以有效检测伺服误差状态，并在3 ITP时间内关闭拖尾控制器的伺服电源。控制方法减少了不必要的错误恢复，因为它只会在不中断其前导控制器的情况下关闭其直接拖动控制器，从而允许前台控制器完成循环任务。级联控制方法为机器人跨越控制器产生同步高速运动停止，并有效防止机器人之间的碰撞。

3. 发明授权

US07860609B2 Robot multi-arm control system 有权
标题翻译：机器人多臂控制系统
公开(公告)号：US07860609B2
公开(公告)日：2010-12-28
申请号：US11381589
申请日：2006-05-04
申请人： Akihiro Yanagita , Jianming Tao , Tien L. Chang , Ho Cheung Wong , H. Dean McGee , Chi-Keng Tsai , Sai-Kai Cheng , Steven E. Nickel , Hadi Akeel
发明人： Akihiro Yanagita , Jianming Tao , Tien L. Chang , Ho Cheung Wong , H. Dean McGee , Chi-Keng Tsai , Sai-Kai Cheng , Steven E. Nickel , Hadi Akeel
IPC分类号： G06F19/00 , G06F15/16
CPC分类号： B25J9/1682 , B25J9/1669 , G05B2219/33097 , G05B2219/33144 , G05B2219/33274 , G05B2219/34397 , G05B2219/34398 , G05B2219/39129 , G05B2219/40307
摘要： A robot multi-arm control system includes robot controllers that communicate via a network to transmit synchronization information from a master controller to one or more slave controllers in order to coordinate manufacturing processes. The system accounts for the network communication delay when synchronizing the event timing for process and motion synchronization.
摘要翻译：机器人多臂控制系统包括机器人控制器，其通过网络通信以将同步信息从主控制器传送到一个或多个从属控制器，以便协调制造过程。同步处理和运动同步的事件定时时，系统会考虑网络通信延迟。

4. 发明授权

US08843234B2 Dynamic space check for multi-arm system moving on a rail 有权
标题翻译：多臂系统在轨道上移动的动态空间检查
公开(公告)号：US08843234B2
公开(公告)日：2014-09-23
申请号：US12296992
申请日：2007-04-13
申请人： Jianming Tao , H. Dean McGee , Chi-Keng Tsai , Hadi Abu Akeel
发明人： Jianming Tao , H. Dean McGee , Chi-Keng Tsai , Hadi Abu Akeel
IPC分类号： G05B19/18 , B25J9/16
CPC分类号： B25J9/1674 , G05B2219/39083 , Y10S901/02
摘要： A system and method for controlling motion interference avoidance for a plurality of robots are disclosed, the system and method including a dynamic space check system wherein an efficiency of operation is maximized and a potential for interference or collision is minimized.
摘要翻译：公开了一种用于控制多个机器人的运动干扰避免的系统和方法，所述系统和方法包括动态空间检查系统，其中操作效率最大化并且干扰或碰撞的可能性最小化。

5. 发明申请

US20090204258A1 DYNAMIC SPACE CHECK FOR MULTI-ARM SYSTEM MOVING ON A RAIL 有权
标题翻译：用于多臂系统移动的动态空间检查
公开(公告)号：US20090204258A1
公开(公告)日：2009-08-13
申请号：US12296992
申请日：2007-04-13
申请人： Jianming Tao , H. Dean McGee , Chi-Keng Tsai , Hadi Abu Akeel
发明人： Jianming Tao , H. Dean McGee , Chi-Keng Tsai , Hadi Abu Akeel
IPC分类号： G05B19/418
CPC分类号： B25J9/1674 , G05B2219/39083 , Y10S901/02
摘要： A system and method for controlling motion interference avoidance for a plurality of robots are disclosed, the system and method including a dynamic space check system wherein an efficiency of operation is maximized and a potential for interference or collision is minimized.
摘要翻译：公开了一种用于控制多个机器人的运动干扰避免的系统和方法，所述系统和方法包括动态空间检查系统，其中操作效率最大化并且干扰或碰撞的可能性最小化。

6. 发明授权

US09144904B2 Method and system for automatically preventing deadlock in multi-robot systems 有权
标题翻译：自动防止多机器人系统中的死锁的方法和系统
公开(公告)号：US09144904B2
公开(公告)日：2015-09-29
申请号：US13462234
申请日：2012-05-02
申请人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
发明人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , B25J9/1676 , G05B2219/39135 , G05B2219/40442 , G05B2219/40477 , G05B2219/40492
摘要： A system and method for controlling avoiding collisions and deadlocks in a workcell containing multiple robots automatically determines the potential deadlock conditions and identifies a way to avoid these conditions. Deadlock conditions are eliminated by determining the deadlock-free motion statements prior to execution of the motions that have potential deadlock conditions. This determination of deadlock-free motion statements can be done offline, outside normal execution, or it can be done during normal production execution. If there is sufficient CPU processing time available, the determination during normal production execution provides the most flexibility to respond to dynamic conditions such as changes in I/O timing or the timing of external events or sequences. For minimal CPU impact the determination is done offline where many permutations of programming sequences can be analyzed and an optimized sequence of execution may be found.
摘要翻译：用于控制避免包含多个机器人的工作单元中的碰撞和死锁的系统和方法自动确定潜在的死锁状况并且识别避免这些条件的方式。通过在执行具有潜在的死锁条件的运动之前确定无死锁动作语句来消除死锁条件。这种无死锁运动语句的确定可以在正常执行之外脱机完成，也可以在正常的生产执行期间完成。如果有足够的CPU处理时间可用，则在正常生产执行期间的确定提供了响应动态条件（例如I / O定时改变或外部事件或序列的定时）的最大灵活性。为了最小的CPU影响，离线执行确定，可以分析编程序列的多个排列，并且可以找到优化的执行顺序。

7. 发明申请

US20120215351A1 METHOD AND SYSTEM FOR AUTOMATICALLY PREVENTING DEADLOCK IN MULTI-ROBOT SYSTEMS 有权
标题翻译：用于自动防止多机器人系统中死机的方法和系统
公开(公告)号：US20120215351A1
公开(公告)日：2012-08-23
申请号：US13462234
申请日：2012-05-02
申请人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
发明人： H. Dean McGee , Tien L. Chang , Peter Swanson , Jianming Tao , Di Xiao , Ho Cheung Wong , Sai-Kai Cheng , Jason Tsai
IPC分类号： G05B19/418
CPC分类号： B25J9/1666 , B25J9/1676 , G05B2219/39135 , G05B2219/40442 , G05B2219/40477 , G05B2219/40492
摘要： A system and method for controlling avoiding collisions and deadlocks in a workcell containing multiple robots automatically determines the potential deadlock conditions and identifies a way to avoid these conditions. Deadlock conditions are eliminated by determining the deadlock-free motion statements prior to execution of the motions that have potential deadlock conditions. This determination of deadlock-free motion statements can be done offline, outside normal execution, or it can be done during normal production execution. If there is sufficient CPU processing time available, the determination during normal production execution provides the most flexibility to respond to dynamic conditions such as changes in I/O timing or the timing of external events or sequences. For minimal CPU impact the determination is done offline where many permutations of programming sequences can be analyzed and an optimized sequence of execution may be found.
摘要翻译：用于控制避免包含多个机器人的工作单元中的碰撞和死锁的系统和方法自动确定潜在的死锁状况并且识别避免这些条件的方式。通过在执行具有潜在的死锁条件的运动之前确定无死锁动作语句来消除死锁条件。这种无死锁运动语句的确定可以在正常执行之外脱机完成，也可以在正常的生产执行期间完成。如果有足够的CPU处理时间可用，则在正常生产执行期间的确定提供了响应动态条件（例如I / O定时改变或外部事件或序列的定时）的最大灵活性。为了最小的CPU影响，离线执行确定，可以分析编程序列的多个排列，并且可以找到优化的执行顺序。

8. 发明授权

US08315738B2 Multi-arm robot system interference check via three dimensional automatic zones 有权
标题翻译：多臂机器人系统通过三维自动区域进行干扰检查
公开(公告)号：US08315738B2
公开(公告)日：2012-11-20
申请号：US12124430
申请日：2008-05-21
申请人： Tien L. Chang , H. Dean McGee , Ho Cheung Wong , Jianming Tao , Jason Tsai
发明人： Tien L. Chang , H. Dean McGee , Ho Cheung Wong , Jianming Tao , Jason Tsai
IPC分类号： G05B15/00
CPC分类号： B25J9/1666 , G05B2219/39135 , G05B2219/40442 , G05B2219/40492
摘要： A system and method for controlling avoiding collisions in a workcell containing multiple robots is provided. The system includes a sequence of instructions residing on a controller for execution thereon to perform an interference check automatic zone method. The interference check automatic zone method includes the steps of: determining a first portion of a common space that is occupied during a movement of a first robot along a first programmed path; determining a second portion of the common space that is occupied during a movement of a second robot along a second programmed path; comparing the first portion and the second portion to determine if an overlap exists therebetween; and moving the first robot and the second robot in response to whether or not the overlap exists.
摘要翻译：提供一种用于控制避免包含多个机器人的工作单元中的冲突的系统和方法。该系统包括驻留在控制器上用于执行其上的指令序列以执行干扰检查自动区域方法。干涉检查自动区域方法包括以下步骤：确定在第一机器人沿着第一编程路径移动期间被占用的公共空间的第一部分; 确定在第二机器人沿着第二编程路径移动期间被占用的公共空间的第二部分; 比较第一部分和第二部分以确定它们之间是否存在重叠; 并且响应于是否存在重叠来移动第一机器人和第二机器人。

9. 发明申请

US20090326711A1 MULTI-ARM ROBOT SYSTEM INTERFERENCE CHECK VIA THREE DIMENSIONAL AUTOMATIC ZONES 有权
标题翻译：多臂机器人系统干扰通过三维自动区域检测
公开(公告)号：US20090326711A1
公开(公告)日：2009-12-31
申请号：US12124430
申请日：2008-05-21
申请人： Tien L. Chang , H. Dean McGee , Ho Cheung Wong , Jianming Tao , Jason Tsai
发明人： Tien L. Chang , H. Dean McGee , Ho Cheung Wong , Jianming Tao , Jason Tsai
IPC分类号： G05B19/418 , G05B19/04 , G05B15/00
CPC分类号： B25J9/1666 , G05B2219/39135 , G05B2219/40442 , G05B2219/40492
摘要： A system and method for controlling avoiding collisions in a workcell containing multiple robots is provided. The system includes a sequence of instructions residing on a controller for execution thereon to perform an interference check automatic zone method. The interference check automatic zone method includes the steps of: determining a first portion of a common space that is occupied during a movement of a first robot along a first programmed path; determining a second portion of the common space that is occupied during a movement of a second robot along a second programmed path; comparing the first portion and the second portion to determine if an overlap exists therebetween; and moving the first robot and the second robot in response to whether or not the overlap exists.
摘要翻译：提供一种用于控制避免包含多个机器人的工作单元中的冲突的系统和方法。该系统包括驻留在控制器上用于执行其上的指令序列以执行干扰检查自动区域方法。干涉检查自动区域方法包括以下步骤：确定在第一机器人沿着第一编程路径移动期间被占用的公共空间的第一部分; 确定在第二机器人沿着第二编程路径移动期间被占用的公共空间的第二部分; 比较第一部分和第二部分以确定它们之间是否存在重叠; 并且响应于是否存在重叠来移动第一机器人和第二机器人。

10. 发明授权

US06385508B1 Lead-through teach handle assembly and method of teaching a robot assembly 失效
标题翻译：引导式教学手柄组件和教学机器人组件的方法
公开(公告)号：US06385508B1
公开(公告)日：2002-05-07
申请号：US09702571
申请日：2000-10-31
申请人： H. Dean McGee , Eric C. Lee , Robert V. Bauer , Peter J. Swanson , Sai-Kai Cheng , Chi-Keng Tsai , Yi Sun
发明人： H. Dean McGee , Eric C. Lee , Robert V. Bauer , Peter J. Swanson , Sai-Kai Cheng , Chi-Keng Tsai , Yi Sun
IPC分类号： G05B1904
CPC分类号： G05B19/423 , B25J9/0081 , G05B2219/39409 , G05B2219/39466 , G05B2219/39529 , G05B2219/40562
摘要： A method of teaching a robot a desired operating path and a lead-through teach handle assembly are disclosed. A mounting mechanism mounts the entire handle assembly to an arm of the robot. The handle assembly also includes a handle that is supported by the mounting mechanism. A robot operator utilizes the handle assembly and grasps the handle to apply an external force to move the robot arm, or the operator, without the handle assembly, directly holds a tool connected to the robot arm to apply the external force at the tool. The handle assembly is characterized by a universal joint that interconnects the handle and the mounting mechanism and that accommodates orientation changes of the handle relative to the mounting mechanism that result from translational and rotational movement of the robot arm as the user is teaching the robot. The external force applied at the tool is estimated with either a force sensor disposed on the handle assembly or by monitoring the torque of motors used to move the robot. Motion commands are generated in response to the estimated force to power assist the operator in moving the robot arm. During teaching of the robot, the operator selects either a translational operating mode which limits the movement imparted on the tool only to translational movement, or a rotational operating mode which limits the movement imparted on the tool only to rotational movement.
摘要翻译：公开了一种向机器人教导期望的操作路径和引导教导手柄组件的方法。安装机构将整个手柄组件安装到机器人的臂上。手柄组件还包括由安装机构支撑的手柄。机器人操作者利用手柄组件并抓握手柄以施加外力以移动机器人手臂或操作者而不用手柄组件，直接夹持连接到机器人手臂的工具以将外力施加在工具上。手柄组件的特征在于，万向节将手柄和安装机构相互连接，并且当使用者正在教导机器人时，该手柄与安装机构相互相对于由机器人手臂的平移和旋转移动而相对于安装机构的方位变化。通过设置在手柄组件上的力传感器或通过监测用于移动机器人的电动机的扭矩估计在工具处施加的外力。响应于估计的动力来产生运动命令，以帮助操作者移动机器人手臂。在机器人的教导期间，操作者选择将仅在刀具上施加的运动仅限于平移运动的平移操作模式，或仅将赋予刀具的运动限制为旋转运动的旋转操作模式。

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