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1. 发明申请

US20190143525A1 ACTUATION SYSTEM AND COMPUTER PROGRAM PRODUCT 审中-公开
公开(公告)号：US20190143525A1
公开(公告)日：2019-05-16
申请号：US15911220
申请日：2018-03-05
申请人： Kabushiki Kaisha Toshiba
发明人： Yoshiyuki Ishihara , Nobukatsu Sugiyama , Junji Oaki , Akihito Ogawa
IPC分类号： B25J9/16 , G06K9/32
摘要： According to an embodiment, an actuation system includes a movable member, an actuator, at least one image taking unit, a coordinate conversion unit and a first actuation control unit. The actuator moves the movable member. The coordinate conversion unit performs coordinate conversion from an image-taking coordinate system of a taken image taken by the image taking unit to an arithmetic coordinate system for performing comparison. The first actuation control unit controls the actuator to reduce a deviation according to visual servo in the arithmetic coordinate system.

2. 发明授权

US11141857B2 Robot control device, robot control parameter adjustment method, and non-transitory storage medium storing program 有权
公开(公告)号：US11141857B2
公开(公告)日：2021-10-12
申请号：US16287197
申请日：2019-02-27
申请人： Kabushiki Kaisha Toshiba
发明人： Junji Oaki
IPC分类号： B25J9/16
摘要： A robot control device includes a log acquisitor, a first adjuster, and a second adjuster. The log acquisitor is configured to acquire operation data of a robot arm which has been operated by making a target portion of the robot arm follow a predefined target path under a feedback control. The first adjuster is configured to adjust, based on the operation data acquired by the log acquisitor, a first physical parameter for calculating a trajectory of the target portion, to reduce errors between the predefined target path and positions of the target portion. The second adjuster is configured to calculate, based on the first physical parameter adjusted by the first adjuster, the trajectory of the target portion, the second adjuster that is configured to adjust, based on the trajectory calculated by the second adjuster, a second physical parameter to be used for a feed-forward control for controlling the robot arm.

3. 发明授权

US09156166B2 Robot control device 有权
标题翻译：机器人控制装置
公开(公告)号：US09156166B2
公开(公告)日：2015-10-13
申请号：US14448292
申请日：2014-07-31
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Junji Oaki
IPC分类号： G05B19/04 , G05B19/18 , B25J9/00 , B25J9/16
CPC分类号： B25J9/1651 , B25J9/1638 , B25J9/1641 , B25J9/1653 , G05B2219/41392 , G05B2219/41398
摘要： A robot control device according to an embodiment includes: an observer receiving the angular velocity of the motor and the current command value, and estimating an angular acceleration of the link, and angular velocities of the link and the motor from a simulation model of an angular velocity control system of the motor; a first feedback unit calculating an axis torsion angular velocity from a difference between the angular velocities of the link and the motor estimated by the observer, and giving feedback to the angular velocity control system; a second feedback unit feeding back the angular acceleration of the link estimated by the observer to the angular velocity control system; and a first feedback constant calculating unit compensating an end effector load mass and increases inertia at the second feedback unit when an end effector load in the nonlinear dynamic model has low inertia.
摘要翻译：根据实施例的机器人控制装置包括：观察者接收电动机的角速度和当前指令值，并且从角度的模拟模型估计链路的角加速度和链路和电动机的角速度电机速度控制系统; 第一反馈单元，从所述链路的角速度与由所述观测者估计的所述电动机之间的差计算轴扭转角速度，并向所述角速度控制系统提供反馈; 第二反馈单元将由观察者估计的链路的角加速度反馈到角速度控制系统; 以及当非线性动力学模型中的末端执行器负载具有低惯性时，第一反馈常数计算单元补偿末端执行器负载质量并增加第二反馈单元处的惯性。

4. 发明申请

US20230071341A1 PROCESSING DEVICE RELATING TO INSPECTION OF INSPECTION OBJECT, INSPECTION SYSTEM OF INSPECTION OBJECT, PROCESSING METHOD RELATING TO INSPECTION OF INSPECTION OBJECT, AND NON-TRANSITORY STORAGE MEDIUM 有权
公开(公告)号：US20230071341A1
公开(公告)日：2023-03-09
申请号：US17675851
申请日：2022-02-18
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Nobukatsu Sugiyama , Junichiro Ooga , Yoshiyuki Ishihara , Junji Oaki , Hiroshi Ohno , Hideaki Okano , Hiroya Kano , Takahiro Kamikawa
IPC分类号： G06T7/80 , G06T7/50 , G06T7/70 , H04N5/232 , G06T7/40 , H04N7/18 , G06T7/00
摘要： In an embodiment, a processing device relating to an inspection of an inspection object by a photography unit is provided. A processor of the processing device calculates a plurality of photography points as positions photographing the inspection object based on shape data in which a shape of a surface of the inspection object is indicated by a point group, and information relating to a position and a normal vector on the surface of the inspection object is defined by the point group. The processor executes analysis regarding a path that passes through all of the calculated photography points and minimizes a sum of a movement cost from each of the photography points to a photography point of a next movement destination, and calculates a path corresponding to an analysis result as a path for moving the photography unit.

5. 发明授权

US10434647B2 Robot control device, a robot control method, and a picking device 有权
公开(公告)号：US10434647B2
公开(公告)日：2019-10-08
申请号：US15687902
申请日：2017-08-28
申请人： Kabushiki Kaisha Toshiba
发明人： Junji Oaki
IPC分类号： B25J9/16
摘要： According to one embodiment, a robot control device is used for a robot arm including a link and a motor for rotationally driving the link. The robot control device includes a derivation part. The derivation part derives a first estimated value including a variation of a rotation angle of the link and a second estimated value including a variation of a rotation angle of the motor, based on an angular velocity and a current reference value of the motor. Furthermore, the derivation part derives an external force generated to the robot arm, based on a difference between the first estimated value and the second estimated value.

6. 发明申请

US20140046483A1 ROBOTIC CONTROL APPARATUS 有权
标题翻译：机器人控制装置
公开(公告)号：US20140046483A1
公开(公告)日：2014-02-13
申请号：US13960248
申请日：2013-08-06
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Junji Oaki
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B25J9/16 , B25J9/1638 , Y10S901/09 , Y10S901/20
摘要： According to one embodiment, a robotic control apparatus includes a physical parameter switching unit, an observer unit, and a state feedback unit. The physical parameter switching unit switches a physical parameter set in accordance with a value of a mass of an end effector load of a robotic arm. The observer unit estimates an angular velocity of a link based on a simulation model of a motor angular velocity control system which undergoes gain proportional-integral control equivalent to a proportional-integral control of the angular velocity control system. The state feedback unit calculates an axial torsional angular velocity based on a difference between the angular velocity of the motor, and the angular velocity of the link, and feed the calculated axial torsional angular velocity back to the angular velocity control system.
摘要翻译：根据一个实施例，机器人控制装置包括物理参数切换单元，观察单元和状态反馈单元。物理参数切换单元根据机器人手臂的末端执行器负载的质量的值来切换设置的物理参数。观察者单元基于经历等效于角速度控制系统的比例积分控制的增益比例积分控制的电动机角速度控制系统的模拟模型来估计链路的角速度。状态反馈单元基于马达的角速度和连杆的角速度之间的差计算轴向扭转角速度，并将计算的轴向扭转角速度馈送回角速度控制系统。

7. 发明授权

US11312011B2 Manipulator system, control device, control method, and computer program product 有权
公开(公告)号：US11312011B2
公开(公告)日：2022-04-26
申请号：US16107183
申请日：2018-08-21
申请人： Kabushiki Kaisha Toshiba
发明人： Nobukatsu Sugiyama , Yoshiyuki Ishihara , Junji Oaki , Akihito Ogawa
IPC分类号： B25J9/16 , B25J9/06
摘要： A manipulator system according to an embodiment includes a manipulator, an actuator, and a control device. The actuator is configured to operate the manipulator. The control device is configured to control the actuator so that the manipulator moves while avoiding an obstacle. The control device controls the actuator so that an angle between a moving velocity vector of a first target point on the manipulator and a normal vector at a second target point on a surface of the obstacle is within 90°.

8. 发明授权

US11179851B2 Robot control device, robot control parameter adjustment method, and non-transitory storage medium storing program 有权
公开(公告)号：US11179851B2
公开(公告)日：2021-11-23
申请号：US16287197
申请日：2019-02-27
申请人： Kabushiki Kaisha Toshiba
发明人： Junji Oaki
IPC分类号： B25J9/16
摘要： A robot control device includes a log acquisitor, a first adjuster, and a second adjuster. The log acquisitor is configured to acquire operation data of a robot arm which has been operated by making a target portion of the robot arm follow a predefined target path under a feedback control. The first adjuster is configured to adjust, based on the operation data acquired by the log acquisitor, a first physical parameter for calculating a trajectory of the target portion, to reduce errors between the predefined target path and positions of the target portion. The second adjuster is configured to calculate, based on the first physical parameter adjusted by the first adjuster, the trajectory of the target portion, the second adjuster that is configured to adjust, based on the trajectory calculated by the second adjuster, a second physical parameter to be used for a feed-forward control for controlling the robot arm.

9. 发明授权

US11660747B2 Picking apparatus, control apparatus, and program 有权
公开(公告)号：US11660747B2
公开(公告)日：2023-05-30
申请号：US17185197
申请日：2021-02-25
申请人： KABUSHIKI KAISHA TOSHIBA , Toshiba Infrastructure Systems & Solutions Corporation
发明人： Junji Oaki , Tetsuya Masuda , Haruhiko Horiuchi , Junichi Inoue , Takafumi Ushiyama
IPC分类号： B25J9/16 , B25J13/08
CPC分类号： B25J9/1633 , B25J9/1612 , B25J9/1676 , B25J13/085
摘要： A picking apparatus in an embodiment includes: a gripper, an arm, a detector, and a control unit. The gripper picks and grips an object to be conveyed. The arm moves the gripper and causes the gripper to convey the object to be conveyed. The detector is attached to the arm and senses a force applied to the gripper. The control unit controls an operation of the gripper and the arm. The control unit includes a calculator and a subtractor. The calculator calculates a gravitational force and an inertial force applied to the gripper when the gripper grips and moves the object to be conveyed using an arithmetic expression including a coefficient determined in accordance with a mass of the object to be conveyed. The subtractor subtracts the gravitational force and the inertial force calculated by the calculator from a force applied to the gripper sensed by the detector.

10. 发明授权

US11541537B2 Article posture changing device and article posture changing method 有权
公开(公告)号：US11541537B2
公开(公告)日：2023-01-03
申请号：US16288329
申请日：2019-02-28
申请人： KABUSHIKI KAISHA TOSHIBA
发明人： Daisuke Yamamoto , Takafumi Sonoura , Junji Oaki , Hideki Ogawa , Junya Tanaka , Hiroshi Ohtsu , Kohei Nara , Keisuke Kamata , Rie Katsuki , Kazuhide Sawa
IPC分类号： G06F19/00 , B25J9/16 , B25J15/08 , B25J15/04 , B25J15/00 , B25J15/02 , B25J15/06
摘要： According to an embodiment, an article posture changing device includes: a first end effector configured to grasp a projected tag of an article by adsorption; an arm unit configured to support the first end effector and move the first end effector along at least a vertical direction; and a controller configured to control the arm unit and the first end effector to grasp the tag, lift the article upward, separate the article from a placement surface, change an angle of the article by weight thereof, move the article downward, place the article on the placement surface, and release the grasp of the tag.

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