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1. 发明授权

US06429617B1 Drive-controlling method and apparatus and robot having the apparatus 有权
标题翻译：具有该装置的驱动控制方法和装置以及机器人
公开(公告)号：US06429617B1
公开(公告)日：2002-08-06
申请号：US09692870
申请日：2000-10-20
申请人： Masatoshi Sano , Tsuyoshi Maehara , Tetsuhiko Nishimura , Hiroaki Kagaya , Naoyuki Matsumoto
发明人： Masatoshi Sano , Tsuyoshi Maehara , Tetsuhiko Nishimura , Hiroaki Kagaya , Naoyuki Matsumoto
IPC分类号： G05B1101
CPC分类号： B25J9/1676 , B25J9/1666 , G05B19/406 , G05B2219/37285 , G05B2219/37632 , G05B2219/40476 , G05B2219/40497
摘要： Provided is a drive-controlling method and apparatus and a robot having the apparatus for precisely detecting a collision of a arm being driven by a robot with obstacles, and for keeping damages of the arm from the collision minimum: storing a route of the arm being driven by the robot in a memory; detecting a collision by comparing a current value of a servo motor which drives the arm and a reference current value; and controlling the robot such that the arm leaves a predetermined distance from the obstacle based on the stored route, backing up the arm along the same route as before the collision.
摘要翻译：提供一种驱动控制方法和装置以及机器人，其具有用于精确地检测由机器人驱动的臂与障碍物的碰撞并且用于保持臂的碰撞最小化的装置的装置：将臂的路径保持为由机器人在记忆体中驱动; 通过比较驱动臂的伺服电动机的电流值和参考电流值来检测碰撞; 并且控制机器人使得臂基于存储的路线离开障碍物预定的距离，沿着与碰撞之前相同的路线备份臂。

2. 发明授权

US07558646B2 Cooperative control system of robots 有权
标题翻译：机器人协同控制系统
公开(公告)号：US07558646B2
公开(公告)日：2009-07-07
申请号：US10494583
申请日：2002-11-07
申请人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
发明人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
IPC分类号： G05B19/042
CPC分类号： B25J9/1682 , G05B2219/33097 , G05B2219/39051 , G05B2219/39124 , G05B2219/39141
摘要： The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation. By doing this, the control units are always kept in the synchronized state, thus the operations of the robots can be prevented from variations.
摘要翻译：本发明具有通信连接装置（21），其连接用于单独控制机器人（Ra，Rb）的操作的可通信控制单元（Ca，Cb）以构成网络，输入装置（37a，37b）分别安装在机器人的控制单元和输入操作指令，以及定时信号生成装置（69a，69b）。控制单元被选择性地设置为独立功能执行模式，主功能执行模式和从功能执行模式中的任何一个，并且在控制单元中，执行主操作的控制单元（Ca）被设置为主功能执行模式，剩余控制单元（Cb）被设定为从功能执行模式，并且通过校正从侧控制单元（Cb）的最小中断周期（Ts（b）），控制时间（ta11 ，ta12，ta13）到主控制单元（Ca）的主机器人（Ra）延迟预定时间（T）以执行协作操作。通过这样做，控制单元总是保持在同步状态，从而可以防止机器人的操作变化。

3. 发明申请

US20050055132A1 Robot collaboration control system 有权
标题翻译：机器人协调控制系统
公开(公告)号：US20050055132A1
公开(公告)日：2005-03-10
申请号：US10494583
申请日：2002-11-07
申请人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
发明人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
IPC分类号： B25J9/16 , B25J9/18 , B25J9/22 , B25J13/00 , G06F19/00
CPC分类号： B25J9/1682 , G05B2219/33097 , G05B2219/39051 , G05B2219/39124 , G05B2219/39141
摘要： The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation. By doing this, the control units are always kept in the synchronized state, thus the operations of the robots can be prevented from variations.
摘要翻译：本发明具有通信连接装置（21），其连接用于单独控制机器人（Ra，Rb）的操作的可通信控制单元（Ca，Cb）以构成网络，输入装置（37a，37b）分别安装在机器人的控制单元和输入操作指令，以及定时信号生成装置（69a，69b）。控制单元被选择性地设置为独立功能执行模式，主功能执行模式和从功能执行模式中的任何一个，并且在控制单元中，执行主操作的控制单元（Ca）被设置为主功能执行模式，剩余控制单元（Cb）被设定为从功能执行模式，并且通过校正从侧控制单元（Cb）的最小中断周期（Ts（b）），控制时间（ta11 ，ta12，ta13）到主控制单元（Ca）的主机器人（Ra）延迟预定时间（T）以执行协作操作。通过这样做，控制单元总是保持在同步状态，从而可以防止机器人的操作变化。

4. 发明授权

US07925382B2 Robot controller and robot control method 有权
标题翻译：机器人控制器和机器人控制方法
公开(公告)号：US07925382B2
公开(公告)日：2011-04-12
申请号：US11294441
申请日：2005-12-06
申请人： Tetsuya Kubota , Jun Fujimori , Naoyuki Matsumoto , Tetsuhiko Nishimura
发明人： Tetsuya Kubota , Jun Fujimori , Naoyuki Matsumoto , Tetsuhiko Nishimura
IPC分类号： G05B19/404
CPC分类号： B25J9/1638
摘要： An input unit enters angular displacements by which drive shafts of a robot arm are to be turned as teaching data into a control unit. The control unit converts the input angular displacements into position-attitude data, namely, converted commands, indicating a position of the free end of the robot arm and an attitude of the robot in a rectangular coordinate system through forward conversion. The control unit corrects the position-attitude data on the basis of inherent errors in the robot to provide corrected position-attitude data. The control unit converts the corrected position-attitude data into corrected angular displacements through inverse conversion and gives the corrected angular displacements to an actuator included in the robot. The inherent errors in the robot include mechanismic errors resulting from machining errors and assembling errors, installation errors and errors in the origins of axes.
摘要翻译：输入单元进入角位移，通过该位移将机器人手臂的驱动轴作为示教数据转动到控制单元中。控制单元将输入角位移转换成位置姿态数据，即转换后的指令，通过正向转换指示机器人手臂的自由端的位置和机器人在直角坐标系中的姿态。控制单元基于机器人中的固有误差校正位置姿态数据，以提供校正的位置姿态数据。控制单元通过反向转换将校正的位置姿态数据转换成校正的角位移，并将校正的角位移给予包括在机器人中的致动器。机器人的固有误差包括由于加工误差和组装误差，安装误差和轴原点误差而导致的机械误差。

5. 发明申请

US20060136094A1 Robot controller and robot control method 有权
标题翻译：机器人控制器和机器人控制方法
公开(公告)号：US20060136094A1
公开(公告)日：2006-06-22
申请号：US11294441
申请日：2005-12-06
申请人： Tetsuya Kubota , Jun Fujimori , Naoyuki Matsumoto , Tetsuhiko Nishimura
发明人： Tetsuya Kubota , Jun Fujimori , Naoyuki Matsumoto , Tetsuhiko Nishimura
IPC分类号： G06F19/00
CPC分类号： B25J9/1638
摘要： An input unit enters angular displacements by which drive shafts of a robot arm are to be turned as teaching data into a control unit. The control unit converts the input angular displacements into position-attitude data, namely, converted commands, indicating a position of the free end of the robot arm and an attitude of the robot in a rectangular coordinate system through forward conversion. The control unit corrects the position-attitude data on the basis of inherent errors in the robot to provide corrected position-attitude data. The control unit converts the corrected position-attitude data into corrected angular displacements through inverse conversion and gives the corrected angular displacements to an actuator included in the robot. The inherent errors in the robot include mechanismic errors resulting from machining errors and assembling errors, installation errors and errors in the origins of axes.
摘要翻译：输入单元进入角位移，通过该位移将机器人手臂的驱动轴作为示教数据转动到控制单元中。控制单元将输入角位移转换成位置姿态数据，即转换后的指令，通过正向转换指示机器人手臂的自由端的位置和机器人在直角坐标系中的姿态。控制单元基于机器人中的固有误差校正位置姿态数据，以提供校正的位置姿态数据。控制单元通过反向转换将校正的位置姿态数据转换成校正的角位移，并将校正的角位移给予包括在机器人中的致动器。机器人的固有误差包括由于加工误差和组装误差，安装误差和轴原点误差而导致的机械误差。

6. 发明授权

US07729804B2 Robot controller and robot control method for synchronous operation and adjusting robot movement based on two movement times 有权
标题翻译：基于两次运动时间的机器人控制器和机器人控制方法，用于同步运行和调整机器人运动
公开(公告)号：US07729804B2
公开(公告)日：2010-06-01
申请号：US11384316
申请日：2006-03-21
申请人： Naoyuki Matsumoto , Masatoshi Sano
发明人： Naoyuki Matsumoto , Masatoshi Sano
IPC分类号： G05B19/418
CPC分类号： B25J9/1682 , B25J9/1669 , G05B19/41815 , G05B2219/31157 , G05B2219/33088 , G05B2219/33097 , G05B2219/34314 , G05B2219/39105 , G05B2219/39144 , G05B2219/45142 , Y02P90/08 , Y02P90/087 , Y02P90/18 , Y02P90/20
摘要： A controller calculates first movement times when moving each robot hand from a movement start position to a synchronous operation position in a shortest time and decides the longest first movement time as a second movement time. The controller generates, for each robot, a robot operation plan for moving each robot hand without stopping from the movement start position to the synchronous operation position in the second movement time. The robot hand of each robot moves from the movement start position to the synchronous operation position without stopping and simultaneously reach the synchronous operation positions.
摘要翻译：控制器在最短时间内将每个机器人手从移动开始位置移动到同步操作位置时计算出第一移动时间，并将最长的第一移动时间决定为第二移动时间。控制器为每个机器人生成机器人操作计划，用于在第二移动时间内不停止从移动开始位置移动到同步操作位置的每个机器人手。每个机器人的机器人手从运动开始位置移动到同步操作位置而不停止并同时到达同步操作位置。

7. 发明申请

US20060217841A1 Robot controller and robot control method 有权
标题翻译：机器人控制器和机器人控制方法
公开(公告)号：US20060217841A1
公开(公告)日：2006-09-28
申请号：US11384316
申请日：2006-03-21
申请人： Naoyuki Matsumoto , Masatoshi Sano
发明人： Naoyuki Matsumoto , Masatoshi Sano
IPC分类号： G06F19/00
CPC分类号： B25J9/1682 , B25J9/1669 , G05B19/41815 , G05B2219/31157 , G05B2219/33088 , G05B2219/33097 , G05B2219/34314 , G05B2219/39105 , G05B2219/39144 , G05B2219/45142 , Y02P90/08 , Y02P90/087 , Y02P90/18 , Y02P90/20
摘要： A controller calculates first movement times when moving each robot hand from a movement start position to a synchronous operation position in a shortest time and decides the longest first movement time as a second movement time. The controller generates, for each robot, a robot operation plan for moving each robot hand without stopping from the movement start position to the synchronous operation position in the second movement time. The robot hand of each robot moves from the movement start position to the synchronous operation position without stopping and simultaneously reach the synchronous operation positions.
摘要翻译：控制器在最短时间内将每个机器人手从移动开始位置移动到同步操作位置时计算出第一移动时间，并将最长的第一移动时间决定为第二移动时间。控制器为每个机器人生成机器人操作计划，用于在第二移动时间内不停止从移动开始位置移动到同步操作位置的每个机器人手。每个机器人的机器人手从运动开始位置移动到同步操作位置而不停止并同时到达同步操作位置。

8. 发明授权

US06069338A Method and apparatus for controlling spot welding robot 失效
标题翻译：点焊机器人控制方法及装置
公开(公告)号：US06069338A
公开(公告)日：2000-05-30
申请号：US307790
申请日：1999-05-10
申请人： Masatoshi Sano , Naoyuki Matsumoto
发明人： Masatoshi Sano , Naoyuki Matsumoto
IPC分类号： B23K11/24 , B23K11/11 , B23K11/31 , G05B19/18 , G05B19/404 , B23K37/02
CPC分类号： B23K11/314
摘要： The disclosed spot welding robot controlling method and apparatus is able to carry out an operation for pressurizing a spot welding gun without a dead time of a spot welding robot which has the spot welding gun driven by a fluid pressure. The control method includes the steps of measuring a gun closing time, measuring an axial coincidence time, calculating a time difference between the time point of the command position axial coincidence and the output time point of the pressurization command in an actual welding operation using the gun closing time and the axial coincidence time, and outputting the pressurization command to the spot welding gun at a time point which is derived by subtracting the time difference from the time point of the command position axial coincidence in the actual welding operation.
摘要翻译：所公开的点焊机器人控制方法和装置能够进行点焊装置的加压操作，而没有由流体压力驱动的点焊枪的点焊机器人的死区时间。控制方法包括以下步骤：在使用枪的实际焊接操作中测量枪关闭时间，测量轴向重合时间，计算指令位置轴向一致的时间点与加压命令的输出时间点之间的时间差关闭时间和轴向一致时间，并且在通过从实际焊接操作中的指令位置轴向一致的时间点减去时间差而导出的时间点，向点焊枪输出加压指令。

9. 发明授权

US4993228A Internal combustion engine with turbo supercharger 失效
标题翻译：带涡轮增压器的内燃机
公开(公告)号：US4993228A
公开(公告)日：1991-02-19
申请号：US357290
申请日：1989-05-26
申请人： Seiji Tashima , Haruo Okimoto , Toshimichi Akagi , Naoyuki Matsumoto
发明人： Seiji Tashima , Haruo Okimoto , Toshimichi Akagi , Naoyuki Matsumoto
IPC分类号： F02B29/00 , F02B29/04 , F02B37/00 , F02B37/007 , F02B37/18 , F02B39/00 , F02B67/10
CPC分类号： F02B37/007 , F02B29/00 , F02B29/0431 , F02B37/18 , F02B67/10 , F01N13/107 , Y02T10/144 , Y02T10/146
摘要： An internal combustion engine comprises a primary supercharger operated in substantially a full range of engine operating conditions of a vehicle and a secondary supercharger operated in a specific range of the engine operating condition. The plurality of supercharger are arranged in parallel in the fore and aft direction of a vehicle in a manner such that the primary supercharger means is disposed forward of the secondary supercharger. The primary supercharger is disposed at a front portion of an engine room, just behind a cooling fan, to easily be provided with a cooling effect by virtue of a fresh air. The secondary supercharger is disposed rearward of the primary supercharger to avoid the cooling effect provided by the fresh air and to receive air warmed by the primary supercharger so to undergo a warming up effect.
摘要翻译：内燃机包括主要增压器，其操作在车辆的发动机运行状态的基本上全范围内，并且在发动机运行条件的特定范围内操作的次级增压器。多个增压器以车辆的前后方向平行布置，使得主增压器装置设置在次级增压器的前方。主增压器位于发动机室的前部，刚好位于冷却风扇后面，以便通过新鲜空气容易地获得冷却效果。次级增压器设置在主增压器的后方，以避免由新鲜空气提供的冷却效果，并且接收由主增压器加热的空气，从而经历预热效果。

10. 发明授权

US6064491A Facsimile apparatus using a small computer system interface 失效
标题翻译：传真机使用小型计算机系统接口
公开(公告)号：US6064491A
公开(公告)日：2000-05-16
申请号：US867940
申请日：1997-06-03
申请人： Naoyuki Matsumoto
发明人： Naoyuki Matsumoto
IPC分类号： G06F13/00 , H04N1/00 , H04N1/32
CPC分类号： H04N1/00206 , H04N1/00236 , H04N1/00238 , H04N1/00241 , H04N1/32358 , H04N1/32566 , H04N1/00204 , H04N2201/0074 , H04N2201/0081 , H04N2201/0082 , H04N2201/0086 , H04N2201/3226 , H04N2201/3274
摘要： A facsimile apparatus having a scanner for reading original images, a memory for storing images, a printer for recording images, and a communication control section for controlling the transmission/reception of data with a receiving communication apparatus is connected to a host computer via a small computer system interface (SCSI). As a result, the scanner, the memory, the printer and the communication control apparatus provided in the facsimile apparatus can be controlled from the host computer. Data can be transferred between the host computer and the facsimile apparatus at a higher speed, and the scanner, the memory, the printer and the communication control apparatus can be effectively controlled from the host computer. Thus, various kinds of applications can be realized.
摘要翻译：具有用于读取原始图像的扫描仪的传真装置，用于存储图像的存储器，用于记录图像的打印机，以及用于控制与接收通信装置的数据的发送/接收的通信控制部分，经由小型计算机计算机系统接口（SCSI）。结果，可以从主计算机控制设置在传真装置中的扫描仪，存储器，打印机和通信控制装置。数据可以以较高的速度在主计算机和传真装置之间传送，并且可以从主计算机有效地控制扫描仪，存储器，打印机和通信控制装置。因此，可以实现各种应用。

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