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1. 发明授权

US09486920B2 Control apparatus and control method for robot arm, robot, control program for robot arm, and integrated electronic circuit 有权
标题翻译：机器人手臂，机器人，机器人手臂控制程序及集成电路的控制装置及控制方法
公开(公告)号：US09486920B2
公开(公告)日：2016-11-08
申请号：US14186230
申请日：2014-02-21
申请人： Panasonic Corporation
发明人： Yudai Fudaba , Yuko Tsusaka , Taichi Sato
IPC分类号： G06F19/00 , B25J9/16
CPC分类号： B25J9/1656 , B25J9/1697 , G05B2219/34406 , G05B2219/36433 , G05B2219/39469 , G05B2219/40032 , G05B2219/40059 , G05B2219/40116 , G05B2219/40391 , Y10S901/03
摘要： In a control apparatus for a robot arm, the feedback rule generating section generates a feedback rule in accordance with relationship between a time point of generation of a stimulus and variation in behavior after elapse of a reaction time in taught data as detected by the information variation point detecting section and the behavior variation point detecting section. The motion generating section generates a motion of the robot arm based on motion information, an information variation point, a behavior variation point, and the feedback rule. The controller controls the motion of the robot arm.
摘要翻译：在机器人手臂的控制装置中，反馈规则生成部根据信息变化检测到的教导数据中的反应时间经过反应时间后的生成刺激的时刻和动作的变化之间的关系，生成反馈规则点检测部和行为变化点检测部。运动产生部分基于运动信息，信息变化点，行为变化点和反馈规则产生机器人手臂的运动。控制器控制机器人手臂的运动。

2. 发明授权

US09329587B2 Control apparatus and control method for master slave robot, robot, control program for master slave robot, and integrated electronic circuit for control of master slave robot 有权
标题翻译：主从机器人的控制装置和控制方法，机器人，主从机器人的控制程序，以及主从机器人控制的集成电子电路
公开(公告)号：US09329587B2
公开(公告)日：2016-05-03
申请号：US14475807
申请日：2014-09-03
申请人： Panasonic Corporation
发明人： Yudai Fudaba , Yuko Tsusaka
IPC分类号： G05B15/00 , G05B19/00 , G05B15/02 , B25J3/04 , B25J9/16
CPC分类号： G05B15/02 , B25J3/04 , B25J9/1689 , Y10S901/08 , Y10S901/47
摘要： A master slave robot is that receives force presentation according to a picture watched by an operator operating the master slave robot. The control apparatus for the master slave robot causes a force information correcting unit to correct force information in accordance with magnification percentage information acquired by a displayed information acquiring unit such that the force information is increased accordingly as the magnification percentage information is larger. An operator can thus apply appropriate force while watching the picture projected on a display to perform a task.
摘要翻译：主从机器人是根据操作主从机器人的操作员观看的图像接收力显示。用于主从机器人的控制装置使得力信息校正单元根据由显示信息获取单元获取的倍率信息来校正力信息，使得随着倍率百分比信息的增加，力信息相应增加。因此，操作者可以在观看投影在显示器上的图像上施加适当的力来执行任务。

3. 发明授权

US09415516B2 Control apparatus and control method for master slave robot, robot, control program for master slave robot, and integrated electronic circuit for control of master slave robot 有权
标题翻译：主从机器人的控制装置和控制方法，机器人，主从机器人的控制程序，以及主从机器人控制的集成电子电路
公开(公告)号：US09415516B2
公开(公告)日：2016-08-16
申请号：US14307683
申请日：2014-06-18
申请人： Panasonic Corporation
发明人： Yudai Fudaba , Yuko Tsusaka
IPC分类号： B25J9/16
CPC分类号： B25J9/1689 , G05B2219/40139 , G05B2219/40405 , Y10S901/02
摘要： A force information correcting unit generates force information in accordance with magnification percentage information acquired by a display information acquiring unit. The force information matches a picture watched by an operator to manipulation of the operator with no sense of incongruity. A force information presentation unit presents the generated force information to the operator, so that work efficiency is improved.
摘要翻译：力信息校正单元根据由显示信息获取单元获取的倍率信息生成力信息。力信息与操作者观看的图像匹配操作者没有不协调的感觉。力信息呈现单元向操作者呈现生成的力信息，从而提高了工作效率。

4. 发明授权

US09114531B2 Arm control apparatus, arm control method, arm control program, robot, and integrated electronic circuit for arm control 有权
标题翻译：手臂控制装置，手臂控制方法，手臂控制程序，机器人和用于手臂控制的集成电子电路
公开(公告)号：US09114531B2
公开(公告)日：2015-08-25
申请号：US14445588
申请日：2014-07-29
申请人： Panasonic Corporation
发明人： Yudai Fudaba , Yuko Tsusaka , Jun Ozawa
IPC分类号： G05B15/00 , B25J9/00 , B25J9/16 , G06F3/041 , G09F9/00
CPC分类号： B25J9/1633 , G05B2219/36168 , G05B2219/36249 , G06F1/16 , G06F3/041 , G06F3/0488 , G06F2203/04108 , G06F2203/04808 , G09F9/00 , Y10S901/02 , Y10S901/50
摘要： There is provided a display information acquiring unit for acquiring display information on a screen of a touch panel display, a touch pattern estimating unit for estimating a region on the screen likely to be touched by a person and a motion direction of the touch based on the display information, a load estimating unit for estimating a load or a torque to the display based on the estimated region and the motion direction, a stiffness parameter information generating unit for generating information for controlling the arm so that the position and the orientation of the display do not change along the touching direction at the time of touch panel input based on the estimated load or torque, and an arm control unit for controlling a stiffness parameter of the arm based on the generated information.
摘要翻译：提供了一种显示信息获取单元，用于获取触摸面板显示屏幕上的显示信息，触摸模式估计单元，用于估计人可能触摸的屏幕上的区域和触摸的运动方向，基于显示信息，负载估计单元，用于基于所估计的区域和运动方向估计对显示器的负载或转矩;刚度参数信息产生单元，用于产生用于控制所述臂的信息，使得所述显示器的位置和方位基于估计的负载或扭矩在触摸面板输入时不沿着触摸方向改变;以及臂控制单元，用于基于生成的信息来控制臂的刚度参数。

5. 发明授权

US08489236B2 Control apparatus and control method for robot arm, robot, control program for robot arm, and integrated electronic circuit 有权
标题翻译：机器人手臂，机器人，机器人手臂控制程序及集成电路的控制装置及控制方法
公开(公告)号：US08489236B2
公开(公告)日：2013-07-16
申请号：US13630430
申请日：2012-09-28
申请人： Panasonic Corporation
发明人： Yudai Fudaba , Masaki Yamamoto , Yuko Tsusaka , Taichi Sato
IPC分类号： G06F19/00 , B25J9/22 , B25J17/00 , B25J17/02 , B25J18/00 , G05B19/42
CPC分类号： G05B19/423 , G05B2219/36453 , G05B2219/39209 , Y02P90/083 , Y10T74/20305
摘要： There is provided a control apparatus and control method for robot arm, robot, control program for robot arm, and integrated electronic circuit, which can improve robot arm operability upon performing tasks such as cooperative conveyance and direct teaching. The grip portion separated from the end effector attached to the robot arm is provided. When a person grips and shifts the grip portion, a tracking control unit controls so that the robot arm follows the shift. A fixing switch unit switches between a fixing state where, upon switching to “playback mode”, a fixing portion is located at a fixed position to fix the end effector and the grip portion to maintain a gap distance therebetween and a relatively shiftable state where, upon switching to “teaching mode”, the fixing portion is located at an accommodated position to relatively shift them from each other without maintaining the gap distance.
摘要翻译：提供了一种用于机器人臂，机器人，机器人手臂控制程序和集成电子电路的控制装置和控制方法，其可以在执行协作传送和直接教学等任务时提高机器人手臂的可操作性。提供与附接到机器人臂的端部执行器分离的把持部分。当一个人握住并移动把手部分时，跟踪控制单元进行控制，使得机器人臂跟随移位。定影开关单元在切换到“重放模式”之间的固定状态下切换，固定部位于固定位置，以固定末端执行器和握持部分，以保持它们之间的间隙距离和相对可移动状态，在切换到“教学模式”时，固定部位于收容位置，以使它们彼此相对移动，而不保持间隙距离。

6. 发明授权

US10098701B2 Force measurement apparatus, force measurement method, force measurement program, force measurement integrated electronic circuit, and master-slave device 有权
公开(公告)号：US10098701B2
公开(公告)日：2018-10-16
申请号：US14021253
申请日：2013-09-09
申请人： Panasonic Corporation
发明人： Yuko Tsusaka , Yudai Fudaba , Jun Ozawa
IPC分类号： A61B5/00 , A61B19/00 , A61B5/06 , A61B34/30 , A61B90/00
摘要： A force measurement apparatus includes a force detection unit that measures a force generated when a forceps is brought into contact with an inside of a body when an operator inserts a forceps or an endoscope into the body and measures a force generated when the forceps acts on a living body from outside the body, a reference information generating unit that generates reference information serving as information of a force acquired by the force detection unit when the forceps is located at a predetermined position, and an individual force calculation unit that individually calculates a force generated when the forceps acts on the living body in the body based on the reference information.

7. 发明授权

US09421686B2 Master device for master slave apparatus, method of controlling the same, and master slave robot 有权
标题翻译：主从设备的主设备，其控制方法和主从机器人
公开(公告)号：US09421686B2
公开(公告)日：2016-08-23
申请号：US14285886
申请日：2014-05-23
申请人： Panasonic Corporation
发明人： Yuko Tsusaka , Atsushi Ono , Yudai Fudaba
IPC分类号： B25J3/04 , B25J13/02
CPC分类号： B25J3/04 , B25J13/02
摘要： A master device is provided to a master slave apparatus in which a hand mechanism opens/closes to grip a target object and a slave mechanism performs a task on a target article. The master device includes a hand manipulation mechanism for manipulating the hand mechanism. A person remotely manipulates the slave mechanism by a master mechanism and the hand manipulation mechanism manipulates to cause the hand mechanism to perform the task. In the hand manipulation mechanism, a hand manipulation portion having a pair of open/close manipulation portions manipulated by the person moves forward/backward on a slider, the pair of open/close manipulation portions is opened/closed to change the angle therebetween so that the hand mechanism is opened/closed. A master hand control device transmits, to the slave mechanism, motion information used for manipulating the hand mechanism based on a position of the hand manipulation portion relative to the slider or the angle.
摘要翻译：主设备被提供给主从设备，其中手机构打开/关闭以夹持目标对象，并且从机构对目标物品执行任务。主装置包括用于操纵手机构的手操纵机构。一个人通过主机构远程操纵从机构，并且手操纵机构被操纵以使手机执行任务。在手动操作机构中，具有由人操作的一对打开/关闭操作部分的手动操作部分在滑块上向前/向后移动，所述一对打开/关闭操作部分被打开/关闭以改变它们之间的角度，使得手动机构打开/关闭。主手控制装置基于手操作部相对于滑块的位置或角度将从动机构中的运动信息传送到从动机构。

8. 发明授权

US09102057B2 Arm control apparatus, arm control method, arm control program, robot, and integrated electronic circuit for arm control 有权
标题翻译：手臂控制装置，手臂控制方法，手臂控制程序，机器人和用于手臂控制的集成电子电路
公开(公告)号：US09102057B2
公开(公告)日：2015-08-11
申请号：US14446945
申请日：2014-07-30
申请人： Panasonic Corporation
发明人： Yudai Fudaba , Yuko Tsusaka , Jun Ozawa
IPC分类号： G05B15/00 , B25J9/00 , B25J9/16 , B25J13/00 , G06F3/041
CPC分类号： B25J9/1633 , B25J13/00 , B25J13/06 , G05B2219/36429 , G05B2219/39427 , G06F3/041 , G06F2203/04105 , Y10S901/09
摘要： In a touch panel display with an arm, a torque calculating unit calculates a torque to be loaded on a touch panel display based on a position acquired by a touch position information acquiring unit and a force acquired by a touch force information acquiring unit, and a stiffness parameter information generating unit generates information about a stiffness parameter for controlling an arm so that the position and the orientation of the touch panel display do not change based on the calculated torque. An arm control unit controls the arm based on the generated information about the stiffness parameter.
摘要翻译：在具有臂的触摸面板显示器中，扭矩计算单元基于由触摸位置信息获取单元获取的位置和由触摸力信息获取单元获取的力来计算要加载在触摸面板显示器上的扭矩，以及刚度参数信息生成单元生成关于用于控制臂的刚度参数的信息，使得触摸面板显示器的位置和取向基于计算出的扭矩而不变化。臂控制单元根据关于刚度参数的生成信息控制臂。

9. 发明授权

US09381064B2 Force presentation apparatus, force presentation method, and force presentation program 有权
标题翻译：强制演示装置，强制演示方法和强制演示程序
公开(公告)号：US09381064B2
公开(公告)日：2016-07-05
申请号：US14021082
申请日：2013-09-09
申请人： Panasonic Corporation
发明人： Yuko Tsusaka , Mikiya Nakata , Yudai Fudaba , Jun Ozawa
IPC分类号： A61B5/00 , A61B5/103 , A61B5/117 , A61B18/14 , A61B18/00
CPC分类号： A61B18/1492 , A61B5/6885 , A61B2018/00577
摘要： Upon insertion of an insertion member into a living body vessel by an operator, a force individually applied to the living body vessel by the insertion member is measured by a force measuring unit, and based upon the force measured by the force measuring unit, information to be presented to an experiencing person is determined by a determination unit so that based upon the determined information, the corresponding force is presented to the experiencing person by a force presentation unit.
摘要翻译：在由操作者将插入构件插入生物体容器时，通过力测量单元测量通过插入构件分别施加到生物体容器的力，并且基于由力测量单元测量的力，将信息被呈现给经验者由确定单元确定，使得基于所确定的信息，通过力呈现单元将对应的力呈现给体验者。

10. 发明授权

US09335752B2 Control apparatus and control method for master slave robot, robot, control program for master slave robot, and integrated electronic circuit for control of master slave robot 有权
标题翻译：主从机器人的控制装置和控制方法，机器人，主从机器人的控制程序，以及主从机器人控制的集成电子电路
公开(公告)号：US09335752B2
公开(公告)日：2016-05-10
申请号：US14474613
申请日：2014-09-02
申请人： Panasonic Corporation
发明人： Yudai Fudaba , Yuko Tsusaka
IPC分类号： G05B15/00 , G05B15/02 , B25J3/04 , B25J9/16
CPC分类号： G05B15/02 , B25J3/04 , B25J9/1689 , Y10S901/08 , Y10S901/47
摘要： A control apparatus for a master slave robot causes a force information correcting unit to correct force information in accordance with a feature of a target object on a screen from target object information calculated by a target object information calculation unit. An operator can thus apply appropriate force while watching a picture projected on a display to perform a task.
摘要翻译：用于主从机器人的控制装置使得力信息校正单元根据由目标对象信息计算单元计算的目标对象信息根据屏幕上的目标对象的特征来校正力信息。因此，操作者可以在观看投影在显示器上的图像上施加适当的力来执行任务。

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