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1. 发明申请

US20090132057A1 CONTROL SYSTEM FOR CONTROLLING THE MOVEMENTS OF A PLURALITY OF MECHANICAL UNITS 审中-公开
标题翻译：用于控制机械单位多尺度运动的控制系统
公开(公告)号：US20090132057A1
公开(公告)日：2009-05-21
申请号：US12267797
申请日：2008-11-10
申请人： Tommy KETTU , Anders Wall , Goran Mustapic , Peter J. Eriksson
发明人： Tommy KETTU , Anders Wall , Goran Mustapic , Peter J. Eriksson
IPC分类号： G05B15/02 , G06F9/455 , G06F19/00
CPC分类号： G05B19/0421 , B25J9/161 , G05B19/4141 , G05B2219/34278 , G05B2219/34403 , G05B2219/34417 , G05B2219/34419 , G05B2219/34429 , G06F9/5077
摘要： A control system is disclosed for controlling the movements of a plurality of mechanical units. The control system includes a plurality of independent control units, each including one or more control programs having instructions for controlling movements of at least one mechanical unit, and software for executing the control programs, wherein each control unit is configured to be put into any of a plurality of different states independent of states of remaining control units. A single server unit contains the plurality of independent control units, the server including memory for storing the control programs and the software for executing the control programs, a processor having at least one core, communication hardware for communicating with a network, and a resource-distributing unit adapted to distribute real and virtual hardware resources of the server unit to the control units, such that the control units share the real and virtual hardware resources of the server unit.
摘要翻译：公开了用于控制多个机械单元的运动的控制系统。控制系统包括多个独立的控制单元，每个单独的控制单元包括具有用于控制至少一个机械单元的移动的指令的一个或多个控制程序和用于执行控制程序的软件，其中每个控制单元被配置为独立于剩余控制单元的状态的多个不同状态。单个服务器单元包含多个独立控制单元，该服务器包括用于存储控制程序的存储器和用于执行控制程序的软件，具有至少一个核心的处理器，用于与网络进行通信的通信硬件，分配单元，其适于将所述服务器单元的实际和虚拟硬件资源分配给所述控制单元，使得所述控制单元共享所述服务器单元的实际和虚拟硬件资源。

2. 发明授权

US08099191B2 Robot service system and a method for providing remote service for a robot 失效
标题翻译：机器人服务系统和为机器人提供远程服务的方法
公开(公告)号：US08099191B2
公开(公告)日：2012-01-17
申请号：US12330259
申请日：2008-12-08
申请人： Dominique Blanc , Mats Myhr , Peter J. Eriksson , Steve Murphy
发明人： Dominique Blanc , Mats Myhr , Peter J. Eriksson , Steve Murphy
IPC分类号： G06F19/00
CPC分类号： G05B19/416 , B25J9/1674 , G05B2219/31104 , G05B2219/33286 , G05B2219/39247 , G05B2219/42289 , G05B2219/49369
摘要： A robot service system including a robot including least one manipulator and a controller controlling the motion of the manipulator. A remote service center includes an analyzing computer, and a communication line between the robot controller and the remote service center. A monitoring component is configured to monitor the current operation of the controller and the current motions of the manipulator, and to transmit information on the current operation of the controller and the current motions of the manipulator to the remote service center. The analyzing computer is configured, upon request, to calculate new maximum permissible performance parameters for the robot based on the received information and to transmit the new maximum permissible performance parameters to the robot controller. The analyzing computer is further configured to calculate one or more monitoring parameter, and the monitoring component is further configured to supervise that the robot is not run outside allowed limits based on the monitoring parameters.
摘要翻译：一种机器人服务系统，其包括包括至少一个操纵器的机器人和控制所述操纵器的运动的控制器。远程服务中心包括分析计算机，机器人控制器和远程服务中心之间的通信线路。监视部件被配置为监视控制器的当前操作和操纵器的当前运动，并且将关于控制器的当前操作的信息以及操纵器的当前运动发送到远程服务中心。根据请求，分析计算机被配置为基于接收到的信息计算机器人的新的最大允许性能参数，并将新的最大允许性能参数传送到机器人控制器。所述分析计算机还被配置为计算一个或多个监视参数，并且所述监视组件还被配置为基于所述监视参数来监视所述机器人不在超出允许的极限的范围内运行。

3. 发明申请

US20100274385A1 CONTROL SYSTEM FOR CONTROLLING AN INDUSTRIAL ROBOT 审中-公开
标题翻译：控制工业机器人的控制系统
公开(公告)号：US20100274385A1
公开(公告)日：2010-10-28
申请号：US12305090
申请日：2008-01-18
申请人： Peter J. Eriksson
发明人： Peter J. Eriksson
IPC分类号： B25J9/16 , G06F9/50 , G05B19/414
CPC分类号： G06F9/5066 , G05B19/4141 , G05B2219/33334 , G05B2219/36395 , G05B2219/39252
摘要： A control system for controlling at least one industrial robot, wherein the control system comprises a plurality of software modules (41-47) for handling various system functions of the control system, and a plurality of separate hardware units (50-53), each comprising a processing unit (30a-d) and a memory unit (26a-d) for storing one or more of said software modules, and each of the hardware units is configured to receive and execute one or more of the software modules. At least some of the software modules are arranged scalable with regard to the performance of the system functions dependent on the capacity of the hardware unit running the software module, and the control system comprises a resource-distributing unit (55) having knowledge of the capacity of the hardware units, the scalability of the software modules, and the demand on hardware capacity of the software modules, and the resource-distributing unit is configured to plan how to distribute said software modules among said hardware units in order to optimized the performance of the system functions.
摘要翻译：一种用于控制至少一个工业机器人的控制系统，其中所述控制系统包括用于处理所述控制系统的各种系统功能的多个软件模块（41-47）和多个单独的硬件单元（50-53），每个包括用于存储一个或多个所述软件模块的处理单元（30a-d）和存储单元（26a-d），并且每个硬件单元被配置为接收和执行一个或多个软件模块。关于取决于运行软件模块的硬件单元的容量的系统功能的性能，至少一些软件模块被布置为可扩展的，并且控制系统包括具有容量知识的资源分配单元（55）硬件单元的可扩展性，软件模块的可扩展性以及对硬件容量的需求以及资源分配单元被配置为规划如何在所述硬件单元之间分发所述软件模块，以便优化所述硬件单元的性能系统功能。

4. 发明申请

US20090187277A1 CONTROL SYSTEM FOR AN INDUSTRIAL ROBOT 有权
标题翻译：工业机器人控制系统
公开(公告)号：US20090187277A1
公开(公告)日：2009-07-23
申请号：US12301203
申请日：2007-03-27
申请人： Ian Bird-Radolovic , Peter J. Eriksson
发明人： Ian Bird-Radolovic , Peter J. Eriksson
IPC分类号： B25J9/16
CPC分类号： G05B19/406 , B25J9/1674 , G05B2219/41293 , G05B2219/42284
摘要： A control system for controlling an industrial robot and a method thereof. A control unit generates a control signal for controlling the motor. At least one drive unit controls the motor. The drive unit includes a switching unit adapted to convert DC current to alternating current to the motor in dependence on the control signal. A safety unit generates a stop signal for stopping the robot upon occurrence of a safety event. The drive unit disables the switching unit upon receiving the stop signal. The safety unit generates the stop signal with a time delay with respect to the safety event. The control unit generates the control signal in such a way that the motor is electrically braked during the time delay. The control system transfers the stop signal to the brake, which mechanically brakes the motor upon receiving the stop signal, and delays the stop signal to the drive unit so that the brake receives the stop signal before the drive unit to ensure that the mechanical brake is applied before the switching unit is disabled.
摘要翻译：一种用于控制工业机器人的控制系统及其方法。控制单元生成用于控制电动机的控制信号。至少有一个驱动单元控制电机。驱动单元包括适于根据控制信号将直流电流转换为电动机的交流电的开关单元。在安全事件发生时，安全单元产生用于停止机器人的停止信号。驱动单元在接收到停止信号时禁用开关单元。安全单元产生相对于安全事件延时的停止信号。控制单元以这样的方式生成控制信号，使得电机在时间延迟期间被电制动。控制系统将停止信号传送到制动器，其在接收到停止信号时机械地制动电动机，并且将停止信号延迟到驱动单元，使得制动器在驱动单元之前接收到停止信号，以确保机械制动器在切换单元被禁用之前应用。

5. 发明申请

US20090157224A1 ROBOT SERVICE SYSTEM AND A METHOD FOR PROVIDING REMOTE SERVICE FOR A ROBOT 失效
标题翻译：机器人服务系统和用于为机器人提供远程服务的方法
公开(公告)号：US20090157224A1
公开(公告)日：2009-06-18
申请号：US12330259
申请日：2008-12-08
申请人： Dominique Blanc , Mats Myhr , Peter J. Eriksson , Steve Murphy
发明人： Dominique Blanc , Mats Myhr , Peter J. Eriksson , Steve Murphy
IPC分类号： G06F19/00
CPC分类号： G05B19/416 , B25J9/1674 , G05B2219/31104 , G05B2219/33286 , G05B2219/39247 , G05B2219/42289 , G05B2219/49369
摘要： A robot service system including a robot including least one manipulator and a controller controlling the motion of the manipulator. A remote service center includes an analyzing computer, and a communication line between the robot controller and the remote service center. A monitoring component is configured to monitor the current operation of the controller and the current motions of the manipulator, and to transmit information on the current operation of the controller and the current motions of the manipulator to the remote service center. The analyzing computer is configured, upon request, to calculate new maximum permissible performance parameters for the robot based on the received information and to transmit the new maximum permissible performance parameters to the robot controller. The analyzing computer is further configured to calculate one or more monitoring parameter, and the monitoring component is further configured to supervise that the robot is not run outside allowed limits based on the monitoring parameters.
摘要翻译：一种机器人服务系统，其包括包括至少一个操纵器的机器人和控制所述操纵器的运动的控制器。远程服务中心包括分析计算机，机器人控制器和远程服务中心之间的通信线路。监视部件被配置为监视控制器的当前操作和操纵器的当前运动，并且将关于控制器的当前操作的信息以及操纵器的当前运动发送到远程服务中心。根据请求，分析计算机被配置为基于接收到的信息计算机器人的新的最大允许性能参数，并将新的最大允许性能参数传送到机器人控制器。所述分析计算机还被配置为计算一个或多个监视参数，并且所述监视组件还被配置为基于所述监视参数来监视所述机器人不在超出允许的极限的范围内运行。

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