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1. 发明授权

US5056038A Apparatus for effecting coordinated position/force control for a manipulator 失效
标题翻译：用于对机械手进行协调的位置/力控制的装置
公开(公告)号：US5056038A
公开(公告)日：1991-10-08
申请号：US527367
申请日：1990-05-23
申请人： Toshitaka Kuno , Mitsuo Koide
发明人： Toshitaka Kuno , Mitsuo Koide
IPC分类号： B25J13/00 , B25J9/16 , G05B19/23 , G05B19/4155 , G05D3/12
CPC分类号： B25J9/1633 , G05B19/237 , G05B2219/39194 , G05B2219/42092
摘要： A force and moment which a manipulator receives from an external environment is detected, and this detected value is multiplied by a gain inversely proportional to a virtual spring constant set by a tool coordinate system, and the product is further converted to a value in each joint coordinate system of the manipulator so as to determine a detection torque. A command value of force and moment is converted to a value in each joint coordinate value of the manipulator in the same way as described above, so as to determine a command torque. A difference between a position command value and a position detection value is multiplied by a virtual spring constant in each joint coordinate system of the manipulator obtained by converting the virtual spring constant, and a differential torque is obtained by converting the aforementioned difference to a force and moment corresponding to the difference. A targeted torque is determined by adding the command torque and the differential torque, and feedback control is effected such that the detected torque of each joint of the manipulator coincides with the targeted torque.
摘要翻译：检测到机械手从外部环境接收的力和力矩，并且将该检测值乘以与由工具坐标系设定的虚拟弹簧常数成反比的增益，并且乘积进一步转换为每个接头中的值以确定检测转矩。以与上述相同的方式将力和力矩的指令值转换为操纵器的每个关节坐标值中的值，以便确定命令扭矩。位置指令值与位置检测值之间的差乘以通过转换虚拟弹簧常数而获得的机械手的每个关节坐标系中的虚拟弹簧常数，并且通过将上述差异转换为力获得差速转矩，并且时刻对应于差异。通过增加指令转矩和差速转矩来确定目标转矩，并且进行反馈控制，使得操纵器的每个关节的检测转矩与目标转矩一致。

2. 发明授权

US5006999A Real-time robot control system tracking based on a standard path 失效
标题翻译：基于标准路径的实时机器人控制系统跟踪
公开(公告)号：US5006999A
公开(公告)日：1991-04-09
申请号：US331318
申请日：1989-03-31
申请人： Toshitaka Kuno , Mitsuo Koide , Masaru Nakano , Chisao Hayashi , Yoshito Kato , Yasuo Ishiguro
发明人： Toshitaka Kuno , Mitsuo Koide , Masaru Nakano , Chisao Hayashi , Yoshito Kato , Yasuo Ishiguro
IPC分类号： G05B19/4155 , B25J9/18 , G05B19/425
CPC分类号： G05B19/425 , G05B2219/36417
摘要： This invention is a real-time tracking controller for a standard-path robot that detects a target point in advance, permitting higher-speed work. The robot uses both sensed data and previously taught data to accurately execute its task. Accurate control is obtained using target points corresponding to time intervals. Thus, even if the speed or path is changed during operation, accurate tracing is continuously executed.

3. 发明授权

US4967127A Robot with controlled tool tracking displacement 失效
标题翻译：具有控制工具跟踪位移的机器人
公开(公告)号：US4967127A
公开(公告)日：1990-10-30
申请号：US370699
申请日：1989-06-23
申请人： Yasuo Ishiguro , Yoshito Kato , Chisao Hayashi , Masaru Nakano , Mitsuo Koide , Hiroshi Moribe , Toshitaka Kuno
发明人： Yasuo Ishiguro , Yoshito Kato , Chisao Hayashi , Masaru Nakano , Mitsuo Koide , Hiroshi Moribe , Toshitaka Kuno
IPC分类号： B23Q35/00 , B23Q33/00 , B24B17/00 , B24B17/10 , B25J9/16 , B25J9/18 , B25J13/08 , G05B19/18 , G05B19/404 , G05B19/4155 , G05B19/425
CPC分类号： G05B19/425 , B25J13/085 , G05B2219/36417 , G05B2219/45083 , G05B2219/45161 , G05B2219/49362
摘要： A tracking control robot controls its arm end, which holds a tool, to track a taught path so that a reaction force between a workpiece and the tool remains constant. An ideal state for the arm end is determined from the present state of the arm end and the difference between the actual reaction force and a predetermined target force. Then, this ideal state is compared with a reference state of the arm end on the taught path to obtain a target position and a target attitude of the arm end. Since a target position is always determined independently of the last target position, no position error due to time delay affects a new target position even when the next target position is generated before the tool reaches the last target position. Thus, the robot is quick, responsive, and accurate when tracking at a constant operation speed.
摘要翻译：跟踪控制机器人控制其臂端，其保持工具以跟踪教导的路径，使得工件和工具之间的反作用力保持恒定。从臂端的当前状态和实际反作用力与预定目标力之间的差确定臂端的理想状态。然后，将该理想状态与教导路径上的臂端的基准状态进行比较，以获得臂端的目标位置和目标姿态。由于目标位置总是独立于最后的目标位置而被确定，所以即使在工具到达最后的目标位置之前产生下一个目标位置，也不会由于时间延迟而导致位置误差影响新的目标位置。因此，当以恒定的操作速度进行跟踪时，机器人快速，响应和准确。

4. 发明授权

US4831316A Control system for an industrial robot with a foresight function 失效
标题翻译：具有预见功能的工业机器人的控制系统
公开(公告)号：US4831316A
公开(公告)日：1989-05-16
申请号：US103403
申请日：1987-10-01
申请人： Yasuo Ishiguro , Yoshito Kato , Fumiaki Takeda , Mitsuo Koide , Toshitaka Kuno , Masaru Nakano
发明人： Yasuo Ishiguro , Yoshito Kato , Fumiaki Takeda , Mitsuo Koide , Toshitaka Kuno , Masaru Nakano
IPC分类号： G05B19/18 , B25J9/16 , B25J9/18 , G05B19/404 , G05B19/4063 , G05B19/4155 , G05B19/42 , G05B19/425
CPC分类号： G05B19/425 , G05B2219/36417
摘要： A control system for an industrial robot having a hand which traces a pre-stored standard course defining its position and posture and which has a foresight function. The hand is provided with a tool and a work shape sensor, where the tool and the work shape sensor have a known spatial relationship. The foresight function is realized by a control system comprising temporary storing means for temporarily storing a future position and/or posture data of the tool calculated from a sensed position and/or posture data of the present sensor position. The stored data is output after a delayed time interval when it is compared with a pre-stored standard data. When the difference is small, the data is used to control the future position and/or posture of the hand. When the difference is great, an abnormality process is started.
摘要翻译：一种用于工业机器人的控制系统，其具有跟踪预定义的标准过程的手，其限定其位置和姿态并具有预见功能。手上设置有工具和工件形状传感器，其中工具和工件形状传感器具有已知的空间关系。前视功能由包括临时存储装置的控制系统来实现，该临时存储装置用于临时存储从当前传感器位置的感测位置和/或姿势数据计算的工具的未来位置和/或姿势数据。存储的数据在与预先存储的标准数据进行比较的延迟时间间隔之后输出。当差异较小时，数据用于控制手的未来位置和/或姿势。当差异很大时，开始异常处理。

5. 发明授权

US4578749A Method for measuring driving amount of motor and apparatus therefor 失效
标题翻译：电机驱动量测量方法及其设备
公开(公告)号：US4578749A
公开(公告)日：1986-03-25
申请号：US506125
申请日：1983-06-20
申请人： Toshitaka Kuno , Atsushi Kamiya
发明人： Toshitaka Kuno , Atsushi Kamiya
IPC分类号： G05B19/23 , G05B19/00
CPC分类号： G05B19/231 , G05B2219/34072 , G05B2219/37183 , G05B2219/37261 , G05B2219/37462 , G05B2219/41092
摘要： In a method and apparatus for measuring a driving amount of a motor, relative driving amounts and absolute driving amounts are sampled in each predetermined driving amount pulse train on the basis of an origin of a motor, the relative driving amounts, coefficient and constant of at least one linear approximate equation representing the relation between the relative driving amount and the absolute driving amount are obtained from the relative driving amounts and the absolute driving amounts sampled, and the coefficient and constant obtained are preliminarily stored in a non-volatile memory.Accordingly, the contents in the non-volatile memory are utilized at a starting time of a motor whereby the present position indication of the motor can be conducted without effecting an origin indication of the motor.
摘要翻译：在用于测量电动机的驱动量的方法和装置中，基于电机的原点，相对驱动量，系数和常数在每个预定驱动量脉冲串中对相对驱动量和绝对驱动量进行采样从相对驱动量和采样的绝对驱动量获得表示相对驱动量和绝对驱动量之间的关系的最小一个线性近似方程式，并将获得的系数和常数预先存储在非易失性存储器中。因此，在马达的启动时利用非易失性存储器中的内容，由此可以进行马达的当前位置指示而不影响马达的原点指示。

6. 发明授权

US4513231A Control circuit of pulse width modulation inverter 失效
标题翻译：脉宽调制逆变器控制电路
公开(公告)号：US4513231A
公开(公告)日：1985-04-23
申请号：US464396
申请日：1983-02-07
申请人： Toshitaka Kuno , Hiroshi Moribe , Shojirou Miyamoto
发明人： Toshitaka Kuno , Hiroshi Moribe , Shojirou Miyamoto
IPC分类号： H02M7/48 , H02P7/29 , H02P5/06
CPC分类号： H02P7/2913 , Y10S388/902
摘要： The invention relates to a control circuit of a pulse width modulation inverter, wherein a current control circuit to output a current control signal corresponding to a current command signal is provided, main transistors of a main circuit of the pulse width modulation inverter are switchingly controlled in response to a current control signal, whereby a driving current supplied to a motor from the pulse width modulation inverter is controlled to a value corresponding to the current command signal.The current control circuit is of such an arrangement that the current control circuit corrects the current command signal in response to the speed detection signal to compensate an error in current control due to a counter electromotive force of a DC motor, while exercising a proportional control over the driving current in accordance with a current command deviation value of a driving current detection signal from the current command signal, so that the motor can be controlled at high speed and with high accuracy.
摘要翻译：本发明涉及一种脉冲宽度调制逆变器的控制电路，其中提供了一个电流控制电路，用于输出与电流指令信号相对应的电流控制信号，脉冲宽度调制反相器的主电路的主晶体管被切换地控制在响应于电流控制信号，由此将来自脉宽调制反相器的电动机提供的驱动电流控制到与当前指令信号对应的值。电流控制电路具有如下结构：电流控制电路响应于速度检测信号校正电流指令信号，以补偿由于直流电动机的反电动势引起的电流控制中的误差，同时进行比例控制驱动电流根据来自当前指令信号的驱动电流检测信号的电流指令偏差值，使得可以高速和高精度地控制电动机。

7. 发明授权

US5056031A Apparatus for detecting the collision of moving objects 失效
标题翻译：用于检测移动物体的碰撞的装置
公开(公告)号：US5056031A
公开(公告)日：1991-10-08
申请号：US435070
申请日：1989-11-09
申请人： Masaru Nakano , Minoru Tanaka , Toshiaki Ikeda , Toshitaka Kuno
发明人： Masaru Nakano , Minoru Tanaka , Toshiaki Ikeda , Toshitaka Kuno
IPC分类号： B25J9/16 , B25J9/18 , G06T17/00
CPC分类号： B25J9/1676 , G06T17/00 , G05B2219/40479 , G05B2219/49145
摘要： An apparatus for detecting the collision of objects including a moving object includes a face information memory for storing face information describing the surfaces of each object; hierarchical sphere model generator for modeling the surfaces of each object by hierarchically covering the surfaces with spheres having various radii on the basis of the face information; sphere model memory for storing the positions of the modeled spheres generated; sphere position updater for updating the position of each modeled sphere having various radii with respect to the moving object and outputting the updated position; and sphere collision computer for executing procedures in which mutually colliding spheres are detected on the basis of the positions of the modeled spheres concerning two of the objects generated at an arbitrary time and stored in the sphere model memory and colliding spheres among spheres belonging to the mutually colliding spheres and having a smaller radius are further detected with respect to only the spheres determined to collide with each other, and for determining the collision of the two objects with each other when finally mutually colliding spheres having the smallest radius are present. The procedures are executed hierarchically and consecutively starting with spheres having a large radius toward spheres having a smaller radius.
摘要翻译：一种用于检测包括移动物体的物体的碰撞的装置，包括：面部信息存储器，用于存储描述每个物体表面的面部信息; 层级球体模型生成器，用于通过基于面部信息用具有各种半径的球体分层覆盖表面来对每个对象的表面进行建模; 球体模型存储器，用于存储所生成的建模球体的位置; 球位置更新器，用于更新具有相对于移动物体的各种半径的每个建模球体的位置并输出更新的位置; 和球碰撞计算机，用于执行相对碰撞的球体被检测到的程序，所述程序基于关于在任意时间产生的存储在球体模型存储器中的两个物体的模拟球体的位置，并且将属于相互的球体中的碰撞球体进一步检测碰撞球体并具有较小的半径，相对于仅被确定为彼此碰撞的球体，并且当存在最终相互碰撞具有最小半径的球体时，确定两个物体彼此的碰撞。这些程序是从具有较大半径的球体开始分级和连续执行的，具有较小半径的球体。

8. 发明授权

US4524313A Error detecting mechanism for servosystem 失效
标题翻译：伺服系统错误检测机制
公开(公告)号：US4524313A
公开(公告)日：1985-06-18
申请号：US463579
申请日：1983-02-03
申请人： Toshitaka Kuno , Hiroshi Moribe , Atsushi Kamiya
发明人： Toshitaka Kuno , Hiroshi Moribe , Atsushi Kamiya
IPC分类号： H02P29/00 , G05B9/02 , G05B19/23
CPC分类号： G05B19/231 , G05B2219/42318
摘要： The invention relates to a mechanism wherein a relative rotary angle of a driving motor is detected by use of an encoder, and, if an error occurs in a servo control action when the driving motor is servo-controlled in accordance with a deviation value of the relative rotary angle from a desired rotary angle of the driving motor, then the servo control action is brought to an emergency stop. A potentiometer for detecting an absolute rotary angle of the driving motor is connected to a rotary shaft of the driving motor and said emergency stop is effected when a difference between said absolute rotary angle and said relative rotary angle exceeds a preset tolerance value, so that an error in the servo control action can be reliably prevented.
摘要翻译：本发明涉及一种机构，其中通过使用编码器来检测驱动马达的相对旋转角度，并且如果当驱动马达根据伺服控制的偏差值进行伺服控制时在伺服控制动作中发生错误相对旋转角度从驱动马达的所需旋转角度，然后使伺服控制动作进行紧急停止。用于检测驱动电动机的绝对旋转角度的电位器连接到驱动电动机的旋转轴，当所述绝对旋转角度和所述相对旋转角度之间的差超过预定公差值时，进行紧急停止，可以可靠地防止伺服控制动作的误差。

9. 发明授权

US4505049A Method of measuring origin of moving section in robot and apparatus therefor 失效
标题翻译：测量机器人运动部件原点的方法及其设备
公开(公告)号：US4505049A
公开(公告)日：1985-03-19
申请号：US461232
申请日：1983-01-26
申请人： Toshitaka Kuno , Toshiaki Ikeda
发明人： Toshitaka Kuno , Toshiaki Ikeda
IPC分类号： B25J9/04 , B25J9/16 , B25J13/08 , B25J18/00 , B25J19/00 , G01C9/06
CPC分类号： B25J9/046 , B25J13/08 , B25J13/088 , B25J18/002 , B25J9/1692
摘要： The position of the moving section in a robot is accurately and easily adjusted to a position of the origin by: setting a moving section being rotatably secured to a reference section through a rotary shaft in a manner that the axis of the rotary shaft is disposed horizontally; mounting an angular sensor for detecting an inclination angle of the moving section with respect to the origin, such as a level, on the moving section at a predetermined position thereof with respect to the axis of the rotary shaft; and rotating the moving section about the rotary shaft in response to a detected inclination angle. The apparatus therefor includes the angular sensor, such as a level, disposed on a mounting member and held in a position by a positioning member, and a rotating member for rotating the moving section about the rotary shaft in response to a detected inclination angle.
摘要翻译：机器人中的移动部分的位置可以通过以下方式精确地容易地调整到原点的位置：通过旋转轴将旋转轴的轴线设置成水平地旋转地固定到参考部分的运动部分 ; 安装角度传感器，用于相对于所述旋转轴的轴线在其预定位置处检测所述移动部分相对于所述原点（例如水平面）在所述移动部分上的倾斜角度; 并且响应于检测到的倾斜角度使所述移动部分绕所述旋转轴旋转。其装置包括设置在安装构件上并通过定位构件保持在一个位置的角度传感器，例如水平面，以及用于响应于检测到的倾斜角度而使运动部分围绕旋转轴旋转的旋转构件。

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