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1. 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。

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

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。

5. 发明授权

US07823676B2 Coaxial two-wheeled inverted pendulum type moving vehicle 有权
标题翻译：同轴两轮倒立摆式移动车
公开(公告)号：US07823676B2
公开(公告)日：2010-11-02
申请号：US12278002
申请日：2007-02-01
申请人： Koji Yamada , Masaaki Yamaoka , Toshio Fuwa , Mitsuo Koide
发明人： Koji Yamada , Masaaki Yamaoka , Toshio Fuwa , Mitsuo Koide
IPC分类号： B62K17/00
CPC分类号： G05D1/0891 , B60L15/2009 , B60L2200/16 , B60L2220/46 , B60L2240/423 , B60L2260/34 , B62K11/007 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： The present invention provides, in connection with a coaxial two-wheeled inverted pendulum type moving vehicle, a technique which allows sudden braking without making a vehicle body to tilt significantly backward. The coaxial two-wheeled inverted pendulum type moving vehicle of the present invention comprises a pair of wheels, a chassis for supporting the pair of wheels coaxially and rotatably, wheel actuators for rotating the wheels with respect to the chassis, a vehicle body supported by the chassis, and an inverted pendulum control unit for controlling the wheel actuators so as to maintain the balanced state of the chassis. In this moving vehicle, the vehicle body is shiftable supported by the chassis in a manner that the vehicle body may shift in a direction parallel to the moving direction of the moving vehicle with respect to the chassis. The traveling body further comprises an attitude actuator for shifting the vehicle body along the moving direction of the moving vehicle with respect to the chassis, and a braking attitude control unit for controlling the attitude actuator so as to shift the vehicle body to a direction opposite to the moving direction of the moving vehicle with respect to the chassis when braking is commenced while the moving vehicle is in motion.
摘要翻译：本发明提供了一种同轴两轮倒立摆式移动车辆的技术，其允许突然制动而不使车体大幅向后倾斜。本发明的同轴二轮倒立摆式移动车辆包括一对车轮，一个用于一体地支承一对车轮同轴和可旋转的车架，用于使车轮相对于底盘转动的车轮致动器，底盘和倒立摆控制单元，用于控制车轮致动器，以保持底盘的平衡状态。在该移动车辆中，车身能够以与车辆移动方向平行的方向相对于底盘移动的方式由车架可移动地支撑。行驶体还包括用于相对于底盘沿着移动车辆的移动方向移动车身的姿态致动器，以及制动姿态控制单元，用于控制姿态促动器，以便将车体移动到与车体相反的方向移动车辆在运动中开始制动时相对于底盘的移动方向。

6. 发明申请

US20090107240A1 INVERTED PENDULUM TYPE MOVING BODY AND METHOD OF CONTROLLING THE SAME 有权
标题翻译：反相型移动体及其控制方法
公开(公告)号：US20090107240A1
公开(公告)日：2009-04-30
申请号：US12257886
申请日：2008-10-24
申请人： Yoshiyuki Senba , Koji Yamada , Takashi Izuo , Takuya Serai , Mitsuo Koide , Kazutoshi Sukigara , Chisao Hayashi
发明人： Yoshiyuki Senba , Koji Yamada , Takashi Izuo , Takuya Serai , Mitsuo Koide , Kazutoshi Sukigara , Chisao Hayashi
IPC分类号： G01P15/00
CPC分类号： A61G5/04 , A61G2203/36 , A61G2203/38 , A61G2203/42 , B62K11/007
摘要： An inverted pendulum type moving body according to the present invention includes: first actuators that rotationally drive wheels each disposed on an axle; and a turning motion control portion that controls the first actuators when the inverted pendulum type moving body comes into contact with an obstacle so as to allow the inverted pendulum type moving body to perform a turning motion.
摘要翻译：根据本发明的倒立摆式移动体包括：第一致动器，其旋转地驱动各自设置在轴上的轮; 以及转动运动控制部分，当倒立摆式移动体与障碍物接触时，控制第一致动器，以允许倒立摆式移动体执行转动。

7. 发明授权

US08151912B2 Wheeled inverted pendulum mobile unit 有权
标题翻译：轮式倒立摆机构
公开(公告)号：US08151912B2
公开(公告)日：2012-04-10
申请号：US12398549
申请日：2009-03-05
申请人： Mitsuo Koide , Kazutoshi Sukigara , Yuji Tsusaka , Takashi Izuo , Masaaki Yamaoka , Koji Yamada
发明人： Mitsuo Koide , Kazutoshi Sukigara , Yuji Tsusaka , Takashi Izuo , Masaaki Yamaoka , Koji Yamada
IPC分类号： B62D61/00
CPC分类号： G05D1/0891
摘要： A wheeled inverted pendulum mobile unit having: a driving wheel; a body that is tiltable about an axle of the driving wheel with respect to a vertical direction; a plurality of support members that extend downward from the body in the vertical direction, wherein the bottom ends of the plurality of support members are in contact with a ground before and behind the axle of the driving wheel, and the bottom ends moves up and down, with respect to the body, as the body tilts with respect to the vertical direction; and a lock mechanism that locks positions of the bottom ends of the support members with respect to the body.
摘要翻译：具有：驱动轮的轮式倒立摆移动单元; 相对于垂直方向围绕所述驱动轮的轴可倾斜的主体; 多个支撑构件，其从所述主体沿垂直方向向下延伸，其中，所述多个支撑构件的底端与所述驱动轮的车轴前后的地面接触，并且所述底端上下移动相对于身体，当身体相对于垂直方向倾斜时; 以及锁定机构，其相对于主体锁定支撑构件的底端的位置。

8. 发明授权

US08011459B2 Inverted wheel type moving body and method of controlling same 有权
标题翻译：倒车轮型移动体及其控制方法
公开(公告)号：US08011459B2
公开(公告)日：2011-09-06
申请号：US12258002
申请日：2008-10-24
申请人： Takuya Serai , Yoshiyuki Senba , Koji Yamada , Takashi Izuo , Chisao Hayashi , Mitsuo Koide , Kazutoshi Sukigara
发明人： Takuya Serai , Yoshiyuki Senba , Koji Yamada , Takashi Izuo , Chisao Hayashi , Mitsuo Koide , Kazutoshi Sukigara
IPC分类号： E02F3/76
CPC分类号： B62K11/007 , Y02T10/7258
摘要： To provide an inverted wheel type moving body capable of improving the operability, and a method of controlling the same. An inverted wheel type moving body in accordance with one aspect of the present invention includes motors 34 and 36 for rotationally driving a right driving wheel 18 and a left driving wheel 20 respectively, a passenger seat 74 rotationally supported on mounts 26 and 28 through swing arms 17 and 19, a passenger seat drive motor 70 for driving the passenger seat 74, a control portion 80 for determining whether the manipulation amount exceeds the threshold value or not, and a motor driver 70a for control the passenger seat drive motor 70 such that the passenger seat 74 is moved in accordance with the manipulation amount when the manipulation amount does not exceed the threshold value and the movement of the passenger seat 74 is restored after the manipulation amount exceeds the threshold value.
摘要翻译：提供一种能够提高可操作性的倒车轮型移动体及其控制方法。根据本发明的一个方面的倒车轮型移动体包括用于分别旋转地驱动右驱动轮18和左驱动轮20的马达34和36，通过摆臂旋转地支撑在安装件26和28上的乘客座74 如图17和图19所示，用于驱动乘客座椅74的乘员座椅驱动马达70，用于判断操作量是否超过阈值的控制部分80以及用于控制乘客座椅驱动马达70的马达驱动器70a，当操作量不超过阈值时，乘客座椅74根据操作量移动，并且在操纵量超过阈值之后使乘客座椅74的移动恢复。

9. 发明申请

US20110178667A1 VEHICLE, CONTROLLER AND CONTROLLING METHOD OF THE SAME 审中-公开
标题翻译：车辆，控制器及其控制方法
公开(公告)号：US20110178667A1
公开(公告)日：2011-07-21
申请号：US13120571
申请日：2008-09-25
申请人： Yoshiyuki Senba , Koji Yamada , Takashi Izuo , Takuya Serai , Mitsuo Koide , Kazutoshi Sukigara , Chisao Hayashi
发明人： Yoshiyuki Senba , Koji Yamada , Takashi Izuo , Takuya Serai , Mitsuo Koide , Kazutoshi Sukigara , Chisao Hayashi
IPC分类号： B60L15/20
CPC分类号： A61G5/045 , A61G5/1075 , A61G2203/14 , A61G2203/42 , B60L15/025 , B60L15/20 , B60L15/2036 , B60L2200/16 , B60L2200/34 , B60L2240/12 , B60L2240/14 , B60L2240/24 , B60L2240/423 , B60L2240/429 , B60L2260/34 , B60L2260/44 , B62K11/007 , Y02T10/643 , Y02T10/72 , Y02T10/7275
摘要： The vehicle is provided with a body; a pair of right and left wheels; a first motor that drives one of the wheels; a second motor that drives the other one of wheels; a controller for receiving a target current value for the first motor and controlling current of the first motor; a calculator for receiving the target current value and an actual movement amount of the first motor and calculating a disturbance torque loaded on the first motor; an adjuster for adjusting the target current value for the first motor in a basis of the disturbance torque; a controller for receiving a target current value for the second motor and controlling current of the second motor; a calculator for receiving the target current value and an actual movement amount of the second motor and calculating a disturbance torque loaded on the second motor; an adjuster for adjusting the target current value for the second motor in a basis of the disturbance torque. Accordingly, even if the disturbance torque is loaded, the vehicle can keep running as intended.
摘要翻译：车辆设有车身; 一对左右车轮; 驱动其中一个车轮的第一马达; 驱动另一个车轮的第二马达; 用于接收第一电动机的目标电流值并控制第一电动机的电流的控制器; 计算器，用于接收目标电流值和第一电动机的实际移动量，并计算装载在第一电动机上的扰动转矩; 调整器，用于根据干扰转矩调整第一电动机的目标电流值; 用于接收第二电动机的目标电流值并控制第二电动机的电流的控制器; 计算器，用于接收目标电流值和第二电动机的实际移动量，并计算装载在第二电动机上的扰动转矩; 调整器，用于根据干扰转矩来调整第二电动机的目标电流值。因此，即使加载了扰动转矩，车辆也能按预期运转。

10. 发明申请

US20090051136A1 COAXIAL TWO-WHEELED INVERTED PENDULUM TYPE MOVING VEHICLE 有权
标题翻译：同轴双轮倒立式吊杆式移动车
公开(公告)号：US20090051136A1
公开(公告)日：2009-02-26
申请号：US12278002
申请日：2007-02-01
申请人： Koji Yamada , Masaaki Yamaoka , Toshio Fuwa , Mitsuo Koide
发明人： Koji Yamada , Masaaki Yamaoka , Toshio Fuwa , Mitsuo Koide
IPC分类号： B62K17/00 , B62K3/00
CPC分类号： G05D1/0891 , B60L15/2009 , B60L2200/16 , B60L2220/46 , B60L2240/423 , B60L2260/34 , B62K11/007 , Y02T10/645 , Y02T10/72 , Y02T10/7275
摘要： The present invention provides, in connection with a coaxial two-wheeled inverted pendulum type moving vehicle, a technique which allows sudden braking without making a vehicle body to tilt significantly backward. The coaxial two-wheeled inverted pendulum type moving vehicle of the present invention comprises a pair of wheels, a chassis for supporting the pair of wheels coaxially and rotatably, wheel actuators for rotating the wheels with respect to the chassis, a vehicle body supported by the chassis, and an inverted pendulum control unit for controlling the wheel actuators so as to maintain the balanced state of the chassis. In this moving vehicle, the vehicle body is shiftable supported by the chassis in a manner that the vehicle body may shift in a direction parallel to the moving direction of the moving vehicle with respect to the chassis. The traveling body further comprises an attitude actuator for shifting the vehicle body along the moving direction of the moving vehicle with respect to the chassis, and a braking attitude control unit for controlling the attitude actuator so as to shift the vehicle body to a direction opposite to the moving direction of the moving vehicle with respect to the chassis when braking is commenced while the moving vehicle is in motion.
摘要翻译：本发明提供了一种同轴两轮倒立摆式移动车辆的技术，其允许突然制动而不使车体大幅向后倾斜。本发明的同轴二轮倒立摆式移动车辆包括一对车轮，一个用于一体地支承一对车轮同轴和可旋转的车架，用于使车轮相对于底盘转动的车轮致动器，底盘和倒立摆控制单元，用于控制车轮致动器，以保持底盘的平衡状态。在该移动车辆中，车身能够以与车辆移动方向平行的方向相对于底盘移动的方式由车架可移动地支撑。行驶体还包括用于相对于底盘沿着移动车辆的移动方向移动车身的姿态致动器，以及制动姿态控制单元，用于控制姿态促动器，以便将车体移动到与车体相反的方向移动车辆在运动中开始制动时相对于底盘的移动方向。

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