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1. 发明授权

US09969085B2 Robot control device and method of controlling same 有权
公开(公告)号：US09969085B2
公开(公告)日：2018-05-15
申请号：US15655612
申请日：2017-07-20
申请人： FANUC CORPORATION
发明人： Kenji Sugio
IPC分类号： G05B19/04 , B25J9/16
CPC分类号： B25J9/1651 , B25J9/1666 , B25J9/1676 , G05B2219/40202 , G05B2219/49138
摘要： A control device for a robot, includes a speed calculator that calculates the speed of at least one target point of the robot operating according to an operation program, on the basis of a speed command value written in the operation program; a limitation direction specifier that specifies a direction in which the speed of the at least one target point is limited; a speed limit component calculator that calculates, out of the speed of the at least one target point calculated by the speed calculator, a speed component in the direction specified by the limitation direction specifier; and a speed limiter that limits, only upon motion exceeding a prespecified speed limit, a motion speed of the robot such that the speed component calculated by the speed limit component calculator is equal to or less than the prespecified speed limit.

2. 发明申请

US20170312922A1 VIBRATION MEASUREMENT METHOD FOR MOVING PART, VIBRATION MEASUREMENT METHOD FOR ROBOT, AND CONTROL DEVICE 审中-公开
公开(公告)号：US20170312922A1
公开(公告)日：2017-11-02
申请号：US15490044
申请日：2017-04-18
申请人： Seiko Epson Corporation
发明人： Yukihiro UNNO
IPC分类号： B25J9/16
CPC分类号： B25J9/1694 , B25J9/1651 , G05B2219/37388 , G05B2219/37435 , G05B2219/40459
摘要： A vibration measurement method for a moving part is a vibration measurement method in which vibration of a moving part is measured using a first inertial sensor. The method includes: performing measurement by the first inertial sensor in a state where the moving part is resonating, driven by a drive unit which drives the moving part; and finding a magnitude of vibration of the moving part, based on an output from the first inertial sensor. An example of the moving part may be a plurality of arms or the like provided in such a way as to be able to rotate about a rotation axis.

3. 发明申请

US20170266809A1 ROBOT CONTROLLER AND ROBOT CONTROL METHOD 审中-公开
公开(公告)号：US20170266809A1
公开(公告)日：2017-09-21
申请号：US15458994
申请日：2017-03-15
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Taku SHIKINA , Takashi NISHIMURA , Tamio NAKAMURA
IPC分类号： B25J9/16
CPC分类号： B25J9/1651 , B25J9/1607 , B25J9/161 , B25J9/1694 , G05B2219/40333
摘要： A robot controller (2) configured to control a robot (1) including a plurality of joints (J1-J6) each rotatable around a rotation axis, the robot controller (2) including: an acquisition unit (21) configured to acquire a rotation angle of each of the plurality of joints (J1-J6); a determination unit (22) configured to determine whether or not the robot (1) has been in proximity to a singular configuration, based on the rotation angle of each of the plurality of joints (J1-J6); and a control unit (23) configured to control the plurality of joints (J1-J6) to be rotated not to rotate simultaneously, when the determination unit (22) determines that the robot (1) has been in proximity to the singular configuration.

4. 发明申请

US20170106536A1 Methods and Systems for Selecting a Velocity Profile for Controlling a Robotic Device 审中-公开
公开(公告)号：US20170106536A1
公开(公告)日：2017-04-20
申请号：US15390145
申请日：2016-12-23
申请人： X Development LLC
发明人： Munjal Desai , Ryan Michael Hickman , Thor Lewis , Damon Kohler
IPC分类号： B25J9/16 , G05B19/416 , B25J13/06
CPC分类号： B25J9/1651 , B25J13/06 , G05B19/416 , G05B2219/42175 , G05B2219/43034 , G05B2219/43036 , G05B2219/43074
摘要： Methods and systems for selecting a velocity profile for controlling a robotic device are provided. An example method includes receiving via an interface a selection of a robotic device to control, and receiving via the interface a request to modify a velocity profile of the robotic device. The velocity profile may include information associated with changes in velocity of the robotic device over time. The method may further include receiving a selected velocity profile, receiving an input via the interface, and determining a velocity command based on the selected velocity profile and the input. In this manner, changes in velocity of the robotic device may be filtered according to a velocity profile selected via the interface.

5. 发明申请

US20170028554A1 ROBOT, CONTROL APPARATUS, AND ROBOT SYSTEM 有权
标题翻译：机器人，控制装置和机器人系统
公开(公告)号：US20170028554A1
公开(公告)日：2017-02-02
申请号：US15208950
申请日：2016-07-13
申请人： Seiko Epson Corporation
发明人： Akihiro GOMI , Shunsuke TOSHIMITSU
IPC分类号： B25J9/16 , B25J13/08
CPC分类号： B25J9/1638 , B25J9/1651 , B25J9/1694 , B25J13/088 , G05B2219/37134 , G05B2219/37388 , G05B2219/39195 , G05B2219/40597 , G05B2219/41021 , G05B2219/41025 , Y10S901/46
摘要： A robot includes a robot arm and an inertial sensor provided in the robot arm. The robot arm is controlled using a weighting value for weighting output from the inertial sensor. In at least apart of a range in which the robot arm is movable, the weighting value is a first value when acceleration of the robot arm is first acceleration, and changes from the first value to a second value higher than the first value when the acceleration of the robot arm changes from the first acceleration to second acceleration lower than the first acceleration.
摘要翻译：机器人包括设置在机器人手臂中的机器人臂和惯性传感器。使用加权值对来自惯性传感器的输出进行加权来控制机器人手臂。在机器人臂可移动的范围的至少一部分中，当机器人手臂的加速度为第一加速度时，加权值为第一值，并且当加速度从第一值变化到高于第一值时的第二值机器人手臂从第一加速度变化到比第一加速度低的第二加速度。

6. 发明授权

US09555548B2 Robot control device for controlling robot moved according to applied force 有权
标题翻译：根据施加的力量控制机器人的机器人控制装置
公开(公告)号：US09555548B2
公开(公告)日：2017-01-31
申请号：US14684655
申请日：2015-04-13
申请人： FANUC CORPORATION
发明人： Takahiro Iwatake
IPC分类号： B25J9/16
CPC分类号： B25J9/1694 , B25J9/1651 , G05B2219/37357
摘要： A robot control device includes an operation axis setting unit that sets a axis rotationally moved according to an applied force as an operation axis and sets a rotational moving direction of the operation axis; a first operation force acquisition unit that obtains a first virtual force that is virtually applied to the operation axis to assume that the first virtual force is a first operation force; and an operation command unit that outputs an operation command for moving the operation axis set by the operation axis setting unit on the basis of an operation force determined from the first operation force. The operation command unit obtains a target moving direction and a target moving velocity of the operation axis on the basis of the first operation force and the rotational moving direction set by the operation axis setting unit, so as to move the operation axis.
摘要翻译：一种机器人控制装置，其具有：操作轴设定单元，其将根据所施加的力旋转的轴设定为操作轴，并设定操作轴的旋转移动方向; 第一操作力获取单元，其获得虚拟施加到操作轴的第一虚拟力，以假定第一虚拟力是第一操作力; 以及操作指令单元，其基于从第一操作力确定的操作力输出用于使由操作轴设置单元设置的操作轴移动的操作命令。操作指令单元基于由操作轴设置单元设置的第一操作力和旋转移动方向来获得操作轴的目标移动方向和目标移动速度，以移动操作轴。

7. 发明申请

US20160318186A1 ROBOT 审中-公开
公开(公告)号：US20160318186A1
公开(公告)日：2016-11-03
申请号：US15206455
申请日：2016-07-11
申请人： Seiko Epson Corporation
发明人： Akihiro GOMI , Akio NIU , Masaki MOTOYOSHI
IPC分类号： B25J9/16
CPC分类号： B25J9/1694 , B25J9/1638 , B25J9/1651 , G05B2219/39195 , G05B2219/39335 , G05B2219/40597
摘要： A robot includes a base, first and second arms, first and second drive sources, first and second inertia sensors, and first and second angle sensors. A rotation axis of the first arm and a rotation axis of the second arm are orthogonal to each other. The first inertia sensor is installed at the first arm, and the second inertia sensor is installed at the second arm. The first angle sensor is installed at the first drive source, and the second angle sensor is installed at the second drive source. Angular velocities obtained from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities obtained from the second inertia sensor and the second angle sensor are fed back to a second drive source control unit.

8. 发明授权

US09409295B2 Method for controlling a robot 有权
标题翻译：控制机器人的方法
公开(公告)号：US09409295B2
公开(公告)日：2016-08-09
申请号：US14460811
申请日：2014-08-15
申请人： KUKA Laboratories GmbH
发明人： Marc-Walter Ueberle , Hartmut Keyl
IPC分类号： B25J9/16 , G05B23/02
CPC分类号： B25J9/1674 , B25J9/1651 , G05B23/0291 , G05B2219/40204 , G05B2219/42319
摘要： A method for controlling a robot includes monitoring the robot, and carrying out a fault reaction, selected from a number of specified fault reactions, on the basis of the monitoring of the robot, wherein the fault reaction is selected on the basis of a monitoring of an operational capability and/or an output variable of at least one motor of the robot.
摘要翻译：一种机器人的控制方法，其特征在于，根据所述机器人的监视，对所述机器人进行监视，进行从多个规定的故障反应中选出的故障反应，其特征在于，机器人的至少一个马达的操作能力和/或输出变量。

9. 发明授权

US09327402B2 Robot, robot control device, and robot system 有权
标题翻译：机器人，机器人控制装置和机器人系统
公开(公告)号：US09327402B2
公开(公告)日：2016-05-03
申请号：US14195937
申请日：2014-03-04
申请人： Seiko Epson Corporation
发明人： Akio Niu
IPC分类号： G05B19/00 , G05B15/00 , B25J9/16 , B25J9/04 , B25J13/08
CPC分类号： B25J9/1651 , B25J9/04 , B25J9/046 , B25J9/1638 , B25J9/1694 , B25J13/088 , Y10S901/09
摘要： A robot includes a base, a first arm rotatably connected to the base around a first rotating axis, a second arm rotatably connected to the first arm around a second rotating axis orthogonal to the first rotating axis, a third arm rotatably connected to the second arm around a third rotating axis parallel to the second rotating axis, a first angular velocity sensor provided in the first arm and having an angular velocity detection axis parallel to the first rotating axis, and a second angular velocity sensor provided in the second arm and having an angular velocity detection axis parallel to the third rotating axis.
摘要翻译：一种机器人，包括：基座，围绕第一旋转轴线可旋转地连接到基座的第一臂;围绕与第一旋转轴线正交的第二旋转轴线可旋转地连接到第一臂的第二臂，与第二臂可旋转地连接的第三臂围绕平行于所述第二旋转轴线的第三旋转轴线，设置在所述第一臂中并且具有平行于所述第一旋转轴线的角速度检测轴线的第一角速度传感器，以及设置在所述第二臂中的第二角速度传感器，角速度检测轴平行于第三旋转轴。

10. 发明申请

US20160107311A1 ROBOT, ROBOT CONTROL DEVICE, AND ROBOT SYSTEM 审中-公开
标题翻译：机器人，机器人控制装置和机器人系统
公开(公告)号：US20160107311A1
公开(公告)日：2016-04-21
申请号：US14979004
申请日：2015-12-22
申请人： Seiko Epson Corporation
发明人： Akio NIU
IPC分类号： B25J9/16 , B25J9/04
CPC分类号： B25J9/1651 , B25J9/04 , B25J9/046 , B25J9/1638 , B25J9/1694 , B25J13/088 , Y10S901/09
摘要： A robot includes a base, a first arm rotatably connected to the base around a first rotating axis, a second arm rotatably connected to the first arm around a second rotating axis orthogonal to the first rotating axis, a third arm rotatably connected to the second arm around a third rotating axis parallel to the second rotating axis, a first angular velocity sensor provided in the first arm and having an angular velocity detection axis parallel to the first rotating axis, and a second angular velocity sensor provided in the second arm and having an angular velocity detection axis parallel to the third rotating axis.
摘要翻译：一种机器人，包括：基座，围绕第一旋转轴线可旋转地连接到基座的第一臂;围绕与第一旋转轴线正交的第二旋转轴线可旋转地连接到第一臂的第二臂，与第二臂可旋转地连接的第三臂围绕平行于所述第二旋转轴线的第三旋转轴线，设置在所述第一臂中并且具有平行于所述第一旋转轴线的角速度检测轴线的第一角速度传感器，以及设置在所述第二臂中的第二角速度传感器，角速度检测轴平行于第三旋转轴。

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