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1. 发明申请

US20150081100A1 METHOD FOR CALIBRATING KINEMATICS 审中-公开
标题翻译：用于校准动力学的方法
公开(公告)号：US20150081100A1
公开(公告)日：2015-03-19
申请号：US14235201
申请日：2012-07-19
申请人： Johannes Gottlieb
发明人： Johannes Gottlieb
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , B25J9/1692 , G05B2219/39017 , G05B2219/39018
摘要： The invention relates to a method for calibrating parallel and serial robot kinematics, which have not been constructed especially for achieving the greatest possible accuracies. To this end, there is proposed a method which includes the following steps: —moving the kinematics along a predetermined number of first configuration vectors, wherein a control function is applied to the configuration vectors,—measuring the pose of the kinematics that is taken up as a result of the movement,—determining second configuration vectors which lead to the measured pose by application of the control function,—determining a correction value for at least a part of the first configuration vectors by evaluating the part of the first and associated second configuration vectors,—determining a function for transforming the configuration space by evaluating the correction values, and—defining a calibrated control function from sequentially carrying out first the function for transforming the configuration space and subsequently the control function.
摘要翻译：本发明涉及一种用于校准平行和串联机器人运动学的方法，该方法还没有特别用于实现最大可能的精度。为此，提出了一种方法，其包括以下步骤：沿着预定数量的第一配置向量移动运动学，其中将控制功能应用于配置向量， - 测量被摄取的运动学的姿态作为移动的结果，通过应用控制功能来确定导致测量姿态的第二配置向量; - 通过评估第一和第二配置向量的部分来确定至少一部分第一配置向量的校正值配置向量， - 通过评估校正值来确定用于变换配置空间的功能，以及 - 首先顺序地执行用于变换配置空间的功能和随后的控制功能来定义校准控制功能。

2. 发明授权

US06360143B1 Error recovery methods for controlling robotic systems 有权
标题翻译：用于控制机器人系统的错误恢复方法
公开(公告)号：US06360143B1
公开(公告)日：2002-03-19
申请号：US09844462
申请日：2001-04-27
申请人： Akihiro Yanagita
发明人： Akihiro Yanagita
IPC分类号： G06F1900
CPC分类号： B25J9/1692 , G05B2219/39013 , G05B2219/39017 , G05B2219/40248 , G05B2219/50111
摘要： A method of controlling a dispensing system, having a robot that moves along a motion segment and applies a material to a workpiece, automatically determines a backup distance for the robot after an error has occurred during the dispensing of a first portion of the material. The backup distance is based on an operational speed of the robot. The robot is relocated to a backup position based on this backup distance to ensure that the robot reaches the operational speed at least by a time that the robot reaches a re-application position. The re-application position is at or near where the application of the first portion of the material ended. Therefore, gaps, overlaps, and puddles in the material on the workpiece are prevented.
摘要翻译：一种控制分配系统的方法，其具有沿着运动段移动并将材料施加到工件的机器人，在分配材料的第一部分期间在发生错误之后自动确定机器人的备用距离。备用距离是基于机器人的操作速度。机器人基于该备份距离重新定位到备用位置，以确保机器人至少在机器人达到重新施加位置的时候达到操作速度。重新施加位置处于或接近材料的第一部分的施加结束的地方。因此，防止工件上的材料中的间隙，重叠和水坑。

3. 发明授权

US11919176B2 Mobile construction robot 有权
公开(公告)号：US11919176B2
公开(公告)日：2024-03-05
申请号：US17269241
申请日：2019-08-13
申请人： Hilti Aktiengesellschaft
发明人： Håvard Halvorsen , Jørn Sandvik Nilsson
IPC分类号： B25J9/16 , B25J11/00 , B25J13/08 , G05B19/401
CPC分类号： B25J9/1692 , B25J9/162 , B25J11/005 , B25J13/089 , G05B19/401 , G05B2219/39017 , G05B2219/39024 , G05B2219/39033 , G05B2219/39047
摘要： A method of operating a mobile construction robot includes placing an optical tracker on an architectural construction site and parking a driving platform of the robot on the site. An end effector of the robot is moved in first and second positions and the first and second positions of the end effector relative to the driving platform are measured. An optical marker mounted to the end effector is tracked in the first and second positions of the end effector with the optical tracker and the first and second positions of the optical marker relative to the optical tracker is measured with the optical tracker. A position and an orientation of the driving platform is determined based on the measured first and second position of the end effector relative to the driving platform and the measured first and second position of the optical marker relative to the optical tracker.

4. 发明申请

US20160263747A1 ROBOT CONTROLLING METHOD, ROBOT APPARATUS, PROGRAM AND RECORDING MEDIUM 审中-公开
标题翻译：机器人控制方法，机器人装置，程序和记录介质
公开(公告)号：US20160263747A1
公开(公告)日：2016-09-15
申请号：US15058904
申请日：2016-03-02
申请人： CANON KABUSHIKI KAISHA
发明人： Akiyoshi Yokoi
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1633 , B25J9/1669 , B25J9/1687 , G05B19/402 , G05B2219/39017 , G05B2219/39024 , G05B2219/39041 , G05B2219/39183 , G05B2219/39325 , G05B2219/39529
摘要： A control apparatus makes a robot hand grip a work for measurement. The control apparatus controls the operation of a robot arm so that the robot arm keeps a force of striking the work for measurement against a reference constant, while making the end portion of the robot arm rotate around the end axis, in a state of making the outer periphery F3 of the work for measurement, which is gripped by the robot hand, strike against the reference jig. The control apparatus acquires a detection result detected by an encoder of each of the joints when the end portion of the robot arm has been rotated. The control apparatus calculates a correction amount of trajectory data based on eccentricity of a central axis with respect to an end axis, by using the detection result of the encoder, and corrects the trajectory data, based on the correction amount.
摘要翻译：控制装置使机器人抓握用于测量的工件。控制装置控制机器人手臂的操作，使得机器人手臂在使机器人手臂的端部围绕端轴旋转的同时保持抵抗作业的冲击参考常数的力，由机器人手抓住的用于测量的工件的外周F3撞击参考夹具。当机器人手臂的端部旋转时，控制装置获取由每个关节的编码器检测到的检测结果。控制装置通过使用编码器的检测结果，基于中心轴相对于端轴的偏心度来计算轨迹数据的校正量，并根据校正量来校正轨迹数据。

5. 发明授权

US09937620B2 Robot system having function to calculate position and orientation of sensor 有权
公开(公告)号：US09937620B2
公开(公告)日：2018-04-10
申请号：US15281084
申请日：2016-09-30
申请人： FANUC CORPORATION
发明人： Nobuaki Yamaoka , Wenjie Chen , Kaimeng Wang
IPC分类号： B25J9/00 , B25J9/16 , B25J13/08
CPC分类号： B25J9/1651 , B25J9/1692 , B25J13/088 , B25J13/089 , G05B2219/39017 , G05B2219/39058
摘要： A robot control device which controls a robot includes a sensor coordinate system calculation unit which calculates a position and an orientation of a sensor by making the robot perform a predetermined operation. The sensor coordinate system calculation unit comprises an operation parameter optimization unit which is configured to obtain a combination most suitable for calculating the position and orientation of the sensor, from a plurality of combinations of modified values of a predetermined type of operation parameters, by making the robot perform the predetermined operation, successively using each of the combinations.

6. 发明申请

US20170095930A1 ROBOT SYSTEM EQUIPPED WITH CAMERA FOR CAPTURING IMAGE OF TARGET MARK 有权
公开(公告)号：US20170095930A1
公开(公告)日：2017-04-06
申请号：US15281091
申请日：2016-09-30
申请人： FANUC CORPORATION
发明人： Fumikazu WARASHINA , Keisuke WATANABE , Kenshirou OONO
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1664 , B25J9/1692 , G05B2219/37097 , G05B2219/37561 , G05B2219/39017 , G05B2219/39045 , G05B2219/40003
摘要： A robot system which is inexpensive and can easily measure a position of a target point. The system stores feature quantities of an image of a target mark included in an image acquired as reference data when the target mark is placed at a known first target mark position at the robot coordinate system and stores the first target mark position with respect to an arm tip as the position of the tool center point. The system compares the feature quantities obtained from the image acquired when the target mark is arranged at a second target mark position and the feature quantities of the reference data to make the arm tip move and calculates the second target mark position at the robot coordinate system based on a second robot position corresponding to the position of the arm tip after movement and the position of the tool center point.

7. 发明申请

US20160346931A1 METHOD AND ARRANGEMENT FOR THE CORRECTION OF POSE ERRORS IN KINEMATICS AND A CORRESPONDING COMPUTER PROGRAM AND A CORRESPONDING COMPUTER-READABLE STORAGE MEDIUM 审中-公开
标题翻译：用于校正动画中的位置错误的方法和布置以及相应的计算机程序和相应的计算机可读存储介质
公开(公告)号：US20160346931A1
公开(公告)日：2016-12-01
申请号：US15228855
申请日：2016-08-04
申请人： Johannes Gottlieb
发明人： Johannes Gottlieb
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , G05B2219/39017 , G05B2219/39018
摘要： The invention relates to a method and a arrangement for calibrating a kinematics and a corresponding computer program and a corresponding computer-readable storage medium, which especially can be applied to extend the calibration to classes of parallel and serial robots, which have not been constructed especially for achieving the greatest possible accuracies, but which preferably have a high reproducability.To this end, there is proposed a method which includes the following steps: Moving the kinematics in that way that the kinematics takes a set of poses with a prescribed accuracy, Determination of first configuration vectors by reading of the data describing actuator excursions in the particular poses, Determination of a function for the transformation of the configuration space by evaluating of the first and the second configuration vectors, where the second configuration vectors are mapped each by a control function to one of the poses, and Definition of a calibrated control function by successively executing of the function for the transformation of the configuration space and then of the control function.

8. 发明公开

US20230256611A1 Mobile Construction Robot 审中-公开
公开(公告)号：US20230256611A1
公开(公告)日：2023-08-17
申请号：US18306293
申请日：2023-04-25
申请人： Hilti Aktiengesellschaft
发明人： Håvard HALVORSEN , Jørn Sandvik NILSSON
IPC分类号： B25J9/16 , B25J11/00 , B25J13/08 , G05B19/401
CPC分类号： B25J9/1692 , B25J9/162 , B25J11/005 , B25J13/089 , G05B19/401 , G05B2219/39017 , G05B2219/39024 , G05B2219/39033 , G05B2219/39047
摘要： A smart drilling system that includes a controller, a drilling machine with an optical marker, and a tracker station at a fixed spot of a construction site. The drilling machine includes an optical marker. The tracker station acquires the location of the drilling machine and its drill through tracking the optical marker. The drilling machine is moved into positions of multiple different work regions. The tracker station sequentially acquires the location of the multiple different work regions and transmits the acquired location information to the controller, such that, by using the transmitted locations, the controller converts drilling machine coordinates into desired perforation coordinates and recognizes an orientation of the drilling machine. The controller also recognizes a perforable point at a current position of the drilling machine through the location information of the drilling machine.

9. 发明授权

US09969090B2 Robot system equipped with camera for capturing image of target mark 有权
公开(公告)号：US09969090B2
公开(公告)日：2018-05-15
申请号：US15281091
申请日：2016-09-30
申请人： FANUC CORPORATION
发明人： Fumikazu Warashina , Keisuke Watanabe , Kenshirou Oono
IPC分类号： B25J9/18 , B25J9/16
CPC分类号： B25J9/1697 , B25J9/1664 , B25J9/1692 , G05B2219/37097 , G05B2219/37561 , G05B2219/39017 , G05B2219/39045 , G05B2219/40003
摘要： A robot system which is inexpensive and can easily measure a position of a target point. The system stores feature quantities of an image of a target mark included in an image acquired as reference data when the target mark is placed at a known first target mark position at the robot coordinate system and stores the first target mark position with respect to an arm tip as the position of the tool center point. The system compares the feature quantities obtained from the image acquired when the target mark is arranged at a second target mark position and the feature quantities of the reference data to make the arm tip move and calculates the second target mark position at the robot coordinate system based on a second robot position corresponding to the position of the arm tip after movement and the position of the tool center point.

10. 发明申请

US20170106535A1 ROBOT SYSTEM HAVING FUNCTION TO CALCULATE POSITION AND ORIENTATION OF SENSOR 有权
公开(公告)号：US20170106535A1
公开(公告)日：2017-04-20
申请号：US15281084
申请日：2016-09-30
申请人： FANUC CORPORATION
发明人： Nobuaki YAMAOKA , Wenjie CHEN , Kaimeng WANG
IPC分类号： B25J9/16 , B25J13/08
CPC分类号： B25J9/1651 , B25J9/1692 , B25J13/088 , B25J13/089 , G05B2219/39017 , G05B2219/39058
摘要： A robot control device which controls a robot includes a sensor coordinate system calculation unit which calculates a position and an orientation of a sensor by making the robot perform a predetermined operation. The sensor coordinate system calculation unit comprises an operation parameter optimization unit which is configured to obtain a combination most suitable for calculating the position and orientation of the sensor, from a plurality of combinations of modified. values of a predetermined type of operation. parameters, by making the robot perform the predetermined operation, successively using each of the combinations.

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