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1. 发明授权

US09718192B2 System for automatically and precisely positioning robotic arm and method thereof 有权
公开(公告)号：US09718192B2
公开(公告)日：2017-08-01
申请号：US14748250
申请日：2015-06-24
申请人： NATIONAL TAIPEI UNIVERSITY OF TECHNOLOGY
发明人： Hsien I Lin , Yu Che Huang
IPC分类号： B25J9/16 , G01B21/04
CPC分类号： B25J9/1694 , B25J9/1633 , B25J9/1692 , G01B21/042 , G05B2219/39015 , G05B2219/39021 , G05B2219/39024 , Y10S901/09 , Y10S901/46
摘要： The present disclosure illustrates a system for automatically and precisely positioning a robotic arm and method thereof. A control computing apparatus of the present disclosure controls a probe of the robotic arm to touch one of the positioning devices, and acquires a moment variation of each of the axes from a moment sensing device of the robotic arm, and then computes the distance between a geometric center of the touched positioning device and a coordinate origin according to a geometric feature of the touched positioning device, and then positions the robotic arm according to the moment variations of the axes and the distance between the geometric center of the touched positioning device and the coordinate origin. Therefore, the technical effect of quickly, precisely positioning the robotic arm without the error accumulation can be achieved.

2. 发明申请

US20170014995A1 TEACHING APPARATUS FOR ROBOT PROVIDED WITH GUIDE PART FOR DETERMINING POSITION AND POSTURE OF END EFFECTOR 审中-公开
标题翻译：用于确定终端效应位置和姿势的指导部分的机器人教学装置
公开(公告)号：US20170014995A1
公开(公告)日：2017-01-19
申请号：US15210887
申请日：2016-07-15
申请人： FANUC CORPORATION
发明人： Yoshiaki KATO
IPC分类号： B25J9/16 , B25J13/08
CPC分类号： B25J13/085 , B25J9/1633 , B25J15/0095 , G05B19/425 , G05B2219/39021 , Y02P90/265
摘要： A teaching apparatus for robot includes a force sensor disposed between an arm of a robot and an end effector, and a guide part attached to the end effector. An object includes a recessed part. The recessed part has a reference surface, with which target surface of the end part of the guide part are brought into surface-contact so as to determine a position and a posture of the robot. A robot control device performs a control for bringing the target surface of the guide part into surface-contact with the reference surface of the recessed part so as to determine a teaching position of the robot, based on the direction of a force applied to the end effector.
摘要翻译：用于机器人的教学装置包括设置在机器人的臂和端部执行器之间的力传感器和附接到端部执行器的引导部分。物体包括凹陷部分。凹部具有基准面，引导部的端部的目标面与该表面接触，以便确定机器人的位置和姿势。机器人控制装置执行使引导部的目标表面与凹部的基准面进行表面接触的控制，以基于施加到端部的力的方向来确定机器人的示教位置效应器。

3. 发明申请

US20150375396A1 AUTOMATIC IN-SITU REGISTRATION AND CALIBRATION OF ROBOTIC ARM/SENSOR/WORKSPACE SYSTEM 有权
标题翻译：机械臂/传感器/工作站系统的自动现场注册和校准
公开(公告)号：US20150375396A1
公开(公告)日：2015-12-31
申请号：US14314970
申请日：2014-06-25
申请人： MICROSOFT CORPORATION
发明人： Grigor Shirakyan , Michael Revow , Mihai Jalobeanu , Bryan Joseph Thibodeau
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1674 , B25J9/1694 , B25J9/1697 , G05B2219/39016 , G05B2219/39021 , G05B2219/39022 , G05B2219/39367 , G05B2219/40607 , Y10S901/09
摘要： Various technologies described herein pertain to automatic in-situ calibration and registration of a depth sensor and a robotic arm, where the depth sensor and the robotic arm operate in a workspace. The robotic arm can include an end effector. A non-parametric technique for registration between the depth sensor and the robotic arm can be implemented. The registration technique can utilize a sparse sampling of the workspace (e.g., collected during calibration or recalibration). A point cloud can be formed over calibration points and interpolation can be performed within the point cloud to map coordinates in a sensor coordinate frame to coordinates in an arm coordinate frame. Such technique can automatically incorporate intrinsic sensor parameters into transformations between the depth sensor and the robotic arm. Accordingly, an explicit model of intrinsics or biases of the depth sensor need not be utilized.
摘要翻译：本文描述的各种技术涉及深度传感器和机器人臂的自动原位校准和配准，其中深度传感器和机器人手臂在工作空间中操作。机器臂可以包括末端执行器。可以实现用于在深度传感器和机器人臂之间配准的非参数化技术。注册技术可以利用工作空间的稀疏采样（例如，在校准或重新校准期间收集）。可以在校准点上形成点云，并且可以在点云内执行插值，以在传感器坐标系中映射坐标以在臂坐标系中进行坐标。这种技术可以将内在的传感器参数自动地并入到深度传感器和机器臂之间的变换中。因此，不需要利用深度传感器的内在性或偏差的显式模型。

4. 发明授权

US09211643B1 Automatic in-situ registration and calibration of robotic arm/sensor/workspace system 有权
标题翻译：机器手臂/传感器/工作空间系统的自动原位注册和校准
公开(公告)号：US09211643B1
公开(公告)日：2015-12-15
申请号：US14314970
申请日：2014-06-25
申请人： Microsoft Corporation
发明人： Grigor Shirakyan , Michael Revow , Mihai Jalobeanu , Bryan Joseph Thibodeau
IPC分类号： G05B19/04 , G05B19/18 , B25J9/16
CPC分类号： B25J9/1692 , B25J9/1674 , B25J9/1694 , B25J9/1697 , G05B2219/39016 , G05B2219/39021 , G05B2219/39022 , G05B2219/39367 , G05B2219/40607 , Y10S901/09
摘要： Various technologies described herein pertain to automatic in-situ calibration and registration of a depth sensor and a robotic arm, where the depth sensor and the robotic arm operate in a workspace. The robotic arm can include an end effector. A non-parametric technique for registration between the depth sensor and the robotic arm can be implemented. The registration technique can utilize a sparse sampling of the workspace (e.g., collected during calibration or recalibration). A point cloud can be formed over calibration points and interpolation can be performed within the point cloud to map coordinates in a sensor coordinate frame to coordinates in an arm coordinate frame. Such technique can automatically incorporate intrinsic sensor parameters into transformations between the depth sensor and the robotic arm. Accordingly, an explicit model of intrinsics or biases of the depth sensor need not be utilized.
摘要翻译：本文描述的各种技术涉及深度传感器和机器人臂的自动原位校准和配准，其中深度传感器和机器人手臂在工作空间中操作。机器臂可以包括末端执行器。可以实现用于在深度传感器和机器人臂之间配准的非参数化技术。注册技术可以利用工作空间的稀疏采样（例如，在校准或重新校准期间收集）。可以在校准点上形成点云，并且可以在点云内执行插值，以在传感器坐标系中映射坐标以在臂坐标系中进行坐标。这种技术可以将内在的传感器参数自动地并入到深度传感器和机器臂之间的变换中。因此，不需要利用深度传感器的内在性或偏差的显式模型。

5. 发明申请

US20100262288A1 Method and a system for facilitating calibration of an off-line programmed robot cell 有权
标题翻译：用于促进离线编程的机器人单元的校准的方法和系统
公开(公告)号：US20100262288A1
公开(公告)日：2010-10-14
申请号：US12311039
申请日：2008-06-09
申请人： Tommy Y. Svensson , Magnus K. Gustafsson , Mathias Haage
发明人： Tommy Y. Svensson , Magnus K. Gustafsson , Mathias Haage
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , B25J9/1671 , G05B2219/36404 , G05B2219/39021 , G05B2219/40099
摘要： The present invention relates to a method and a system for facilitating calibration of a robot cell including one or more objects (8) and an industrial robot (1,2,3) performing work in connection to the objects, wherein the robot cell is programmed by means of an off-line programming tool including a graphical component for generating 2D or 3D graphics based on graphical models of the objects. The system comprises a computer unit (10) located at the off-line programming site and configured to store a sequence of calibration points for each of the objects, and to generate a sequence of images (4) including graphical representations of the objects to be calibrated and the calibration points in relation to the objects, and to transfer the images to the robot, and that the robot is configured to display said sequence of images to a robot operator during calibration of the robot cell so that for each calibration point a view including the present calibration point and the object to be calibrated is displayed to the robot operator.
摘要翻译：本发明涉及一种便于校准包括一个或多个物体（8）和工业机器人（1,2,3）的机器人单元的方法和系统，该机器人单元执行连接于该物体的工作，其中机器人单元被编程通过离线编程工具，其包括用于基于对象的图形模型生成2D或3D图形的图形组件。该系统包括位于离线编程站点处的计算机单元（10），并且被配置为存储用于每个对象的一系列校准点，并且生成包括所述对象的图形表示的图像序列（4）校准和相对于物体的校准点，并且将图像传送到机器人，并且机器人被配置为在机器人单元的校准期间向机器人操作者显示所述图像序列，使得对于每个校准点，视图包括目前的校准点和要校准的对象被显示给机器人操作者。

6. 发明申请

US20100222923A1 Device amd method for teaching work delivery position to robot 审中-公开
标题翻译：设备amd方法，用于向机器人教学工作交付位置
公开(公告)号：US20100222923A1
公开(公告)日：2010-09-02
申请号：US11919208
申请日：2005-04-27
申请人： Kazuyuki Matsumura
发明人： Kazuyuki Matsumura
IPC分类号： G06F19/00
CPC分类号： H01L21/68707 , G05B19/421 , G05B2219/39021 , G05B2219/50036 , G05B2219/50125 , H01L21/682
摘要： [PROBLEMS] To provide a device and a method for teaching a work delivery position to a robot capable of teaching to the robot at low cost in a short time.[MEANS FOR SOLVING PROBLEMS] This device for teaching the work delivery position to the robot teaches, to the robot beforehand, the work delivery position where the center position of the work is not deviated when the work is delivered between a movable side robot hand (2) and a fixed side work loading table (8). The device comprises a first tool (6) fitted to the robot hand (2) and indicating the center position of the work when a movable side work holding means holds the work a second tool (13) fitted to the work loading table (8) and indicating the center position of the work when a fixed side work holding means holds the work on the work loading table (8), and a teaching means teaching, to a robot controller, the position of the robot hand (2) when the center position of the work indicated by the first tool (6) is aligned with the center position of the work indicated by the second tool (13).
摘要翻译：本发明提供一种能够在短时间内以低成本向机器人教导机器人的工作交付位置的装置和方法。 [解决问题的手段]用于向机器人讲授作业发送位置的装置向机器人预先教导当工件在可动侧机器人手（ 2）和固定侧工作装载台（8）。该装置包括安装在机器人手（2）上的第一工具（6），并且当活动侧工件保持装置将工件保持在安装在工件装载台（8）上的第二工具（13）时，指示工件的中心位置，并且当固定侧工作保持装置将工件保持在工作装载台（8）上时，指示工件的中心位置，以及当机器人手（2）的中心位置时向机器人控制器教导的教导装置由第一工具（6）指示的工件的位置与由第二工具（13）指示的工件的中心位置对准。

7. 发明申请

US20040249595A1 Method of calibrating a component placement machine, device suitable for carrying out such a method, and calibration component suitable for use in such a method or device 审中-公开
标题翻译：校准组件贴装机的方法，适用于执行这种方法的装置以及适用于这种方法或装置的校准组件
公开(公告)号：US20040249595A1
公开(公告)日：2004-12-09
申请号：US10493755
申请日：2004-04-27
发明人： Adrianus Johannes Petrus Maria Vermeer , Dionys Van De Ven , Robert Cullen , Maarten Reith
IPC分类号： G06F019/00
CPC分类号： B25J9/1692 , G05B2219/39021 , G05B2219/39024 , H05K13/089
摘要： Method and device for calibrating a component placement machine (1) which comprises a substrate holder (2) having at least one reference element (4) and a robot (3) having a gripper (5). A calibration component (7) is moved to an expected position of the reference element (4) relative to the robot (3) by means of the gripper (5). The calibration component (7) comprises a first part which (8) can be coupled to the gripper (5) in a removable way, and a second part (9) which is movable relative to said first part (8). The calibration component (7) is aligned relative to the reference element (4) by means of said second part (9), during which alignment said second part (9) moves relative to said first part (8). The actual relative position of the reference element (4) relative to the robot (3) is then determined on the basis of said movement.
摘要翻译：用于校准元件放置机器（1）的方法和装置，其包括具有至少一个参考元件（4）的基板保持器（2）和具有夹持器（5）的机器人（3）。校准组件（7）通过夹具（5）相对于机器人（3）移动到参考元件（4）的预期位置。校准部件（7）包括第一部分（8）可以以可拆卸的方式联接到夹持器（5），以及可相对于所述第一部分（8）移动的第二部分（9）。校准组件（7）通过所述第二部分（9）相对于参考元件（4）对准，在该对准期间，所述第二部分（9）相对于所述第一部分（8）移动。然后基于所述移动来确定参考元件（4）相对于机器人（3）的实际相对位置。

8. 发明申请

US20020188379A1 Robot calibration system and method of determining a position of a robot relative to an electrically-charged calibration object 失效
标题翻译：机器人校准系统和确定机器人相对于带电校准对象的位置的方法
公开(公告)号：US20020188379A1
公开(公告)日：2002-12-12
申请号：US09876620
申请日：2001-06-07
发明人： H. Dean McGee , Eric Lee , Frank Garza
IPC分类号： G05B015/00
CPC分类号： B25J9/1692 , G05B2219/37413 , G05B2219/39021 , G05B2219/39026
摘要： A robot calibration system for calibrating a robot and a method of determining a position of the robot to calibrate the robot are disclosed. The system includes an electrical ground defining a return for an electrical circuit. The robot, which is electrically connected to the ground, includes an arm having a tool surface operating within a robot workspace. The system also includes an electrical supply and a detection device. The electrical supply defines a source for the circuit and provides a charge and a reference voltage to the system. The detection device communicates with the electrical supply to detect variations in either the charge, the reference voltage, or both. The system further includes a calibration object. The calibration object is electrically insulated from the ground and is electrically connected to the electrical supply. The calibration object receives the charge and the reference voltage from the electrical supply to determine the position of the robot relative to the calibration object when the tool surface moves toward the calibration object to electrically interact with the calibration object.
摘要翻译：公开了一种用于校准机器人的机器人校准系统和确定机器人校准机器人的位置的方法。该系统包括限定电路回路的电接地。电连接到地面的机器人包括具有在机器人工作空间内操作的工具表面的臂。该系统还包括电源和检测装置。电源定义了电路的源，并向系统提供电荷和参考电压。检测装置与电源通信以检测电荷，参考电压或两者的变化。该系统还包括校准对象。校准对象与地面电绝缘并与电源电连接。当工具表面移动到校准对象以与校准对象电相互作用时，校准对象从电源接收电荷和参考电压以确定机器人相对于校准对象的位置。

9. 发明授权

US5929584A Tool center point calibration apparatus and method 失效
标题翻译：刀具中心点校准装置及方法
公开(公告)号：US5929584A
公开(公告)日：1999-07-27
申请号：US67164
申请日：1998-04-27
申请人： Kristjan Tomas Gunnarsson , James Simpson Hemmerle
发明人： Kristjan Tomas Gunnarsson , James Simpson Hemmerle
IPC分类号： B25J9/16 , B25J9/18 , G05B19/401
CPC分类号： B25J9/1692 , G05B19/4015 , G05B2219/39021 , G05B2219/39024 , G05B2219/50026
摘要： A method for calibrating the center point of a tool attached to a robot face plate or other machine uses a calibration block having vertical and horizontal faces. The position of the tool center point is determined by moving the tool from a starting position to touch one of the faces, recording the location of the face plate and returning the tool to the starting point. This is repeated for the other surfaces. Then the tool center point can be calculated from the recorded locations. Also disclosed is a calibration block having a centering area with four walls arranged to form a parallelogram and a leveling area with four walls arranged to form an x, y coordinate axis.
摘要翻译：用于校准附接到机器人面板或其他机器的工具的中心点的方法使用具有垂直和水平面的校准块。通过将工具从起始位置移动到接触其中一个面，确定面板的位置并将工具返回到起点来确定刀具中心点的位置。对于其他表面，这是重复的。然后可以从记录的位置计算刀具中心点。还公开了一种校准块，其具有布置成形成平行四边形的四个壁的定心区域和具有布置成形成x，y坐标轴的四个壁的调平区域。

10. 发明申请

US20160375584A1 SYSTEM FOR AUTOMATICALLY AND PRECISELY POSITIONING ROBOTIC ARM AND METHOD THEREOF 有权
标题翻译：自动精确定位机器人系统及其方法
公开(公告)号：US20160375584A1
公开(公告)日：2016-12-29
申请号：US14748250
申请日：2015-06-24
申请人： NATIONAL TAIPEI UNIVERSITY OF TECHNOLOGY
发明人： Hsien I LIN , Yu Che HUANG
IPC分类号： B25J9/16
CPC分类号： B25J9/1694 , B25J9/1633 , B25J9/1692 , G01B21/042 , G05B2219/39015 , G05B2219/39021 , G05B2219/39024 , Y10S901/09 , Y10S901/46
摘要： The present disclosure illustrates a system for automatically and precisely positioning a robotic arm and method thereof. A control computing apparatus of the present disclosure controls a probe of the robotic arm to touch one of the positioning devices, and acquires a moment variation of each of the axes from a moment sensing device of the robotic arm, and then computes the distance between a geometric center of the touched positioning device and a coordinate origin according to a geometric feature of the touched positioning device, and then positions the robotic arm according to the moment variations of the axes and the distance between the geometric center of the touched positioning device and the coordinate origin. Therefore, the technical effect of quickly, precisely positioning the robotic arm without the error accumulation can be achieved.
摘要翻译：本公开示出了用于自动和精确地定位机器人手臂的系统及其方法。本公开的控制计算装置控制机器人手臂的探针接触定位装置中的一个，并且从机器人臂的瞬间感测装置获取每个轴的力矩变化，然后计算一个触摸的定位装置的几何中心和根据触摸的定位装置的几何特征的坐标原点，然后根据轴的力矩变化和触摸的定位装置的几何中心和坐标原点。因此，可以实现快速，准确地定位机器人手臂而不会产生误差积累的技术效果。

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