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1. 发明授权

US09815198B2 System and method for determining a work offset 有权
公开(公告)号：US09815198B2
公开(公告)日：2017-11-14
申请号：US14807464
申请日：2015-07-23
申请人： X Development LLC
发明人： Benjamin M. Davis
IPC分类号： B25J9/16 , G05B19/408
CPC分类号： B25J9/1664 , B25J9/1697 , G05B19/4083 , G05B2219/33271 , G05B2219/36503 , G05B2219/39032
摘要： Systems and methods are disclosed for determining work offset data for a robot in a work environment. In an embodiment, a robot operating in a work environment receives an indication to determine a work offset. The work offset describes the location and angular orientation of a working plane of the work environment relative to a base plane of the robot. In response to the indication, the robot identifies the working plane. The robot is controlled to contact one or more points of the working plane. The robot determines respective point locations of the contacted points relative to the base plane based on the respective positions of the robot at respective times of contact. The robot determines the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the contacted points.

2. 发明申请

US20130006421A1 Calibration Of A Base Coordinate System For An Industrial Robot 有权
标题翻译：工业机器人基准坐标系的校准
公开(公告)号：US20130006421A1
公开(公告)日：2013-01-03
申请号：US13610010
申请日：2012-09-11
申请人： Torgny Brogardh
发明人： Torgny Brogardh
IPC分类号： G05B19/04
CPC分类号： B25J9/1692 , G05B2219/39027 , G05B2219/39032
摘要： A method for calibration of a base coordinate system of an industrial robot in relation to a work area includes: mounting a first part of a kinematic coupling which is constrained in the same number of degrees of freedom as the robot, on the robot wrist interface of the robot, mounting a second part of the kinematic coupling in the work area, moving the robot including the base portion to the work area, set the robot in compliant control mode, move the first part of the kinematic coupling to mate with the second part, storing axis positions of the robot during mating of the kinematic coupling, determining the position and orientation of the base portion based on the stored axis positions and a kinematic model of the robot, and on basis thereon calibrating the base coordinate system of the robot.
摘要翻译：一种用于校准工业机器人相对于工作区域的基座坐标系的方法包括：将与机器人相同数量的自由度约束的运动学耦合的第一部分安装在机器人手腕界面上所述机器人将所述运动耦合器的第二部分安装在所述工作区域中，将包括所述基部的所述机器人移动到所述工作区域，将所述机器人设置为顺从控制模式，使所述运动耦合器的第一部分与所述第二部件配合在运动耦合的配合期间存储机器人的轴位置，基于存储的轴位置和机器人的运动学模型确定基部的位置和取向，并且基于此校准机器人的基座坐标系。

3. 发明申请

US20100138030A1 SYSTEM AND METHOD FOR CALIBRATING A HANDLING DEVICE 审中-公开
标题翻译：用于校准处理设备的系统和方法
公开(公告)号：US20100138030A1
公开(公告)日：2010-06-03
申请号：US12446428
申请日：2007-10-18
申请人： Martin Kohlmaier , Rainer Krappinger
发明人： Martin Kohlmaier , Rainer Krappinger
IPC分类号： G05B19/401 , G05D3/20 , G05B19/19
CPC分类号： G05B19/401 , B25J9/1684 , B25J9/1692 , B28B11/18 , B29C45/0055 , G05B2219/37021 , G05B2219/39026 , G05B2219/39032 , G05B2219/39529 , G05B2219/40541 , G05B2219/40543 , G05B2219/40564 , G05B2219/45062 , G05B2219/45151 , Y02P90/265
摘要： A system for calibrating a handling apparatus relative to a workpiece comprises a handling apparatus having at least one tool and at least one measuring arrangement configured to record at least one controlled variable; and a regulatory device configured to determine at least two faces in a multidimensional space and to provide a resultant line of intersection for the at least two faces as a trajectory coordinates using the at least one controlled variable when the at least one workpiece is moved by the at least one measuring arrangement, thereby providing an optimized trajectory profile for implementation.
摘要翻译：一种用于相对于工件校准处理装置的系统包括具有至少一个工具的处理装置和被配置为记录至少一个受控变量的至少一个测量装置; 以及调节装置，其被配置成在多维空间中确定至少两个面，并且当所述至少一个工件被所述至少一个工件移动时，使用所述至少一个受控变量提供用于所述至少两个面的合成线路作为轨迹坐标至少一个测量装置，由此提供用于实现的优化的轨迹曲线。

4. 发明授权

US06865498B2 System for calibrating the axes on a computer numeric controlled machining system and method thereof 有权
标题翻译：用于在计算机上校准轴的系统数控加工系统及其方法
公开(公告)号：US06865498B2
公开(公告)日：2005-03-08
申请号：US09997880
申请日：2001-11-30
申请人： Michael P. Hardesty
发明人： Michael P. Hardesty
IPC分类号： G05B19/401 , G06F19/00
CPC分类号： G05B19/401 , G05B2219/37043 , G05B2219/39032 , G05B2219/50353
摘要： A method and system for calibrating a machine capable of automatically calibrating the axes of the machine by comparing an initial calibration state of a particular axis with a subsequent motion of the machine along the same axis. The machine adjusts the motion along such axis based on the angular displacement by modifying the reference data in the computer memory of the machine to accord with the subsequent motion along the axis.
摘要翻译：通过将特定轴的初始校准状态与机器沿着相同轴的后续运动进行比较来校准能够自动校准机器的轴的机器的方法和系统。机器通过修改机器的计算机存储器中的参考数据来调整基于角位移的这种轴的运动，以便沿着轴的随后的运动。

5. 发明申请

US20180029231A1 System And Method For Determining A Work Offset 审中-公开
公开(公告)号：US20180029231A1
公开(公告)日：2018-02-01
申请号：US15729953
申请日：2017-10-11
申请人： X Development LLC
发明人： Benjamin M. Davis
IPC分类号： B25J9/16 , G05B19/408
CPC分类号： B25J9/1664 , B25J9/1697 , G05B19/4083 , G05B2219/33271 , G05B2219/36503 , G05B2219/39032
摘要： Example systems and methods are disclosed for determining work offset data for a robot in a work environment. A robot operating in a work environment may receive an indication to determine a work offset. The work offset may describe the location and angular orientation of a working plane of the work environment relative to a base plane of the robot. In response to the indication, the robot may identify the working plane. The robot may be controlled to contact one or more points of the working plane. The robot may determine respective point locations of the contacted points relative to the base plane based on the respective positions of the robot at respective times of contact. The robot may determine the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the contacted points.

6. 发明申请

US20170021500A1 System And Method For Determining A Work Offset 有权
标题翻译：确定工作偏移的系统和方法
公开(公告)号：US20170021500A1
公开(公告)日：2017-01-26
申请号：US14807464
申请日：2015-07-23
申请人： Google Inc.
发明人： Benjamin M. Davis
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , B25J9/1697 , G05B19/4083 , G05B2219/33271 , G05B2219/36503 , G05B2219/39032
摘要： Example systems and methods are disclosed for determining work offset data for a robot in a work environment. A robot operating in a work environment may receive an indication to determine a work offset. The work offset may describe the location and angular orientation of a working plane of the work environment relative to a base plane of the robot. In response to the indication, the robot may identify the working plane. The robot may be controlled to contact one or more points of the working plane. The robot may determine respective point locations of the contacted points relative to the base plane based on the respective positions of the robot at respective times of contact. The robot may determine the location and angular orientation of the working plane relative to the base plane based on the determined respective point locations of the contacted points.
摘要翻译：公开了用于在工作环境中确定机器人的工件偏移数据的示例系统和方法。在工作环境中操作的机器人可以接收用于确定工件偏移量的指示。工件偏移可以描述工作环境的工作平面相对于机器人的基面的位置和角度方向。响应于该指示，机器人可以识别工作平面。机器人可以被控制以接触工作平面的一个或多个点。机器人可以基于在各个接触时刻的机器人的相应位置来确定接触点相对于基面的相应点位置。基于确定的接触点的相应点位置，机器人可以确定工作平面相对于基础平面的位置和角度取向。

7. 发明授权

US07756608B2 System for calibration of an industrial robot and a method thereof 失效
标题翻译：工业机器人校准系统及其方法
公开(公告)号：US07756608B2
公开(公告)日：2010-07-13
申请号：US11885234
申请日：2006-02-21
申请人： Torgny Brogårdh
发明人： Torgny Brogårdh
IPC分类号： G05B19/04
CPC分类号： B25J9/1623 , B25J9/1692 , G05B2219/39032 , G05B2219/39053 , G05B2219/40267
摘要： A method for calibration of an industrial robot including a plurality of movable links and a plurality of actuators effecting movement of the links and thereby of the robot. The method includes mounting a measuring tip on or in the vicinity of the robot, moving the robot such that the measuring tip is in contact with a plurality of measuring points on the surface of at least one geometrical structure on or in the vicinity of the robot, reading and storing the positions of the actuators for each measuring point, and estimating a plurality of kinematic parameters for the robot based on a geometrical model of the geometrical structure, a kinematic model of the robot, and the stored positions of the actuators for the measuring points.
摘要翻译：一种用于校准工业机器人的方法，所述工业机器人包括多个可移动链节和多个致动器，所述致动器执行所述连杆和所述机器人的移动。该方法包括将测量尖端安装在机器人上或附近，使机器人移动，使得测量尖端与机器人上或其附近的至少一个几何结构的表面上的多个测量点接触读取和存储每个测量点的致动器的位置，并且基于几何结构的几何模型，机器人的运动学模型以及用于该机器人的致动器的存储位置来估计机器人的多个运动学参数测量点。

8. 发明授权

US09073211B2 Control system and teaching method for seven-axis articulated robot 有权
标题翻译：七轴铰接机器人的控制系统和教学方法
公开(公告)号：US09073211B2
公开(公告)日：2015-07-07
申请号：US13977281
申请日：2011-12-21
申请人： Hidenori Tanaka , Takamasa Ogata , Tetsuya Kubota
发明人： Hidenori Tanaka , Takamasa Ogata , Tetsuya Kubota
IPC分类号： G05B19/4155 , B25J9/16 , G05B19/425
CPC分类号： B25J9/1664 , G05B19/425 , G05B2219/39032 , G05B2219/39414 , G05B2219/40074
摘要： A control system and teaching method for a seven-axis articulated robot are provided, which system and method are capable of easily grasping a motion trajectory of the whole robotand thereby performing proper teaching during teaching operation. The control system includes a setting device for setting a specified plane in a teaching mode for teaching a seven-axis articulated robot; a control unit for controlling the movement of the seven-axis articulated robot so as to restrict a motion trajectory of an elbow portion within the plane set by the setting device; and a computing unit for performing inverse transform operation to calculate the pivot angle of each pivot axis based on a change in a position of the hand end, setting the restriction of the movement of the elbow portion as a constraint condition, when the position for the hand end is taught.
摘要翻译：提供了一种用于七轴铰接机器人的控制系统和教学方法，该系统和方法能够容易地掌握整个机器人的运动轨迹，从而在教学操作期间进行适当的教学。该控制系统包括用于在用于示教七轴铰接机器人的示教模式中设定指定平面的设定装置; 控制单元，用于控制七轴铰接机器人的移动，以限制由设置装置设定的平面内的肘部的运动轨迹; 以及计算单元，用于执行逆变换操作，以基于所述手端的位置的变化来计算每个枢转轴的枢转角度，将所述肘部的移动的限制设置为约束条件，当所述肘部的位置为手端被教

9. 发明申请

US20080201015A1 System for Calibration of an Industrial Robot and a Method Thereof 失效
标题翻译：工业机器人校准系统及其方法
公开(公告)号：US20080201015A1
公开(公告)日：2008-08-21
申请号：US11885234
申请日：2006-02-21
申请人： Torgny Brogardh
发明人： Torgny Brogardh
IPC分类号： G06F17/00
CPC分类号： B25J9/1623 , B25J9/1692 , G05B2219/39032 , G05B2219/39053 , G05B2219/40267
摘要： A method for calibration of an industrial robot including a plurality of movable links and a plurality of actuators effecting movement of the links and thereby of the robot. The method includes mounting a measuring tip on or in the vicinity of the robot, moving the robot such that the measuring tip is in contact with a plurality of measuring points on the surface of at least one geometrical structure on or in the vicinity of the robot, reading and storing the positions of the actuators for each measuring point, and estimating a plurality of kinematic parameters for the robot based on a geometrical model of the geometrical structure, a kinematic model of the robot, and the stored positions of the actuators for the measuring points.
摘要翻译：一种用于校准工业机器人的方法，所述工业机器人包括多个可移动链节和多个致动器，所述致动器执行所述连杆和所述机器人的移动。该方法包括将测量尖端安装在机器人上或附近，使机器人移动，使得测量尖端与机器人上或其附近的至少一个几何结构的表面上的多个测量点接触读取和存储每个测量点的致动器的位置，并且基于几何结构的几何模型，机器人的运动学模型以及用于该机器人的致动器的存储位置来估计机器人的多个运动学参数测量点。

10. 发明申请

US20030105603A1 System for calibrating the axes on a computer numeric controlled machining system and method thereof 有权
标题翻译：用于在计算机上校准轴的系统数控加工系统及其方法
公开(公告)号：US20030105603A1
公开(公告)日：2003-06-05
申请号：US09997880
申请日：2001-11-30
发明人： Michael Hardesty
IPC分类号： G06F019/00
CPC分类号： G05B19/401 , G05B2219/37043 , G05B2219/39032 , G05B2219/50353
摘要： A method and system for calibrating a machine capable of automatically calibrating the axes of the machine by comparing an initial calibration state of a particular axis with a subsequent motion of the machine along the same axis. The machine adjusts the motion along such axis based on the angular displacement by modifying the reference data in the computer memory of the machine to accord with the subsequent motion along the axis.
摘要翻译：通过将特定轴的初始校准状态与机器沿着相同轴的后续运动进行比较来校准能够自动校准机器的轴的机器的方法和系统。机器通过修改机器的计算机存储器中的参考数据来调整基于角位移的这种轴的运动，以便沿着轴的随后的运动。

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