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1. 发明授权

US10007280B2 Apparatus and method for controlling and regulating a multi-element system 有权
公开(公告)号：US10007280B2
公开(公告)日：2018-06-26
申请号：US14734747
申请日：2015-06-09
申请人： SIEMENS AKTIENGESELLSCHAFT
发明人： David Bitterolf , Jens Hamann , Carsten Hamm , Sven Tauchmann
IPC分类号： G05D17/02 , G05B13/04 , B25J9/16
CPC分类号： G05D17/02 , B25J9/1638 , G05B13/04 , G05B2219/39176 , G05B2219/39194 , G05B2219/39319
摘要： An apparatus for controlling and regulating a movement of a system includes a load calculating device calculating continuously during the movement of the system a respective force vector for each of the individual elements as a function of predetermined reference coordinates and a torque calculating device calculating continuously during the movement at least one compensating variable, wherein the compensating variable compensates the force vectors as a function of the reference coordinates and the force vectors. The apparatus for controlling and regulating has a control unit controlling continuously during the movement a force-producing variable for the at least one drive as a function of the reference and the at least one compensating variable.

2. 发明申请

US20150367518A1 SYSTEM FOR CONTROLLING POSITION POSE OF ROBOT USING CONTROL OF CENTER OF MASS 审中-公开
标题翻译：使用大众中心控制的机器人的位置控制系统
公开(公告)号：US20150367518A1
公开(公告)日：2015-12-24
申请号：US14735519
申请日：2015-06-10
申请人： Korea Institute of Science and Technology
发明人： Yonghwan OH , Dong-hyun LEE
IPC分类号： B25J19/00 , B25J9/16
CPC分类号： B25J9/1674 , B25J9/1692 , G05B2219/39194 , Y10S901/02
摘要： A control system of a robot keeps an entire posture of a robot not fixed to the ground. The robot includes a body having a plurality of joints and motors mounted to a plurality of limbs and the joints, and the entire posture is maintained by controlling a center of mass (COM) of the robot. The limbs include a robot arm with an end-effector. When a target position of the end-effector (hereinafter, a “target end-effector position”) is input, a target position of the center of mass (hereinafter, a “target COM position”) is calculated using the target end-effector position. The motors mounted to the joints are operated so that the end-effector and the center of mass of the robot move according to the target end-effector position and the target COM position. The target COM position varies in proportion to the change of the target end-effector position.
摘要翻译：机器人的控制系统保持机器人的整个姿势不固定在地面上。机器人包括具有多个关节和安装到多个肢体和关节的马达的主体，并且通过控制机器人的质心（COM）来维持整个姿势。肢体包括具有末端执行器的机器人手臂。当输入末端执行器（以下称为“目标末端执行器位置”）的目标位置时，使用目标末端执行器来计算质量中心的目标位置（以下称为“目标COM位置”））位置。操作安装在接头上的电动机，使得机器人的末端执行器和质心按照目标末端执行器位置和目标COM位置移动。目标COM位置与目标末端执行器位置的变化成比例地变化。

3. 发明申请

US20080140257A1 ROBOT CONTROL APPARATUS FOR FORCE CONTROL 审中-公开
标题翻译：机器人控制装置
公开(公告)号：US20080140257A1
公开(公告)日：2008-06-12
申请号：US11951457
申请日：2007-12-06
申请人： Takashi SATO , Takahiro IWATAKE
发明人： Takashi SATO , Takahiro IWATAKE
IPC分类号： B25J13/08 , B25J19/02
CPC分类号： B25J9/1638 , B25J9/1633 , G05B2219/39178 , G05B2219/39194 , G05B2219/39319 , G05B2219/39341 , G05B2219/39343
摘要： A robot control apparatus for controlling force exerted between a working tool mounted at the forward end of a robot arm and a workpiece is disclosed. The apparatus includes a force measuring unit for acquiring the force data required for the control operation, a calculating unit for calculating the force exerted by gravity on the force measuring unit and the dynamic terms generated by the motion of the robot arm, of all the forces exerted on the force measuring unit from the working tool, a compensation unit for compensating the force measured by the force measuring unit using the force exerted by gravity and the dynamic terms calculated by the calculating unit, and a command adjusting unit for adjusting the operation command for the robot arm in accordance with the force exerted on the force measuring unit by the dynamic terms and gravity in the case where each of the dynamic terms is larger than a predetermined threshold value. As a result, the workpiece can be accurately machined even in the case where the forward end portion of the robot arm is changed a comparatively great degree in the direction of movement thereof.
摘要翻译：公开了一种用于控制施加在安装在机器人臂的前端的工作工具与工件之间的力的机器人控制装置。该装置包括用于获取控制操作所需的力数据的力测量单元，用于计算由重力施加在力测量单元上的力和由机器人手臂的运动产生的动态项的计算单元，所有力施加在力测量单元上的补偿单元，补偿单元，用于补偿由力测量单元使用由重力施加的力所测量的力和由计算单元计算的动态项;以及指令调整单元，用于调整操作指令在每个动态项大于预定阈值的情况下，根据通过动态项和重力来施加在力测量单元上的力的机器人手臂。结果，即使在机器人手臂的前端部在其移动方向上相对较大程度地变化的情况下，也能够精确地加工工件。

4. 发明授权

US06694214B2 Method and apparatus for weight compensation in guiding a movement of a moveable machine element 有权
标题翻译：用于引导可移动机器元件的运动的重量补偿的方法和装置
公开(公告)号：US06694214B2
公开(公告)日：2004-02-17
申请号：US10218435
申请日：2002-08-14
申请人： Thomas Puchtler
发明人： Thomas Puchtler
IPC分类号： G06F1900
CPC分类号： G05B19/404 , G05B2219/39194 , G05B2219/41114 , G05B2219/41209
摘要： For a number of different operating points in a workspace of a processing machine, the total length changes caused by a weight force are determined and entered together with the corresponding set points in a compensation table. The compensation values are used to compute control variables for set points. Values for intermediate points are interpolated from the values stored in the compensation table. This eliminates positioning errors at both the predetermined operating points and the intermediate points. Advantageously, the changes in the length can be determined from the motor force that counteracts the force acting on the corresponding actuator in a static state, based on an instantaneous nominal current value and/or actual current value of the motor.
摘要翻译：对于加工机器的工作空间中的多个不同的操作点，由重量力引起的总长度变化被确定并与补偿表中的对应设定点一起输入。补偿值用于计算设定点的控制变量。中间点的值根据存储在补偿表中的值进行内插。这消除了在预定操作点和中间点处的定位误差。有利的是，可以根据马达的瞬时额定电流值和/或电动机的实际电流值，根据抵抗作用在静止状态下的对应致动器的力的电机力来确定长度的变化。

5. 发明授权

US4283764A Manually programmable robot with power-assisted motion during programming 失效
标题翻译：手动编程机器人在编程过程中具有动力辅助运动
公开(公告)号：US4283764A
公开(公告)日：1981-08-11
申请号：US84359
申请日：1979-10-12
申请人： Gerald W. Crum , Brian M. Rooney
发明人： Gerald W. Crum , Brian M. Rooney
IPC分类号： B25J9/16 , B05B13/04 , B25J9/00 , B25J9/18 , B25J13/08 , G05B19/427 , G05B19/42 , G06F15/46
CPC分类号： B25J9/0081 , B05B13/0431 , B25J13/081 , G05B19/427 , G05B2219/36429 , G05B2219/37388 , G05B2219/39178 , G05B2219/39194
摘要： A robot is disclosed having a plurality of movable links interconnected end-to-end in series. Associated with each is an actuator and position transducer. Some of the links are relatively massive and cannot be readily moved without power assistance when the robot is manually programmed, while other links, namely those constituting the wrist, are relatively lightweight which permits movement thereof without power assistance during manual programming. A force transducer is connected in series with the output element of the robot in association with one of the massive links located between the wrist and the stationary base on which the robot is mounted. The transducer senses forces during programming applied to the massive links via the wrist when manual programming forces are applied to the robot output. The force transducer provides an output signal for each of the massive links correlated to the component of the manual programming force transmitted thereto via the wrist. During programming, the force transducer output signals are applied to the actuators of their respectively associated massive links to move the massive links in power-assisted fashion, while the lightweight links of the wrist move in unpowered fashion in response to the manual force applied thereto during programming. The power-assisted motion provided to the massive links by their respectively associated actuators, coupled with the unpowered motion of the lightweight links constituting the wrist, collectively produce motion of the robot output element in the direction to which the manual force is applied thereto during manual programming.
摘要翻译：公开了一种机器人，其具有串联地端对端互连的多个可动链节。与每个相关联的是致动器和位置传感器。一些连杆是相对巨大的，并且当机器人被手动编程时不能容易地移动，而其他链接（即构成手腕的那些）相对轻便，在手动编程期间没有电力援助就允许其移动。与机械手的输出元件串联连接的力传感器与位于手腕与安装有机器人的固定基座之间的大块连接体之一相连。当手动编程力施加到机器人输出时，换能器通过手腕感应在施加到海量链节的编程期间的力。力传感器为与通过手腕传递到其的手动编程力的分量相关联的每个海量链节提供输出信号。在编程期间，力传感器输出信号被施加到它们分别相关联的巨大链节的致动器，以动力辅助方式移动大量连杆，同时手腕的轻量级链节响应于施加到其上的手动力而以无动力的方式移动编程。通过它们分别相关联的致动器提供的大量链路的动力辅助运动以及构成腕部的轻型链节的无动力运动在手动期间一起产生机械手输出元件在其上施加手动力的方向上的运动编程。

6. 发明申请

US20180161115A1 Methods, Systems, and Devices Relating to Force Control Surgical Systems 审中-公开
公开(公告)号：US20180161115A1
公开(公告)日：2018-06-14
申请号：US15894489
申请日：2018-02-12
申请人： Board of Regents of the University of Nebraska
发明人： Shane Farritor , Thomas Frederick , Kearney Lackas , Joe Bartels , Jacob Greenburg
IPC分类号： A61B34/30 , B25J9/16 , A61B34/00
CPC分类号： A61B34/30 , A61B34/76 , A61B2090/064 , B25J9/1602 , B25J9/1633 , G05B2219/36432 , G05B2219/39181 , G05B2219/39194 , G05B2219/39321 , G05B2219/40619 , G05B2219/45117 , Y10S901/27 , Y10S901/46
摘要： The various embodiments herein relate to robotic surgical systems and devices that use force and/or torque sensors to measure forces applied at various components of the system or device. Certain implementations include robotic surgical devices having one or more force/torque sensors that detect or measure one or more forces applied at or on one or more arms. Other embodiments relate to systems having a robotic surgical device that has one or more sensors and an external controller that has one or more motors such that the sensors transmit information that is used at the controller to actuate the motors to provide haptic feedback to a user.

7. 发明授权

US09888966B2 Methods, systems, and devices relating to force control surgical systems 有权
公开(公告)号：US09888966B2
公开(公告)日：2018-02-13
申请号：US14210934
申请日：2014-03-14
申请人： Board of Regents of the University of Nebraska
发明人： Shane Farritor , Thomas Frederick , Kearney Lackas , Joe Bartels , Jacob Greenburg
IPC分类号： A61B34/30 , A61B19/00 , B25J9/16 , A61B34/00 , A61B90/00
CPC分类号： A61B34/30 , A61B34/76 , A61B2090/064 , B25J9/1602 , B25J9/1633 , G05B2219/36432 , G05B2219/39181 , G05B2219/39194 , G05B2219/39321 , G05B2219/40619 , G05B2219/45117 , Y10S901/27 , Y10S901/46
摘要： The various embodiments herein relate to robotic surgical systems and devices that use force and/or torque sensors to measure forces applied at various components of the system or device. Certain implementations include robotic surgical devices having one or more force/torque sensors that detect or measure one or more forces applied at or on one or more arms. Other embodiments relate to systems having a robotic surgical device that has one or more sensors and an external controller that has one or more motors such that the sensors transmit information that is used at the controller to actuate the motors to provide haptic feedback to a user.

8. 发明申请

US20150355647A1 APPARATUS AND METHOD FOR CONTROLLING AND REGULATING A MULTI-ELEMENT SYSTEM 有权
标题翻译：用于控制和调节多元素系统的装置和方法
公开(公告)号：US20150355647A1
公开(公告)日：2015-12-10
申请号：US14734747
申请日：2015-06-09
申请人： SIEMENS AKTIENGESELLSCHAFT
发明人： DAVID BITTEROLF , JENS HAMANN , CARSTEN HAMM , SVEN TAUCHMANN
IPC分类号： G05D17/02 , G05B13/04
CPC分类号： G05D17/02 , B25J9/1638 , G05B13/04 , G05B2219/39176 , G05B2219/39194 , G05B2219/39319
摘要： An apparatus for controlling and regulating a movement of a system includes a load calculating device calculating continuously during the movement of the system a respective force vector for each of the individual elements as a function of predetermined reference coordinates and a torque calculating device calculating continuously during the movement at least one compensating variable, wherein the compensating variable compensates the force vectors as a function of the reference coordinates and the force vectors. The apparatus for controlling and regulating has a control unit controlling continuously during the movement a force-producing variable for the at least one drive as a function of the reference and the at least one compensating variable.
摘要翻译：一种用于控制和调节系统运动的装置，包括负载计算装置，在系统运动期间连续地计算作为预定参考坐标的函数的每个单独元件的相应力矢量，以及在该系统期间连续计算的扭矩计算装置运动至少一个补偿变量，其中所述补偿变量作为所述参考坐标和所述力矢量的函数来补偿所述力矢量。用于控制和调节的装置具有控制单元，该控制单元在运动期间连续地控制作为参考和至少一个补偿变量的函数的至少一个驱动器的力产生变量。

9. 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。

10. 发明授权

US4883938A Method and apparatus for automatically performing work on an object along a desired path 失效
标题翻译：用于沿所需路径自动执行对象的工作的方法和装置
公开(公告)号：US4883938A
公开(公告)日：1989-11-28
申请号：US184189
申请日：1988-04-21
申请人： Shinichi Sarugaku
发明人： Shinichi Sarugaku
IPC分类号： B23K9/095 , B23K9/12 , G05B19/425
CPC分类号： B23K9/12 , G05B19/425 , G05B2219/39194
摘要： An automatic welding method and an automatic welder in which welding conditions are automatically set in compliance with the position or posture of a welding torch relative to a work piece and the welding path. The direction of gravity is added as one of parameters necessary for automatic setting of the welding conditions and the welding condtions are controlled to comply with changes in the welding torch position relative to the gravitational direction and the welding path, thereby ensuring that the automatic welder can be realized which can be installed to face to any directions and that work pieces having various profiled and welding paths can be welded automatically with high quality.
摘要翻译：一种自动焊接方法和自动焊接机，其中焊接条件根据焊炬相对于工件和焊接路径的位置或姿态自动设定。将重力方向作为自动设定焊接条件所需的参数之一加入，并且控制焊接条件以符合相对于重力方向和焊接路径的焊炬位置的变化，从而确保自动焊接机可以实现安装以面向任何方向，并且具有各种型材和焊接路径的工件可以以高质量自动焊接。

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