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1. 发明申请

US20170274530A1 ROBOT CONTROL 审中-公开
公开(公告)号：US20170274530A1
公开(公告)日：2017-09-28
申请号：US15466984
申请日：2017-03-23
申请人： Cambridge Medical Robotics Limited
发明人： Edward John Mottram , Gordon Thomas Deane , Edward Tucker , Graham Veitch , Paul Christopher Roberts
IPC分类号： B25J9/16 , B25J13/08
CPC分类号： B25J9/1638 , B25J9/1628 , B25J9/1633 , B25J13/085 , G05B2219/37357 , G05B2219/39188 , G05B2219/39338 , G05B2219/39342 , G05B2219/39343 , G05B2219/39346 , G05B2219/39347 , G05B2219/39348 , G05B2219/39351 , G05B2219/42016
摘要： A method for controlling a mechanical system having a plurality of components interlinked by a plurality of driven joints, the method comprising: measuring torques or forces about or at the driven joints and forming a load signal representing the measured torques or forces; receiving a motion demand signal representing a desired state of the system; implementing an impedance control algorithm in dependence on the motion demand signal and the load signal to form a target signal indicating a target configuration for each of the driven joints; measuring the configuration of each of the driven joints and forming a state signal representing the measured configurations; and forming a set of drive signals for the joints by, for each joint, comparing the target configuration of that joint as indicated by the target signal to the measured configuration of that joint as indicated by the state signal.

2. 发明授权

US5581666A Modular architecture for robotics and teleoperation 失效
标题翻译：机器人和遥控操作的模块化架构
公开(公告)号：US5581666A
公开(公告)日：1996-12-03
申请号：US432376
申请日：1995-05-01
申请人： Robert J. Anderson
发明人： Robert J. Anderson
IPC分类号： B25J9/16 , B25J9/18 , G06F15/00
CPC分类号： B25J9/161 , B25J9/1605 , G05B2219/39338 , G05B2219/39379 , G05B2219/39386 , G05B2219/40311
摘要： Systems and methods for modularization and discretization of real-time robot, telerobot and teleoperation systems using passive, network based control laws. Modules consist of network one-ports and two-ports. Wave variables and position information are passed between modules. The behavior of each module is decomposed into uncoupled linear-time-invariant, and coupled, nonlinear memoryless elements and then are separately discretized.
摘要翻译：实时机器人，远程机器人和远程操作系统的模块化和离散化系统和方法采用无源，基于网络的控制规则。模块由网络单端口和双端口组成。波形变量和位置信息在模块之间传递。每个模块的行为被分解为非耦合的线性时间不变量和耦合的非线性无记忆元素，然后分离离散化。

3. 发明授权

US09579787B2 Method of programming an industrial robot and industrial robots 有权
标题翻译：工业机器人和工业机器人编程方法
公开(公告)号：US09579787B2
公开(公告)日：2017-02-28
申请号：US14831543
申请日：2015-08-20
申请人： KUKA Roboter GmbH
发明人： Uwe Zimmermann , Volker Schmirgel
IPC分类号： B25J9/00 , B25J9/16
CPC分类号： B25J9/0081 , B25J9/1628 , B25J9/1633 , G05B2219/36433 , G05B2219/39201 , G05B2219/39319 , G05B2219/39338 , G05B2219/39346 , G05B2219/39347 , G05B2219/39348 , Y10S901/04
摘要： The invention concerns a method of programming an industrial robot, exhibiting the steps of selecting a program command, the assigned rigidity parameter of which is to be verified, changed and/or saved in the program mode; moving the manipulator arm into a test pose, in which the industrial robot is configured and/or arranged to manually touch and/or move the manipulator arm; and the automatic actuation of the manipulator arm by the control device such that the manipulator arm in the test pose exhibits the rigidity corresponding to the assigned rigidity parameter of the selected program command. The invention further concerns an industrial robot, exhibiting a control device designed and/or configured to execute such a method.
摘要翻译：本发明涉及一种对工业机器人进行编程的方法，其显示了在程序模式中选择要被验证，改变和/或保存的分配刚度参数的程序命令的步骤; 将操纵臂移动到测试姿势中，其中工业机器人被配置和/或布置成手动地触摸和/或移动操纵臂; 以及由所述控制装置自动致动所述操纵臂，使得所述测试姿态中的所述操纵臂处于与所选择的程序命令的所分配的刚度参数对应的刚度。本发明还涉及一种工业机器人，其展现出设计和/或配置为执行这种方法的控制装置。

4. 发明申请

US20160052128A1 Method Of Programming An Industrial Robot And Industrial Robots 有权
标题翻译：工业机器人和工业机器人的编程方法
公开(公告)号：US20160052128A1
公开(公告)日：2016-02-25
申请号：US14831543
申请日：2015-08-20
申请人： KUKA Roboter GmbH
发明人： Uwe Zimmermann , Volker Schmirgel
IPC分类号： B25J9/00 , B25J9/16
CPC分类号： B25J9/0081 , B25J9/1628 , B25J9/1633 , G05B2219/36433 , G05B2219/39201 , G05B2219/39319 , G05B2219/39338 , G05B2219/39346 , G05B2219/39347 , G05B2219/39348 , Y10S901/04
摘要： The invention concerns a method of programming an industrial robot, exhibiting the steps of selecting a program command, the assigned rigidity parameter of which is to be verified, changed and/or saved in the program mode; moving the manipulator arm into a test pose, in which the industrial robot is configured and/or arranged to manually touch and/or move the manipulator arm; and the automatic actuation of the manipulator arm by the control device such that the manipulator arm in the test pose exhibits the rigidity corresponding to the assigned rigidity parameter of the selected program command. The invention further concerns an industrial robot, exhibiting a control device designed and/or configured to execute such a method.
摘要翻译：本发明涉及一种对工业机器人进行编程的方法，其显示了在程序模式中选择要被验证，改变和/或保存的分配刚度参数的程序命令的步骤; 将操纵臂移动到测试姿势中，其中工业机器人被配置和/或布置成手动地触摸和/或移动操纵臂; 以及由所述控制装置自动致动所述操纵臂，使得所述测试姿态中的所述操纵臂处于与所选择的程序命令的所分配的刚度参数对应的刚度。本发明还涉及一种工业机器人，其展现出设计和/或配置为执行这种方法的控制装置。

5. 发明申请

US20140379131A1 Control Method and Device for Position-Based Impedance Controlled Industrial Robot 有权
标题翻译：基于位置阻抗控制的工业机器人的控制方法和装置
公开(公告)号：US20140379131A1
公开(公告)日：2014-12-25
申请号：US14143968
申请日：2013-12-30
申请人： GWANGJU INSTITUTE OF SCIENCE AND TECHNOLOGY
发明人： Je Ha RYU , Sehun KIM
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , G05B2219/39338 , Y10S901/09
摘要： The present invention relates to a control method and device for position-based impedance controlled industrial robot, and more particularly, a control method and device for position-based impedance controlled industrial robot able to improve contact stabilization with regard to an environment with a variety of stiffness.According to a control method and device for position-based impedance controlled industrial robot in accordance with the present invention, a robust contact stabilization for a position-based impedance controlled industrial robot contacting and interacting with an uncertain actual environment may be guaranteed.
摘要翻译：本发明涉及一种用于基于位置的阻抗控制的工业机器人的控制方法和装置，更具体地，涉及一种用于基于位置的阻抗控制的工业机器人的控制方法和装置，其能够改善关于具有各种各样的环境的接触稳定性刚性。根据本发明的基于位置阻抗控制的工业机器人的控制方法和装置，可以保证基于位置的阻抗控制工业机器人与不确定的实际环境接触和相互作用的鲁棒接触稳定。

6. 发明申请

US20170282364A1 METHOD OF CONTROLLING A ROBOTIZED ARM SEGMENT MAKING IT POSSIBLE TO ADAPT THE APPARENT STIFFNESS THEREOF 审中-公开
公开(公告)号：US20170282364A1
公开(公告)日：2017-10-05
申请号：US15512159
申请日：2015-09-29
申请人： COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES
发明人： Neil ABROUG
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B25J9/1641 , G05B2219/39186 , G05B2219/39201 , G05B2219/39338 , G05B2219/42012
摘要： The invention relates to a method of control ling an actuator (1) of an articulated segment (5) comprising the steps of estimating an inertia J of the segment; estimating or measuring a speed of displacement (I) of the segment; synthesizing a control law of type (II) generating a control torque for the segment on the basis of these estimates or measurements and meeting a performance objective pertaining to the loading sensitivity function: (III) K being the desired stiffness, and c a desired damping rate, a a mathematical artifact, (IV), where G(s) is the transfer function (V) for going between the speed (I) (linear or angular) of the segment and an external force F experienced by the segment; and controlling the actuator of the articulated segment according to the control law thus synthesized. X . ( I ) H ∞ ( II )  S F  ( s )  W S  ( s )  ∞ ≤ 1   avec   W s  ( s ) = ( J s 2 + ɛ J s 2 + cs + K ) - 1 ( III ) S F  ( s ) = G  ( s ) · J · s ( IV ) G  ( s ) = X .  /  F ( V )

7. 发明授权

US09211646B2 Control apparatus and control method for robot arm, assembly robot, control program for robot arm, and control-purpose integrated electronic circuit for robot arm 有权
标题翻译：机器人手臂，装配机器人，机器人手臂控制程序，机器手臂控制用电子电路控制装置及控制方法
公开(公告)号：US09211646B2
公开(公告)日：2015-12-15
申请号：US13085560
申请日：2011-04-13
申请人： Yuko Tsusaka , Yasunao Okazaki
发明人： Yuko Tsusaka , Yasunao Okazaki
IPC分类号： B25J13/08 , B25J9/16 , G05B19/423
CPC分类号： B25J13/08 , B25J9/1687 , G05B19/423 , G05B2219/36432 , G05B2219/36433 , G05B2219/39319 , G05B2219/39338 , G05B2219/40028 , G05B2219/40033
摘要： Provided is a control apparatus for a robot arm performing assembly. The control apparatus includes an operation database recording information as to an operation of the robot arm, and includes a correction operation type determining unit determining a correction type for the operation. The control apparatus also includes a force detecting unit detecting a force of a person, and an operation correction unit correcting an operation in accordance with the force of the person and the correction type, while the robot arm is performing a task.
摘要翻译：提供了一种用于机器人臂执行组装的控制装置。控制装置包括操作数据库，记录关于机器人手臂的操作的信息，并且包括确定操作的校正类型的校正操作类型确定单元。控制装置还包括在机器人手臂执行任务的同时检测人的力的力检测单元和根据人的力和校正类型校正操作的操作校正单元。

8. 发明申请

US20110130876A1 HUMAN-ROBOT INTERACTIVE SYSTEM HAVING A HUMAN STIFFNESS ESTIMATION CONTROL ALGORITHM 有权
标题翻译：人类机器人交互系统具有人为因素的估计控制算法
公开(公告)号：US20110130876A1
公开(公告)日：2011-06-02
申请号：US12627033
申请日：2009-11-30
申请人： Dalong Gao , Roland J. Menassa , Robin Stevenson
发明人： Dalong Gao , Roland J. Menassa , Robin Stevenson
IPC分类号： G05B15/00
CPC分类号： G05B19/423 , B25J9/1633 , G05B2219/36429 , G05B2219/36435 , G05B2219/39338
摘要： A robotic system includes a robot adapted for moving a payload in proportional response to an input force from an operator, sensors adapted for measuring a predetermined set of operator input values, including the input force, and a controller. The controller determines a changing stiffness value of the operator using set of operator input values, and automatically adjusts a level of control sensitivity over the robot using the stiffness value. The input values include the input force, a muscle activation level of the operator, and a position of the operator. A method of controlling the robot includes measuring the operator input values using the plurality of sensors, processing the input values using the controller to thereby calculate the stiffness value, and automatically adjusting the level of control sensitivity over the robot using the stiffness value. A specific operator may be identified, with control sensitivity being adjusted based on the identity.
摘要翻译：机器人系统包括机器人，其适于根据来自操作者的输入力成比例地移动有效载荷，适于测量包括输入力的预定操作员输入值集合的传感器和控制器。控制器使用一组操作员输入值确定操作者的刚度变化值，并使用刚度值自动调整机器人的控制灵敏度水平。输入值包括输入力，操作者的肌肉激活水平以及操作者的位置。一种控制机器人的方法包括使用多个传感器测量操作者输入值，使用控制器处理输入值，从而计算出刚度值，并使用刚度值自动调整机器人的控制灵敏度水平。可以识别特定的操作者，其基于身份来调整控制灵敏度。

9. 发明授权

US11977365B2 Skill transfer mechanical apparatus 有权
公开(公告)号：US11977365B2
公开(公告)日：2024-05-07
申请号：US16767984
申请日：2018-11-28
申请人： KAWASAKI JUKOGYO KABUSHIKI KAISHA
发明人： Yasuhiko Hashimoto , Nobuyasu Shimomura , Masayuki Kamon , Shigetsugu Tanaka
IPC分类号： G05B19/4155 , G06N20/00
CPC分类号： G05B19/4155 , G06N20/00 , G05B2219/39338
摘要： A skill transfer mechanical apparatus includes an operating part, a controller, a motion information detector and an operation apparatus. The controller includes a basic motion instructing module, a learning module, a motion correcting instruction generator, a motion correcting instruction, and a motion information storing module. The learning module carries out machine learning of the motion correcting instruction stored in the motion correcting instruction storing module by using the motion information stored in the motion information storing module, and after the machine learning is finished, accepts an input of the motion information during the operation of the operating part, and outputs the automatic motion correcting instruction. The operating part moves the working part according to an automatic motion instruction based on the basic motion instruction and the automatic motion correcting instruction, and the manual motion correction.

10. 发明授权

US09102056B2 Control method and device for position-based impedance controlled industrial robot 有权
标题翻译：基于位置的阻抗控制工业机器人的控制方法和装置
公开(公告)号：US09102056B2
公开(公告)日：2015-08-11
申请号：US14143968
申请日：2013-12-30
申请人： GWANGJU INSTITUTE OF SCIENCE AND TECHNOLOGY
发明人： Je Ha Ryu , Sehun Kim
IPC分类号： G05B15/00 , B25J9/16
CPC分类号： B25J9/1633 , G05B2219/39338 , Y10S901/09
摘要： The present invention relates to a control method and device for position-based impedance controlled industrial robot, and more particularly, a control method and device for position-based impedance controlled industrial robot able to improve contact stabilization with regard to an environment with a variety of stiffness.According to a control method and device for position-based impedance controlled industrial robot in accordance with the present invention, a robust contact stabilization for a position-based impedance controlled industrial robot contacting and interacting with an uncertain actual environment may be guaranteed.
摘要翻译：本发明涉及一种用于基于位置的阻抗控制的工业机器人的控制方法和装置，更具体地，涉及一种用于基于位置的阻抗控制的工业机器人的控制方法和装置，其能够改善关于具有各种各样的环境的接触稳定性刚性。根据本发明的基于位置阻抗控制的工业机器人的控制方法和装置，可以保证基于位置的阻抗控制工业机器人与不确定的实际环境接触和相互作用的鲁棒接触稳定。

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