专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明授权

US09135554B2 Robot controller learning system 有权
标题翻译：机器人控制器学习系统
公开(公告)号：US09135554B2
公开(公告)日：2015-09-15
申请号：US13741902
申请日：2013-01-15
申请人： iRobot Corporation
发明人： Brian Masao Yamauchi
IPC分类号： G06E1/00 , G06E3/00 , G06F15/18 , G06G7/00 , G06N5/00
CPC分类号： G06N5/00 , B25J9/161 , G05B2219/39093 , G05B2219/39376 , G05D1/0088 , G05D2201/0209
摘要： A threshold learning control system for learning a controller of a robot. The system includes a threshold learning module, a regime classifier, and an exploratory controller, each receiving sensory inputs from a sensor system of the robot. The regime classifier determines a control regime based on the received sensor inputs and communicates the control regime to the threshold learning module. The exploratory controller also receives control parameters from the threshold learning module. A control arbiter receives commands from the exploratory controller and limits from the threshold learning module. The control arbiter issues modified commands based on the received limits to the robot controller.
摘要翻译：一种用于学习机器人的控制器的阈值学习控制系统。该系统包括阈值学习模块，状态分类器和探测控制器，每个控制器从机器人的传感器系统接收感觉输入。政权分类器基于接收的传感器输入确定控制方案，并将控制状态传达给阈值学习模块。探测控制器还从阈值学习模块接收控制参数。控制仲裁器从探测控制器接收命令，并从阈值学习模块接收限制。控制仲裁器基于对机器人控制器的接收限制发出修改的命令。

2. 发明申请

US20180225113A1 CONTROL DEVICE, ROBOT, AND ROBOT SYSTEM 审中-公开
公开(公告)号：US20180225113A1
公开(公告)日：2018-08-09
申请号：US15886947
申请日：2018-02-02
申请人： Seiko Epson Corporation
发明人： Hiroshi HASEGAWA
IPC分类号： G06F9/30 , G06K9/32 , G05B19/02 , B25J9/16 , G06N3/02
CPC分类号： G06F9/30 , B25J9/161 , B25J9/163 , B25J9/1633 , G05B19/02 , G05B2219/33056 , G05B2219/37009 , G05B2219/39311 , G05B2219/39322 , G05B2219/39332 , G05B2219/39342 , G05B2219/39376 , G05B2219/40532 , G05B2219/40564 , G05B2219/40613 , G05B2219/42018 , G05B2219/42128 , G06K9/00536 , G06K9/3241 , G06N3/008 , G06N3/02 , G06N3/0454 , G06N3/08
摘要： A control device includes a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to calculate a force control parameter related to force control of a robot by using machine learning, and control the robot on the basis of the calculated force control parameter.

3. 发明申请

US20020120361A1 Control device and control method for robot 失效
标题翻译：机器人控制装置及控制方法
公开(公告)号：US20020120361A1
公开(公告)日：2002-08-29
申请号：US09980137
申请日：2002-03-19
发明人： Yoshihiro Kuroki , Tatsuzo Ishida
IPC分类号： G06F019/00
CPC分类号： G06N3/008 , G05B19/00 , G05B2219/39001 , G05B2219/39254 , G05B2219/39376 , G05B2219/40213 , G05B2219/40496
摘要： A controlling apparatus for a robot of the type formed by a plurality of joint actuators and operating in accordance with a behavioral schedule comprises a behavior scheduling unit for setting a robot's behavioral schedule, an operation controller for implementing an operational pattern corresponding to the behavioral schedule as determined by the behavior scheduling unit by driving each joint actuator, a detector for detecting the state of operation implementation by the operation controller and a recording unit for recording a log including the behavioral schedule by the behavior scheduling unit and the state of operation implementation by the detector. A user issuing a command for the robot is authenticated and the contents of the command supplied from the user are recorded in combination with the behavior taken by the robot responsive to the command and the time point of implementation of the behavior.
摘要翻译：一种用于由多个关节致动器形成的类型的机器人的控制装置，其根据行为调度进行操作包括：行为调度单元，用于设置机器人的行为调度;操作控制器，用于实现与行为调度相对应的操作模式; 由行为调度单元通过驱动每个关节致动器确定的检测器，用于检测由操作控制器执行的操作状态的检测器和用于记录由行为调度单元包括行为调度的日志的记录单元以及由行为调度单元执行的操作状态的记录单元探测器。对机器人发出命令的用户进行身份验证，并根据命令和执行行为的时间点结合使用者所提供的命令的内容与机器人采取的行为相结合。

4. 发明授权

US10642250B2 Servo control system equipped with learning control apparatus having function of optimizing learning memory allocation 有权
公开(公告)号：US10642250B2
公开(公告)日：2020-05-05
申请号：US15219284
申请日：2016-07-26
申请人： FANUC CORPORATION
发明人： Kouki Kameta , Naoto Sonoda
IPC分类号： G05B19/00 , G05B19/408 , G05B13/02
CPC分类号： G05B19/4083 , G05B13/0265 , G05B19/408 , G05B2219/39376 , G05B2219/41036 , G05B2219/42151 , G05B2219/42152
摘要： A servo control system for controlling a plurality of axes of a machine tool, comprises: a plurality of servo control units for controlling the plurality of axes, respectively; a plurality of learning control units that are provided one each in the plurality of servo control units, and each configured to control a cyclic operation highly precisely; a common learning memory for storing correction data which at least a portion of the plurality of learning control units generates; a memory allocation unit for allocating at least a portion of a memory area in the learning memory to the axis that the learning control unit that generated the correction data controls; and a memory amount notifying unit for notifying the memory allocation unit as to the amount of memory that each of the plurality of learning control units of the respective axes requires.

5. 发明申请

US20180222048A1 CONTROL DEVICE, ROBOT, AND ROBOT SYSTEM 审中-公开
公开(公告)号：US20180222048A1
公开(公告)日：2018-08-09
申请号：US15884969
申请日：2018-01-31
申请人： Seiko Epson Corporation
发明人： Hiroshi HASEGAWA
IPC分类号： B25J9/16
CPC分类号： B25J9/163 , B25J9/161 , B25J9/1653 , B25J9/1697 , G05B2219/33056 , G05B2219/37009 , G05B2219/39311 , G05B2219/39322 , G05B2219/39332 , G05B2219/39342 , G05B2219/39376 , G05B2219/40532 , G05B2219/40564 , G05B2219/40613 , G05B2219/41021 , G05B2219/42018 , G05B2219/42128 , Y10S901/02 , Y10S901/31 , Y10S901/47
摘要： A control device includes a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to calculate an operation parameter related to an operation of a robot by using machine learning, and control the robot on the basis of the calculated operation parameter.

6. 发明申请

US20180222058A1 CONTROL DEVICE, ROBOT, AND ROBOT SYSTEM 审中-公开
公开(公告)号：US20180222058A1
公开(公告)日：2018-08-09
申请号：US15888552
申请日：2018-02-05
申请人： Seiko Epson Corporation
发明人： Kimitake MIZOBE , Hiroshi HASEGAWA , Taro TANAKA , Guoyi FU , Iouri LAPPA , Alan Stephen LI
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/161 , B25J9/163 , G05B2219/33056 , G05B2219/37009 , G05B2219/39311 , G05B2219/39322 , G05B2219/39332 , G05B2219/39342 , G05B2219/39376 , G05B2219/40532 , G05B2219/42018 , G05B2219/42128 , Y10S901/47
摘要： A control device includes a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to calculate an optical parameter related to an optical system imaging a target object, by using machine learning, detect the target object on the basis of an imaging result in the optical system by using the calculated optical parameter, and control a robot on the basis of a detection result of the target object.

7. 发明申请

US20160332298A1 BAYESIAN-CENTRIC AUTONOMOUS ROBOTIC LEARNING 有权
标题翻译： BAYESIAN-CENTRIC自动机器人学习
公开(公告)号：US20160332298A1
公开(公告)日：2016-11-17
申请号：US15221461
申请日：2016-07-27
申请人： NPC Robotics Corporation
发明人： Michael Garrod
IPC分类号： B25J9/16 , G06N7/00
CPC分类号： G06N7/005 , B25J9/163 , G05B2219/39376 , G05D1/0088 , G05D1/0274 , G06N3/008 , Y10S901/01 , Y10S901/02
摘要： Various apparatus and methods include autonomous robot operations to perturb a current Bayesian equation and determining whether the perturbed Bayesian equation yields an improved probability of success of achieving a goal relative to the current Bayesian equation. In an illustrative example, the perturbation may modulate a coefficient of a parameter in the Bayesian equation. In some examples, the perturbation may include assessment of whether adding or removing a parameter may improve the probability of success of achieving the goal. The parameters of the Bayesian equation may include, for example, current state information, alone or in combination with sensor input values and/or historical information, for example. In some implementations, the robot may advantageously autonomously optimize its operations by perturbing a current Bayesian equation associated with, for example, a current goal, sub-goal, task, or probability of success criteria.
摘要翻译：各种装置和方法包括自动机器人操作以扰乱当前贝叶斯方程，并且确定扰动贝叶斯方程是否产生相对于当前贝叶斯方程实现目标的成功概率。在说明性示例中，扰动可以调制贝叶斯方程中的参数系数。在一些示例中，扰动可以包括评估添加或删除参数是否可以提高实现目标的成功概率。例如，贝叶斯方程的参数可以包括例如当前状态信息，或者与传感器输入值和/或历史信息组合。在一些实现中，机器人可以有利地通过扰乱与例如当前目标，子目标，任务或成功标准的概率相关联的当前贝叶斯方程来自主优化其操作。

8. 发明授权

US08260460B2 Interactive robot control system and method of use 有权
标题翻译：交互式机器人控制系统及其使用方法
公开(公告)号：US08260460B2
公开(公告)日：2012-09-04
申请号：US12564096
申请日：2009-09-22
申请人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
发明人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
IPC分类号： G06F19/00 , G05B19/04
CPC分类号： B25J9/1661 , G05B2219/36056 , G05B2219/36425 , G05B2219/39376 , G05B2219/40099
摘要： A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.
摘要翻译：机器人系统包括具有接头，致动器和传感器的机器人以及分布式控制器。控制器包括命令级控制器，每个控制各自关节的嵌入式联合级控制器，以及联合协调级控制器协调关节的运动。中央数据库（CDL）集中所有控制和反馈数据，用户界面使用CDL显示每个关节，执行器和传感器的状态。参数化动作序列具有链接事件的层次结构，并允许实时修改控制数据。控制机器人的方法包括通过控制器的各个级别发送控制数据，将所有控制和反馈数据路由到CDL，以及使用CDL显示机器人的状态和操作。生成参数化动作序列以供机器人执行，并且在序列内创建链接事件的层次结构。

9. 发明申请

US20110071676A1 INTERACTIVE ROBOT CONTROL SYSTEM AND METHOD OF USE 有权
标题翻译：交互式机器人控制系统及其使用方法
公开(公告)号：US20110071676A1
公开(公告)日：2011-03-24
申请号：US12564096
申请日：2009-09-22
申请人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
发明人： Adam M. Sanders , Matthew J. Reiland , Muhammad E. Abdallah , Douglas Martin Linn , Robert Platt
IPC分类号： G05B19/04
CPC分类号： B25J9/1661 , G05B2219/36056 , G05B2219/36425 , G05B2219/39376 , G05B2219/40099
摘要： A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.
摘要翻译：机器人系统包括具有接头，致动器和传感器的机器人以及分布式控制器。控制器包括命令级控制器，每个控制各自关节的嵌入式联合级控制器，以及联合协调级控制器协调关节的运动。中央数据库（CDL）集中所有控制和反馈数据，用户界面使用CDL显示每个关节，执行器和传感器的状态。参数化动作序列具有链接事件的层次结构，并允许实时修改控制数据。控制机器人的方法包括通过控制器的各个级别发送控制数据，将所有控制和反馈数据路由到CDL，以及使用CDL显示机器人的状态和操作。生成参数化动作序列以供机器人执行，并且在序列内创建链接事件的层次结构。

10. 发明申请

US20100249999A1 LEARNING AND USE OF SCHEMATA IN ROBOTIC DEVICES 有权
标题翻译：在机器人设备中学习和使用SCHEMATA
公开(公告)号：US20100249999A1
公开(公告)日：2010-09-30
申请号：US12619840
申请日：2009-11-17
申请人： Claudius Gläser , Frank Joublin
发明人： Claudius Gläser , Frank Joublin
IPC分类号： B25J9/00 , B25J19/02 , G06N3/02
CPC分类号： B25J9/161 , G05B2219/33025 , G05B2219/33051 , G05B2219/39285 , G05B2219/39376
摘要： A robotic controller using schemata, the schemata being a set of parameterized sequences of motor commands in order to make a robot to achieve a set goal, the parameters of the sequences being gained from the state variables of the robotic controller, a robotic controller comprising an interface for supplying sensory input to the robotic controller. A schemata state memory (1) structure supplied with either input from a schemata recognition module (4) or input from an inverse model module (2) or combinations of them. An inverse model module (2) for generating motor commands based on state variables and stored schemata, a forward model module (3) for predicting state variables based on state variables and stored schemata, and a schemata recognition module (4) for selecting a schemata based on supplied state variables of the robot controlled by the robotic controller.
摘要翻译：使用模式的机器人控制器，所述模式是电机命令的一组参数化序列，以使机器人实现设定的目标，所述序列的参数从所述机器人控制器的状态变量获得，所述机器人控制器包括：用于向机器人控制器提供感觉输入的界面。提供有来自模式识别模块（4）的输入或反模型模块（2）的输入或它们的组合的模式状态存储器（1）结构。一种用于基于状态变量和存储模式生成电动机命令的逆模型模块（2），用于基于状态变量和存储模式预测状态变量的前向模型模块（3），以及用于选择模式的模式识别模块（4）基于由机器人控制器控制的机器的提供的状态变量。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式