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1. 发明授权

US5333242A Method of setting a second robots coordinate system based on a first robots coordinate system 失效
标题翻译：基于第一机器人坐标系设置第二机器人坐标系的方法
公开(公告)号：US5333242A
公开(公告)日：1994-07-26
申请号：US910171
申请日：1992-07-14
申请人： Atsushi Watanabe , Fumikazu Terawaki , Fumikazu Warashina
发明人： Atsushi Watanabe , Fumikazu Terawaki , Fumikazu Warashina
IPC分类号： B25J13/00 , B25J9/16 , B25J9/18 , G05B19/18 , G05B19/404 , G05B19/408 , G05B19/4093 , G06F15/00
CPC分类号： B25J9/1692 , G05B19/4086 , G05B2219/39399
摘要： A robot coordinate system setting method is provided which facilitates the setting of a common coordinate system with respect to each of robots in a robot system or a robot installed in substitution for one of the robots. A coordinate transformation matrix for transforming a provisional coordinate system (X2Y2Z2), which a first robot has recognized by accessing a second jig, into a common coordinate system (X1Y1Z1), which the first robot has recognized by accessing a first jig, is calculated, and using this coordinate transformation matrix, a provisional coordinate system which a second robot has recognized by accessing the second jig is transformed into the common coordinate system which is to be recognized by the second robot, and is set with respect to the second robot. If a robot is installed in substitution for the second robot, method similar to the above is used to obtain a second provisional coordinate system, which the substitute robot has recognized by accessing the third jig, and is transformed into the common coordinate system which is to be recognized by the substitute robot, whereby the common coordinate system is set with respect to the substitute robot.
摘要翻译： PCT No.PCT / JP91 / 01566 Sec。 371日期：1992年7月14日 102（e）日期1992年7月14日PCT 1991年11月15日PCT公布。第WO92 / 09019号公报日期：1992年5月29日。提供了一种机器人坐标系设定方法，其有助于相对于机器人系统中的每个机器人或机器人中的一个机器人安装的机器人设置公共坐标系。计算用于将第一机器人通过访问第二夹具识别的临时坐标系（X2Y2Z2）变换为通过访问第一夹具而识别出的第一机器人识别的公共坐标系（X1Y1Z1）的坐标变换矩阵，并且使用该坐标变换矩阵，将通过访问第二夹具识别出的第二机器人的临时坐标系变换为将被第二机器人识别的公共坐标系，并且相对于第二机器人设定。如果安装机器人代替第二机器人，则使用与上述类似的方法来获得替代机器人通过访问第三夹具而识别的第二临时坐标系，并且被转换为公共坐标系，即由替代机器人识别，由此相对于替代机器人设置公共坐标系。

2. 发明授权

US09943964B2 Characterising robot environments 有权
公开(公告)号：US09943964B2
公开(公告)日：2018-04-17
申请号：US15166449
申请日：2016-05-27
申请人： CAMBRIDGE MEDICAL ROBOTICS LIMITED
发明人： Luke David Ronald Hares
IPC分类号： B25J9/00 , B25J9/16 , A61B34/30 , A61B34/32
CPC分类号： B25J9/1692 , A61B34/30 , A61B34/32 , B25J9/1679 , B25J9/1682 , G05B2219/39021 , G05B2219/39024 , G05B2219/39026 , G05B2219/39047 , G05B2219/39051 , G05B2219/39135 , G05B2219/39399 , Y10S901/09 , Y10S901/15 , Y10S901/46
摘要： A method for characterizing the environment of a robot, the robot having a flexible arm having a plurality of joints, a datum carried by the arm, a plurality of drivers arranged to drive the joints to move and a plurality of position sensors for sensing the position of each of the joints, the method comprising: contacting the datum carried by the arm with a first datum on a second robot in the environment of the first robot, wherein the second robot has a flexible arm having a plurality of joints, and a plurality of drivers arranged to drive those joints to move; calculating in dependence on the outputs of the position sensors a distance between a reference location defined in a frame of reference local to the robot and the first datum; and controlling the drivers to reconfigure the first arm in dependence on at least the calculated distance.

3. 发明授权

US08588975B2 Robot safety monitor device, and robot safety monitor method 有权
标题翻译：机器人安全监控装置，机器人安全监控方法
公开(公告)号：US08588975B2
公开(公告)日：2013-11-19
申请号：US12362686
申请日：2009-01-30
申请人： Katsuhiro Komuro , Toshio Aono
发明人： Katsuhiro Komuro , Toshio Aono
IPC分类号： G05B19/18 , G05B9/02 , G05B23/02 , G06K7/00 , B23Q15/22 , B23Q3/155
CPC分类号： B25J9/1674 , G05B2219/39399 , G05B2219/40228 , G05B2219/40375 , G05B2219/43203 , G05B2219/50198 , G05B2219/50275
摘要： It is determined whether the first tool identification information that is output from a robot control device, and that indicates a present tool and the second tool identification information for detecting and identifying a tool attached to the robot are unequal to each other. The position coordinates of the taught reference point in an actual space of the robot occurring at the time when the unequalness therebetween is first detected are set as reference coordinates, and a region that contains the reference coordinates is set as a predetermined region. If the position coordinates of the taught reference point have come to exist outside the predetermined region during a period during which it is determined that the foregoing two pieces of information are unequal, an emergency stop signal for causing the robot to be in a safe state is output.
摘要翻译：确定从机器人控制装置输出的并且指示当前工具的第一工具识别信息和用于检测和识别附接到机器人的工具的第二工具识别信息是否彼此不相等。在第一次检测到它们之间的不平等的时刻发生的机器人的实际空间中所教导的参考点的位置坐标被设置为参考坐标，并且将包含基准坐标的区域设置为预定区域。如果在确定前述两条信息不相等的时间段期间教导的参考点的位置坐标已经在预定区域之外存在，则使机器人处于安全状态的紧急停止信号是输出。

4. 发明授权

US5412759A Robot control method and apparatus 失效
标题翻译：机器人控制方法及装置
公开(公告)号：US5412759A
公开(公告)日：1995-05-02
申请号：US915598
申请日：1992-07-21
申请人： Tatsuo Yano , Masayuki Watanabe , Kouji Ota , Tadayuki Matsumoto
发明人： Tatsuo Yano , Masayuki Watanabe , Kouji Ota , Tadayuki Matsumoto
IPC分类号： G05B19/18 , B25J9/18 , G05B19/404 , G05B19/408 , G05B19/42 , G06F15/46
CPC分类号： G05B19/4083 , G05B2219/39399
摘要： Even if a stop position of a supplied workpiece is not accurate, in order which an online robot can accurately perform works such as welding and painting, through the use of an offline robot of the same type as the online robot, detecting three reference positions on a workpiece by a first optical three-dimensional position detection means and teaching can be performed. The first coordinate transform matrix A1 stores the coordinates of each of the positions for an operation on the workpiece as the taught contents, when it is assumed that the workpiece is at a first reference position. The online robot uses a second coordinate transform matrix A2 to calculate coordinates when it is assumed that the workpiece is at a second reference position of the online robot and stores these in a second memory, and the reference points of the workpiece which is supplied for processing are detected by a second optical three-dimensional position detection means and a third coordinate transform matrix A3 is used to determine each of the positions for operation on the supplied workpiece and the online robot reproduces them and performs the work. Even if the stop position of the supplied workpiece is not accurate, it is possible for operations to be accurately performed on the work.
摘要翻译：即使所提供的工件的停止位置不准确，为了使在线机器人能够通过使用与在线机器人相同类型的离线机器人精确地进行诸如焊接和涂装的工作，以检测三个参考位置可以通过第一光学三维位置检测装置和示教来执行工件。当假设工件处于第一参考位置时，第一坐标变换矩阵A1将用于操作的每个位置的坐标存储在工件上作为教导内容。当假设工件处于在线机器人的第二参考位置时，在线机器人使用第二坐标变换矩阵A2来计算坐标，并将它们存储在第二存储器中，并且将被提供用于处理的工件的参考点由第二光学三维位置检测装置检测，并且使用第三坐标变换矩阵A3来确定所供给的工件上的每个操作位置，并且在线机器人再现它们并进行工作。即使所提供的工件的停止位置不准确，也可以对工件进行精确的操作。

5. 发明申请

US20160346930A1 CHARACTERISING ROBOT ENVIRONMENTS 有权
标题翻译：表征机器人环境
公开(公告)号：US20160346930A1
公开(公告)日：2016-12-01
申请号：US15166449
申请日：2016-05-27
申请人： CAMBRIDGE MEDICAL ROBOTICS LIMITED
发明人： Luke David Ronald Hares
IPC分类号： B25J9/16 , A61B34/32 , A61B34/30
CPC分类号： B25J9/1692 , A61B34/30 , A61B34/32 , B25J9/1679 , B25J9/1682 , G05B2219/39021 , G05B2219/39024 , G05B2219/39026 , G05B2219/39047 , G05B2219/39051 , G05B2219/39135 , G05B2219/39399 , Y10S901/09 , Y10S901/15 , Y10S901/46
摘要： A method for characterising the environment of a robot, the robot having a flexible arm having a plurality of joints, a datum carried by the arm, a plurality of drivers arranged to drive the joints to move and a plurality of position sensors for sensing the position of each of the joints, the method comprising: contacting the datum carried by the arm with a first datum on a second robot in the environment of the first robot, wherein the second robot has a flexible arm having a plurality of joints, and a plurality of drivers arranged to drive those joints to move; calculating in dependence on the outputs of the position sensors a distance between a reference location defined in a frame of reference local to the robot and the first datum; and controlling the drivers to reconfigure the first arm in dependence on at least the calculated distance.
摘要翻译：一种用于表征机器人的环境的方法，所述机器人具有具有多个关节的柔性臂，由所述臂承载的基准，布置成驱动所述关节移动的多个驱动器和用于感测位置的多个位置传感器的方法包括：在所述第一机器人的环境中使由所述臂承载的所述基准与第二机器人上的第一基准接触，其中所述第二机器人具有柔性臂，所述柔性臂具有多个接头，并且多个驾驶员驾驶这些关节移动; 根据所述位置传感器的输出计算在所述机器人局部的参考帧中定义的参考位置与所述第一基准之间的距离; 并根据至少所计算出的距离控制驾驶员重新配置第一臂。

6. 发明授权

US4816733A Tool position compensation method 失效
标题翻译：刀具位置补偿方法
公开(公告)号：US4816733A
公开(公告)日：1989-03-28
申请号：US843695
申请日：1986-03-04
申请人： Shinsuke Sakakibara , Tatsuo Karakama
发明人： Shinsuke Sakakibara , Tatsuo Karakama
IPC分类号： B25J9/18 , G05B19/18 , G05B19/404 , G05B19/41 , G05B19/42
CPC分类号： G05B19/182 , G05B19/41 , G05B2219/39399 , G05B2219/45083 , G05B2219/50291
摘要： A tool position compensation method for correcting a tool position when an old tool (16) mounted on a hand (15) of a robot is replaced. Information on the axes of the robot after the new tool is mounted is obtained based on information on the axes of the robot taught before the old tool is replaced, tool position information (TCP1) at that time, and tool position information TCP2) after the new tool is mounted.
摘要翻译： PCT No.PCT / JP85 / 00396 Sec。 371日期：1986年3月4日 102（e）日期1986年3月4日PCT申请日1985年7月13日PCT公布。第WO86 / 00729号公报日期：1986年1月30日。一种用于在安装在机器人的手部（15）上的旧工具（16）被更换时用于校正刀具位置的刀具位置补偿方法。基于关于在更换旧工具之前教导的机器人的轴的信息，在此之后的工具位置信息（TCP1）和工具位置信息TCP2）之后的信息，获得关于安装新工具之后的机器人的轴的信息安装了新工具。

7. 发明申请

US20180186005A1 CHARACTERISING ROBOT ENVIRONMENTS 审中-公开
公开(公告)号：US20180186005A1
公开(公告)日：2018-07-05
申请号：US15906568
申请日：2018-02-27
申请人： CAMBRIDGE MEDICAL ROBOTICS LIMITED
发明人： Luke David Ronald Hares
IPC分类号： B25J9/16 , A61B34/32
CPC分类号： B25J9/1692 , A61B34/30 , A61B34/32 , B25J9/1679 , B25J9/1682 , G05B2219/39021 , G05B2219/39024 , G05B2219/39026 , G05B2219/39047 , G05B2219/39051 , G05B2219/39135 , G05B2219/39399 , Y10S901/09 , Y10S901/15 , Y10S901/46
摘要： A method for characterising the environment of a robot, the robot having a flexible arm having a plurality of joints, a datum carried by the arm, a plurality of drivers arranged to drive the joints to move and a plurality of position sensors for sensing the position of each of the joints, the method comprising: contacting the datum carried by the arm with a first datum on a second robot in the environment of the first robot, wherein the second robot has a flexible arm having a plurality of joints, and a plurality of drivers arranged to drive those joints to move; calculating in dependence on the outputs of the position sensors a distance between a reference location defined in a frame of reference local to the robot and the first datum; and controlling the drivers to reconfigure the first arm in dependence on at least the calculated distance.

8. 发明申请

US20090198379A1 ROBOT SAFETY MONITOR DEVICE, AND ROBOT SAFETY MONITOR METHOD 有权
标题翻译：机器人安全监控装置和机器人安全监控方法
公开(公告)号：US20090198379A1
公开(公告)日：2009-08-06
申请号：US12362686
申请日：2009-01-30
申请人： Katsuhiro KOMURO , Toshio Aono
发明人： Katsuhiro KOMURO , Toshio Aono
IPC分类号： G05B19/048
CPC分类号： B25J9/1674 , G05B2219/39399 , G05B2219/40228 , G05B2219/40375 , G05B2219/43203 , G05B2219/50198 , G05B2219/50275
摘要： It is determined whether the first tool identification information that is output from a robot control device, and that indicates a present tool and the second tool identification information for detecting and identifying a tool attached to the robot are unequal to each other. The position coordinates of the taught reference point in an actual space of the robot occurring at the time when the unequalness therebetween is first detected are set as reference coordinates, and a region that contains the reference coordinates is set as a predetermined region. If the position coordinates of the taught reference point have come to exist outside the predetermined region during a period during which it is determined that the foregoing two pieces of information are unequal, an emergency stop signal for causing the robot to be in a safe state is output.
摘要翻译：确定从机器人控制装置输出的并且指示当前工具的第一工具识别信息和用于检测和识别附接到机器人的工具的第二工具识别信息是否彼此不相等。在第一次检测到它们之间的不平等的时刻发生的机器人的实际空间中所教导的参考点的位置坐标被设置为参考坐标，并且将包含基准坐标的区域设置为预定区域。如果在确定前述两条信息不相等的时间段期间教导的参考点的位置坐标已经在预定区域之外存在，则使机器人处于安全状态的紧急停止信号是输出。

9. 发明授权

US5629849A Method for controlling operation of repeated work of excavator vehicle 失效
标题翻译：挖掘机车辆重复作业控制方法
公开(公告)号：US5629849A
公开(公告)日：1997-05-13
申请号：US541717
申请日：1995-10-10
申请人： Seong-Ho Ahn
发明人： Seong-Ho Ahn
IPC分类号： E02F3/43 , F15B21/08 , G05B19/427 , G06F17/00
CPC分类号： E02F3/438 , F15B21/085 , F15B21/087 , G05B19/427 , G05B2219/36413 , G05B2219/39399 , G05B2219/45012
摘要： The present invention relates to a method for automatically controlling prescribed work to be repeatedly done by the excavator. An electronic control using a processor and sensors is used to precisely control the work under program control regardless of the hardness of the ground. The controlling method according to the present invention utilizes stored data of the position of each of the joints of the actuators when the prescribed work is performed. During the repeated work, each joint is able to maintain its desired position regardless of the hardness of the ground. Further, because the operational mode can be stored at the same time as storing of the data for the prescribed work, the invention compares the operational mode with the repeated work. The performance speed of the repeated work can be controlled as much as intended by the operator. The repeated work can be performed with high speed when an unskilled operator stores the operation of the prescribed work with a slow speed. The work efficiency of the excavator is enhanced.
摘要翻译：本发明涉及一种自动控制由挖掘机反复进行的规定工作的方法。使用处理器和传感器的电子控制器用于精确控制程序控制下的工作，而不管地面的硬度如何。当执行规定的工作时，根据本发明的控制方法利用了致动器的每个关节的位置的存储数据。在重复的工作中，无论地面的硬度如何，每个关节能够保持其期望的位置。此外，由于操作模式可以在存储规定工作的数据的同时存储，所以本发明将操作模式与重复的工作进行比较。重复工作的性能速度可以按照操作者的意图进行控制。当不熟练的操作者以慢速存储规定工作的操作时，可以高速执行重复的工作。挖掘机的工作效率得到提升。

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