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1. 发明申请

US20090248200A1 Method & apparatus for remotely operating a robotic device linked to a communications network 审中-公开
标题翻译：用于远程操作连接到通信网络的机器人设备的方法和装置
公开(公告)号：US20090248200A1
公开(公告)日：2009-10-01
申请号：US11975776
申请日：2007-10-22
申请人： Timothy D. Root
发明人： Timothy D. Root
IPC分类号： G06F19/00
CPC分类号： B25J9/1602 , B25J9/1689 , G05B2219/39433 , Y10S901/01
摘要： A remote control device able to connect to a communications network generates robot control messages are used for the remote control of a robot also able to be connected to the communications network. The remote control device creates a robot control file and an indirect reference to the robot control file which a user can select for inclusion in a robot control message. Once selected, the indirect reference to a robot control file causes the indirectly referenced robot control file to be included in a message generated by the remote control device. The remote control device establishes a communications link with the communications network, and sends the message, with the robot control file, to the robot also connected to the communications network. The robot receives the robot control message and performs at least one action according to the instruction included in the robot control message.
摘要翻译：能够连接到通信网络的远程控制设备生成机器人控制消息用于远程控制也能够连接到通信网络的机器人。远程控制装置创建机器人控制文件和对机器人控制文件的间接引用，用户可以选择该机器人控制文件以包括在机器人控制消息中。一旦被选择，对机器人控制文件的间接引用导致间接引用的机器人控制文件被包括在由遥控装置产生的消息中。遥控装置与通信网络建立通信链路，并将消息与机器人控制文件发送到也连接到通信网络的机器人。机器人接收机器人控制消息，并根据机器人控制消息中包含的指令执行至少一个动作。

2. 发明申请

US20180178383A1 Moving Along A Predetermined Path With A Robot 审中-公开
公开(公告)号：US20180178383A1
公开(公告)日：2018-06-28
申请号：US15739548
申请日：2016-06-20
申请人： KUKA Roboter GmbH
发明人： Stefan Burkhart , Andreas Hagenauer , Manfred Huettenhofer , Robert Schreittmiller
IPC分类号： B25J9/16 , G05B19/042
CPC分类号： B25J9/1666 , B25J9/1664 , B25J9/1669 , G05B19/042 , G05B2219/36043 , G05B2219/39219 , G05B2219/39433 , G05B2219/40371 , G05B2219/40519 , G05B2219/40521 , Y10S901/02 , Y10S901/49
摘要： A method for moving along a predetermined path with a robot in an at least a partially automated manner includes determining a deployment position on a current path section of the predetermined path for which a distance parameter satisfies a predetermined condition, and moving to the deployment position with the robot. In one aspect, the robot may be moved to the deployment position if a deployment condition is satisfied. The distance parameter may be determined on the basis of a distance of a current position of the robot relative to the current path section. The predetermined condition may be that the distance parameter has a value that is less than or equal to the values of the distance parameter of all positions in a partial area of the current path section, which is in particular complementary to the deployment position.

3. 发明申请

US20130218346A1 METHOD & APPARATUS FOR REMOTELY OPERATING A ROBOTIC DEVICE LINKED TO A COMMUNICATIONS NETWORK 审中-公开
标题翻译：用于远程操作连接到通信网络的机器人设备的方法和装置
公开(公告)号：US20130218346A1
公开(公告)日：2013-08-22
申请号：US13590451
申请日：2012-08-21
申请人： TIMOTHY D. ROOT
发明人： TIMOTHY D. ROOT
IPC分类号： B25J9/16
CPC分类号： B25J9/1602 , B25J9/1689 , G05B2219/39433 , Y10S901/01
摘要： A remote control device able to connect to a communications network generates robot control messages are used for the remote control of a robot also able to be connected to the communications network. The remote control device creates a robot control file and an indirect reference to the robot control file which a user can select for inclusion in a robot control message. Once selected, the indirect reference to a robot control file causes the indirectly referenced robot control file to be included in a message generated by the remote control device. The remote control device establishes a communications link with the communications network, and sends the message, with the robot control file, to the robot also connected to the communications network. The robot receives the robot control message and performs at least one action according to the instruction included in the robot control message.
摘要翻译：能够连接到通信网络的远程控制设备生成机器人控制消息用于远程控制也能够连接到通信网络的机器人。远程控制装置创建机器人控制文件和对机器人控制文件的间接引用，用户可以选择该机器人控制文件以包括在机器人控制消息中。一旦被选择，对机器人控制文件的间接引用导致间接引用的机器人控制文件被包括在由遥控装置产生的消息中。遥控装置与通信网络建立通信链路，并将消息与机器人控制文件发送到也连接到通信网络的机器人。机器人接收机器人控制消息，并根据机器人控制消息中包含的指令执行至少一个动作。

4. 发明申请

US20180250819A1 ROBOT MOTION PROGRAM GENERATING APPARATUS 审中-公开
公开(公告)号：US20180250819A1
公开(公告)日：2018-09-06
申请号：US15907758
申请日：2018-02-28
申请人： DENSO WAVE INCORPORATED
发明人： Yoshihiro MIYAKOSHI , Atsuko SUGANO
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , G05B2219/39433 , G05B2219/40518 , Y10S901/02 , Y10S901/49
摘要： A robot motion program generating apparatus generates a motion program for moving a robot, avoiding an obstacle. The apparatus comprises a section inputting a taught trajectory of the robot, a section setting a tolerance region around the trajectory inputted by the trajectory inputting section, a section setting a motion-point group that is a collection of the motion points, by determining motion points of the robot in the tolerance region set by the region setting section, and iterating a task of connecting a source motion point to a subsequent motion point through a line segment, avoiding the obstacle, starting from one end and ending at the other end of the trajectory, and a section generating the motion program, based on the motion-point group set by the point-group setting section.

5. 发明申请

US20160375588A1 Switching A Control Of A Robot Into A Manual Operating Mode 审中-公开
标题翻译：将机器人的控制切换到手动操作模式
公开(公告)号：US20160375588A1
公开(公告)日：2016-12-29
申请号：US15190343
申请日：2016-06-23
申请人： KUKA Roboter GmbH
发明人： Marc-Walter Ueberle , Matthias Rohmer , Tobias Reichl , Gunter Schreiber , Martin Mueller-Sommer , Uwe Bonin
IPC分类号： B25J13/08 , B25J9/00
CPC分类号： B25J13/085 , B25J9/0081 , B25J9/1674 , G05B2219/39319 , G05B2219/39346 , G05B2219/39433
摘要： A method for switching a control of a robot into a manual operating mode, wherein the robot is movable by a user manually applying at least one of a force or a torque upon the robot, includes detecting at least one of joint forces or joint torques of the robot, and triggering an error reaction in response to the switching and based on at least one of the detected joint forces and/or joint torques, target joint forces and/or target joint torques, or a pose of the robot.
摘要翻译：一种用于将机器人的控制切换为手动操作模式的方法，其中所述机器人可由用户手动地施加至所述机器人上的力或扭矩中的至少一个来移动，所述方法包括：检测所述机器人的关节力或关节扭矩中的至少一个并且基于检测到的关节力和/或关节扭矩，目标关节力和/或目标关节扭矩或机器人的姿态中的至少一个来触发响应于切换的错误反应。

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