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1. 发明申请

US20190184563A1 METHOD FOR COLLISION DETECTION AND AUTONOMOUS SYSTEM 审中-公开
公开(公告)号：US20190184563A1
公开(公告)日：2019-06-20
申请号：US16327613
申请日：2017-07-04
申请人： Siemens Aktiengesellschaft
发明人： Florian Krautwurm
IPC分类号： B25J9/16
CPC分类号： B25J9/1676 , B25J9/1671 , G05B2219/39082 , G05B2219/39091 , G05B2219/39094 , G05B2219/40201 , G05B2219/40202 , G05B2219/40203 , G05B2219/40311 , G05B2219/40317
摘要： Provided is a method for detecting an imminent collision between an object and a component of an autonomous system in the real environment including at least one real, decentralized autonomous component, whereby of at least a part of the autonomous system a virtual image is available, emulating at least one aspect of the autonomous system.

2. 发明授权

US09984178B2 Robot simulator, robot teaching apparatus and robot teaching method 有权
公开(公告)号：US09984178B2
公开(公告)日：2018-05-29
申请号：US14183404
申请日：2014-02-18
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Koichi Kuwahara
IPC分类号： G06F9/45 , G06F17/50 , B25J9/16
CPC分类号： G06F17/5009 , B25J9/1671 , G05B2219/40091 , G05B2219/40311 , G05B2219/40324
摘要： A robot simulator includes a generating unit, a display unit, a display control unit, and a simulation instructing unit. The generating unit generates a virtual image that includes a virtual robot obtained by imaging an actual robot having at least one axis and an operation handle capable of operating three-dimensional coordinate axes having a predetermined control point of the virtual robot as the origin. The display control unit displays on the display unit the generated virtual image. The simulation instructing unit, when an operator's operation for the operation handle is received, acquires at least one of a displacement amount of the control point and a rotation amount of the three-dimensional coordinate axes attributable to the operator's operation, and instructs the generating unit to regenerate the virtual image in which a posture of the virtual robot is changed in accordance with the displacement amount or the rotation amount thus acquired.

3. 发明授权

US09387589B2 Visual debugging of robotic tasks 有权
标题翻译：机器人任务的视觉调试
公开(公告)号：US09387589B2
公开(公告)日：2016-07-12
申请号：US14189452
申请日：2014-02-25
申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC
发明人： Leandro G. Barajas , David W Payton , Li Yang Ku , Ryan M Uhlenbrock , Darren Earl
IPC分类号： G05B19/04 , G05B19/18 , B25J9/16 , G05B13/02
CPC分类号： B25J9/1697 , B25J9/1671 , G05B13/026 , G05B2219/40311
摘要： A robotic system includes a robot, sensors which measure status information including a position and orientation of the robot and an object within the workspace, and a controller. The controller, which visually debugs an operation of the robot, includes a simulator module, action planning module, and graphical user interface (GUI). The simulator module receives the status information and generates visual markers, in response to marker commands, as graphical depictions of the object and robot. An action planning module selects a next action of the robot. The marker generator module generates and outputs the marker commands to the simulator module in response to the selected next action. The GUI receives and displays the visual markers, selected future action, and input commands. Via the action planning module, the position and/or orientation of the visual markers are modified in real time to change the operation of the robot.
摘要翻译：机器人系统包括机器人，测量包括机器人的位置和取向以及工作空间内的物体的状态信息的传感器以及控制器。视觉上调试机器人的操作的控制器包括模拟器模块，动作规划模块和图形用户界面（GUI）。模拟器模块接收状态信息，并响应于标记命令生成视觉标记作为对象和机器人的图形描绘。动作规划模块选择机器人的下一个动作。标记生成器模块响应于所选择的下一个动作生成并将标记命令输出到模拟器模块。 GUI接收并显示可视标记，选择的未来操作和输入命令。通过动作规划模块，实时修改视觉标记的位置和/或方向，以改变机器人的操作。

4. 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。

5. 发明申请

US20150239127A1 VISUAL DEBUGGING OF ROBOTIC TASKS 有权
标题翻译：机器人任务视觉调试
公开(公告)号：US20150239127A1
公开(公告)日：2015-08-27
申请号：US14189452
申请日：2014-02-25
申请人： GM GLOBAL TECHNOLOGY OPERATIONS LLC.
发明人： Leandro G. Barajas , David W. Payton , Li Yang Ku , Ryan M. Uhlenbrock , Darren Earl
IPC分类号： B25J9/16 , G05B13/02
CPC分类号： B25J9/1697 , B25J9/1671 , G05B13/026 , G05B2219/40311
摘要： A robotic system includes a robot, sensors which measure status information including a position and orientation of the robot and an object within the workspace, and a controller. The controller, which visually debugs an operation of the robot, includes a simulator module, action planning module, and graphical user interface (GUI). The simulator module receives the status information and generates visual markers, in response to marker commands, as graphical depictions of the object and robot. An action planning module selects a next action of the robot. The marker generator module generates and outputs the marker commands to the simulator module in response to the selected next action. The GUI receives and displays the visual markers, selected future action, and input commands. Via the action planning module, the position and/or orientation of the visual markers are modified in real time to change the operation of the robot.
摘要翻译：机器人系统包括机器人，测量包括机器人的位置和取向以及工作空间内的物体的状态信息的传感器以及控制器。视觉上调试机器人的操作的控制器包括模拟器模块，动作规划模块和图形用户界面（GUI）。模拟器模块接收状态信息，并响应于标记命令生成视觉标记作为对象和机器人的图形描绘。动作规划模块选择机器人的下一个动作。标记生成器模块响应于所选择的下一个动作生成并将标记命令输出到模拟器模块。 GUI接收并显示可视标记，选择的未来操作和输入命令。通过动作规划模块，实时修改视觉标记的位置和/或方向，以改变机器人的操作。

6. 发明申请

US20140236565A1 ROBOT SIMULATOR, ROBOT TEACHING APPARATUS AND ROBOT TEACHING METHOD 有权
标题翻译：机器人模拟器，机器人教学装置和机器人教学方法
公开(公告)号：US20140236565A1
公开(公告)日：2014-08-21
申请号：US14183404
申请日：2014-02-18
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Koichi KUWAHARA
IPC分类号： G06F17/50
CPC分类号： G06F17/5009 , B25J9/1671 , G05B2219/40091 , G05B2219/40311 , G05B2219/40324
摘要： A robot simulator includes a generating unit, a display unit, a display control unit, and a simulation instructing unit. The generating unit generates a virtual image that includes a virtual robot obtained by imaging an actual robot having at least one axis and an operation handle capable of operating three-dimensional coordinate axes having a predetermined control point of the virtual robot as the origin. The display control unit displays on the display unit the generated virtual image. The simulation instructing unit, when an operator's operation for the operation handle is received, acquires at least one of a displacement amount of the control point and a rotation amount of the three-dimensional coordinate axes attributable to the operator's operation, and instructs the generating unit to regenerate the virtual image in which a posture of the virtual robot is changed in accordance with the displacement amount or the rotation amount thus acquired.
摘要翻译：机器人模拟器包括生成单元，显示单元，显示控制单元和模拟指示单元。生成单元生成包括通过对具有至少一个轴的实际机器人进行成像而获得的虚拟机器人的虚拟图像和能够使具有虚拟机器人的预定控制点的三维坐标轴的操作手柄作为原点的虚拟图像。显示控制单元在显示单元上显示生成的虚像。模拟指示单元接收到操作者的操作手柄的操作时，获取控制点的位移量和归因于操作者的操作的三维坐标轴的旋转量中的至少一个，并指示生成单元根据所获取的位移量或旋转量来重新生成虚拟机器人的姿势变化的虚拟图像。

7. 发明授权

US07236854B2 Method and a system for programming an industrial robot 有权
标题翻译：用于编程工业机器人的方法和系统
公开(公告)号：US07236854B2
公开(公告)日：2007-06-26
申请号：US10751012
申请日：2004-01-05
申请人： John Pretlove , Charlotte Skourup , Thomas Pettersen
发明人： John Pretlove , Charlotte Skourup , Thomas Pettersen
IPC分类号： G05B19/04
CPC分类号： G05B19/42 , B25J9/1671 , G05B2219/35487 , G05B2219/35506 , G05B2219/36436 , G05B2219/39449 , G05B2219/40311 , G05B2219/40392 , G05B2219/40479
摘要： A method and a system for use in connection with programming of an industrial robot. The programming includes teaching the robot a path having a number of waypoints located on or in the vicinity of an object to be processed by the robot. The system includes elements for obtaining information about the waypoints of the path in relation to the object, a storage unit for storing the obtained information, a simulation unit for simulating the robot path based on the obtained information about the waypoints and a model of the robot, a graphics generator for generating a graphical representation of the simulated robot path, and a display member for displaying a view comprising the object and the graphical representation of the robot path projected on the object.
摘要翻译：一种用于工业机器人编程的方法和系统。编程包括向机器人引导具有位于要由机器人处理的对象上或附近的多个航点的路径。该系统包括用于获得关于与物体相关的路径的路点的信息的元件，用于存储所获得的信息的存储单元，用于根据获得的关于航点的信息和机器人的模型来模拟机器人路径的模拟单元，用于生成模拟机器人路径的图形表示的图形生成器，以及用于显示包括对象的视图和投影在对象上的机器人路径的图形表示的显示构件。

8. 发明授权

US07181315B2 Manual-mode operating system for robot 失效
标题翻译：机器人手动操作系统
公开(公告)号：US07181315B2
公开(公告)日：2007-02-20
申请号：US10959434
申请日：2004-10-07
申请人： Atsushi Watanabe , Tatsuya Oumi
发明人： Atsushi Watanabe , Tatsuya Oumi
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： B25J9/1671 , B25J13/06 , G05B2219/40311 , G05B2219/40562 , G05D3/00
摘要： A manual-mode operating system for a robot provided with an end-effector. The manual-mode operating system includes a display section including a screen for displaying an image of an end-effector; a first input section for an input of coordinate system data on the screen of the display section, displaying the image of the end-effector, the coordinate system data designating a manual-mode coordinate system used for describing an orientation of the end-effector; a coordinate system setting section for setting the manual-mode coordinate system at a spatial position corresponding to an input position on the screen of the display section, based on the coordinate system data input through the first input section; a second input section for an input of orientation data using the manual-mode coordinate system set through the coordinate system setting section, the orientation data instructing the orientation of the end-effector; and an orientation adjusting section for adjusting the orientation of the end-effector, based on the orientation data input through the second input section.
摘要翻译：用于机器人的手动模式操作系统，其具有末端执行器。手动模式操作系统包括显示部分，其包括用于显示末端执行器的图像的屏幕; 第一输入部分，用于在显示部分的屏幕上输入坐标系数据，显示末端执行器的图像，指定用于描述末端执行器的取向的手动模式坐标系的坐标系统数据; 坐标系设定部，基于通过第一输入部输入的坐标系数据，将手动模式坐标系设定在与显示部的画面上的输入位置对应的空间位置上; 第二输入部分，用于使用通过坐标系设置部分设置的手动模式坐标系输入定向数据，所述定向数据指示末端执行器的方向; 以及基于通过第二输入部输入的取向数据来调整末端执行器的取向的取向调整部。

9. 发明申请

US20150151431A1 ROBOT SIMULATOR, ROBOT TEACHING DEVICE, AND ROBOT TEACHING METHOD 审中-公开
标题翻译：机器人模拟器，机器人教学装置和机器人教学方法
公开(公告)号：US20150151431A1
公开(公告)日：2015-06-04
申请号：US14599546
申请日：2015-01-19
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Takashi SUYAMA , Makoto UMENO
IPC分类号： B25J9/16 , G06N99/00
CPC分类号： B25J9/1605 , B25J9/1671 , G05B2219/40311 , G06N20/00 , Y10S901/05
摘要： A robot simulator according to an aspect of an embodiment includes a display unit, an image generation unit, a display controller, and a simulation instruction unit. The display unit displays an image. The image generation unit generates a virtual image of a robot. The virtual image includes an operating handle capable of operating axes of a three-dimensional coordinate in which the origin is a certain control point of the robot. The display controller causes the display unit to display the virtual image. The simulation instruction unit acquires, when an operation on the operating handle by an operator is received, a displacement amount of the control point and a rotation amount of the three-dimensional coordinate axes based on the operation, and causes the image generation unit to regenerate the virtual image of the robot whose posture is changed according to the acquired displacement and rotation amounts.
摘要翻译：根据实施例的一个方面的机器人模拟器包括显示单元，图像生成单元，显示控制器和模拟指令单元。显示单元显示图像。图像生成单元生成机器人的虚拟图像。虚拟图像包括能够操作原点是机器人的某个控制点的三维坐标轴的操作手柄。显示控制器使显示单元显示虚拟图像。当接收到操作者对操作手柄的操作时，仿真指令单元基于操作获取控制点的位移量和三维坐标轴的旋转量，并且使图像生成单元重新生成根据取得的位移和旋转量，姿势变化的机器人的虚像。

10. 发明授权

US07890194B2 Robotics programming interface 有权
标题翻译：机器人编程接口
公开(公告)号：US07890194B2
公开(公告)日：2011-02-15
申请号：US11302563
申请日：2005-12-13
申请人： Patrick Pannese
发明人： Patrick Pannese
IPC分类号： G06F19/00
CPC分类号： B25J9/1671 , G05B2219/33299 , G05B2219/34256 , G05B2219/40311 , G05B2219/45031
摘要： A programming interface for a hardware system includes an embedded layer for programmatic access to a physical realization of hardware, a simulation system for simulation of the hardware, and a diagnostics engine that analyzes and compares feedback data from the simulation system and the physical realization. The programming interface may be usefully employed, for example, in the design, purchase, and deployment of robotics for semiconductor manufacturing.
摘要翻译：用于硬件系统的编程接口包括用于对硬件的物理实现进行编程访问的嵌入层，用于模拟硬件的仿真系统以及分析和比较来自仿真系统的反馈数据和物理实现的诊断引擎。编程接口可以有用地用于例如用于半导体制造的机器人的设计，购买和部署。

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