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

US08965582B2 Inverse kinematics 有权
标题翻译：逆运动学
公开(公告)号：US08965582B2
公开(公告)日：2015-02-24
申请号：US12660447
申请日：2010-02-26
申请人： Alexandre Nikolov Pechev
发明人： Alexandre Nikolov Pechev
IPC分类号： G05B15/00 , B25J9/16 , G05B19/408
CPC分类号： B25J9/1607 , G05B19/4086 , G05B2219/39079 , G05B2219/40327 , G05B2219/41405
摘要： A real-time method for controlling a system, the system including a plurality of controlling means each having at least one variable parameter (q) and a controlled element having a trajectory which is controlled by the controlling means, wherein the trajectory is related to the variable parameters by a variable matrix, the method comprising defining a control transfer matrix (K) relating the variable parameters dq to the trajectory dx, and using a feedback loop in which a feedback term is computed that is dependent on an error (e) which is the difference between the desired trajectory (dxd) which can have an arbitrary dimension specified as (m) and a current trajectory (dx).
摘要翻译：一种用于控制系统的实时方法，所述系统包括多个控制装置，每个控制装置具有至少一个可变参数（q）和具有由所述控制装置控制的轨迹的受控元件，其中所述轨迹与可变参数，该方法包括定义将可变参数dq与轨迹dx相关联的控制传递矩阵（K），并且使用其中计算依赖于错误（e）的反馈项的反馈回路，是可以具有指定为（m）的任意维度和当前轨迹（dx）的期望轨迹（dxd）之间的差。

2. 发明申请

US20140316430A1 SYSTEM AND METHODS FOR MANAGING MULTIPLE NULL-SPACE OBJECTIVES AND SLI BEHAVIORS 有权
标题翻译：用于管理多个空间空间目标和SLI行为的系统和方法
公开(公告)号：US20140316430A1
公开(公告)日：2014-10-23
申请号：US14218832
申请日：2014-03-18
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Arjang Hourtash
IPC分类号： A61B19/00
CPC分类号： B25J9/1607 , A61B34/30 , A61B34/37 , A61B34/77 , B25J9/1689 , B25J18/007 , G05B2219/39079 , G05B2219/40327 , G05B2219/41405
摘要： Devices, systems, and methods for providing commanded movement of an end effector of a manipulator concurrent with a desired movement of one or more joints of the manipulator according to one or more consolidated null-space objectives. The null-space objectives may include a joint state combination, relative joint states, range of joint states, joint state profile, kinetic energy, clutching movements, collision avoidance movements, singularity avoidance movements, pose or pitch preference, desired manipulator configurations, commanded reconfiguration of the manipulator, and anisotropic emphasis of the joints. Methods include calculating multiple null-space movements according to different null-space objectives, determining an attribute for each and consolidating the null-space movements with a null-space manager using various approaches. The approaches may include applying weighting, scaling, saturation levels, priority, master velocity limiting, saturated limited integration and various combinations thereof.
摘要翻译：用于根据一个或多个合并的零空间目标提供与操纵器的一个或多个关节的期望运动同时进行操纵器的末端执行器的命令移动的装置，系统和方法。零空间目标可以包括联合状态组合，相对关节状态，关节状态范围，关节状态轮廓，动能，离合运动，碰撞避免运动，奇异性避免运动，姿态或俯仰偏好，期望的操纵器配置，命令重新配置的机械手，以及关节的各向异性强调。方法包括根据不同的零空间目标来计算多个零空间运动，使用各种方法确定每个属性并使用零空间管理器合并零空间运动。这些方法可以包括应用加权，缩放，饱和度水平，优先级，主速度限制，饱和有限积分及其各种组合。

3. 发明公开

US20230294287A1 SWEPT VOLUME DEFORMATION 审中-公开
公开(公告)号：US20230294287A1
公开(公告)日：2023-09-21
申请号：US17654929
申请日：2022-03-15
申请人： FANUC CORPORATION
发明人： Hsien-Chung Lin , Tetsuaki Kato
IPC分类号： B25J9/16 , G05B19/4061
CPC分类号： B25J9/1666 , B25J9/1607 , G05B19/4061 , G05B2219/39082 , G05B2219/40327
摘要： A robot interference checking motion planning technique using swept volume deformation. A rapidly-exploring random tree (RRT) algorithm generates random sample nodes between a start point and a goal point. Each sample node is evaluated by checking for robot-obstacle interference along a path segment to the node. If an interference exists along the path segment, a swept volume of the segment is used to identify a critical posture where the interference is greatest, and obstacle interference points are used to define a virtual force applied to the robot links to modify the path segment to alleviate the interference condition. A swept volume of the modified path segment is computed and evaluated. If the modified swept volume is collision-free and the modified path segment motion plan meets robot joint range criteria, the modified path segment and the sample node are added to the overall robot motion program.

4. 发明申请

US20170136624A1 SYSTEM AND METHOD FOR MANAGING MULTIPLE NULL-SPACE OBJECTIVES AND CONSTRAINTS 审中-公开
公开(公告)号：US20170136624A1
公开(公告)日：2017-05-18
申请号：US15359413
申请日：2016-11-22
申请人： Intuitive Surgical Operations, Inc.
发明人： Arjang M. Hourtash
IPC分类号： B25J9/16 , B25J18/00 , A61B34/00 , A61B34/37 , A61B34/30
CPC分类号： B25J9/1607 , A61B34/30 , A61B34/37 , A61B34/77 , B25J9/1689 , B25J18/007 , G05B2219/39079 , G05B2219/40327 , G05B2219/41405
摘要： Devices, systems, and methods for providing commanded movement of an end effector of a manipulator concurrent with a desired movement of one or more joints of the manipulator according to one or more consolidated null-space objectives. The null-space objectives may include a joint state combination, relative joint states, range of joint states, joint state profile, kinetic energy, clutching movements, collision avoidance movements, singularity avoidance movements, pose or pitch preference, desired manipulator configurations, commanded reconfiguration of the manipulator, and anisotropic emphasis of the joints. Methods include calculating multiple null-space movements according to different null-space objectives, determining an attribute for each and consolidating the null-space movements with a null-space manager using various approaches. The approaches may include applying weighting, scaling, saturation levels, priority, master velocity limiting, saturated limited integration and various combinations thereof.

5. 发明授权

US09510911B2 System and methods for managing multiple null-space objectives and SLI behaviors 有权
标题翻译：用于管理多个零空间目标和SLI行为的系统和方法
公开(公告)号：US09510911B2
公开(公告)日：2016-12-06
申请号：US14218832
申请日：2014-03-18
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Arjang Hourtash
IPC分类号： A61B19/00 , B25J9/16 , B25J18/00
CPC分类号： B25J9/1607 , A61B34/30 , A61B34/37 , A61B34/77 , B25J9/1689 , B25J18/007 , G05B2219/39079 , G05B2219/40327 , G05B2219/41405
摘要： Devices, systems, and methods for providing commanded movement of an end effector of a manipulator concurrent with a desired movement of one or more joints of the manipulator according to one or more consolidated null-space objectives. The null-space objectives may include a joint state combination, relative joint states, range of joint states, joint state profile, kinetic energy, clutching movements, collision avoidance movements, singularity avoidance movements, pose or pitch preference, desired manipulator configurations, commanded reconfiguration of the manipulator, and anisotropic emphasis of the joints. Methods include calculating multiple null-space movements according to different null-space objectives, determining an attribute for each and consolidating the null-space movements with a null-space manager using various approaches. The approaches may include applying weighting, scaling, saturation levels, priority, master velocity limiting, saturated limited integration and various combinations thereof.
摘要翻译：用于根据一个或多个合并的零空间目标提供与操纵器的一个或多个关节的期望运动同时进行操纵器的末端执行器的命令移动的装置，系统和方法。零空间目标可以包括联合状态组合，相对关节状态，关节状态范围，关节状态轮廓，动能，离合运动，碰撞避免运动，奇异性避免运动，姿态或俯仰偏好，期望的操纵器配置，命令重新配置的机械手，以及关节的各向异性强调。方法包括根据不同的零空间目标来计算多个零空间运动，使用各种方法确定每个属性并使用零空间管理器合并零空间运动。这些方法可以包括应用加权，缩放，饱和度水平，优先级，主速度限制，饱和有限积分及其各种组合。

6. 发明申请

US20100228396A1 Inverse kinematics 有权
标题翻译：逆运动学
公开(公告)号：US20100228396A1
公开(公告)日：2010-09-09
申请号：US12660447
申请日：2010-02-26
申请人： Alexandre Nikolov Pechev
发明人： Alexandre Nikolov Pechev
IPC分类号： G05B15/00
CPC分类号： B25J9/1607 , G05B19/4086 , G05B2219/39079 , G05B2219/40327 , G05B2219/41405
摘要： A real-time method for controlling a system, the system including a plurality of controlling means each having at least one variable parameter (q) and a controlled element having a trajectory which is controlled by the controlling means, wherein the trajectory is related to the variable parameters by a variable matrix, the method comprising defining a control transfer matrix (K) relating the variable parameters dq to the trajectory dx, and using a feedback loop in which a feedback term is computed that is dependent on an error (e) which is the difference between the desired trajectory (dxd) which can have an arbitrary dimension specified as (m) and a current trajectory (dx).
摘要翻译：一种用于控制系统的实时方法，所述系统包括多个控制装置，每个控制装置具有至少一个可变参数（q）和具有由所述控制装置控制的轨迹的受控元件，其中所述轨迹与可变参数，该方法包括定义将可变参数dq与轨迹dx相关联的控制传递矩阵（K），并且使用其中计算依赖于错误（e）的反馈项的反馈回路，是可以具有指定为（m）的任意维度和当前轨迹（dx）的期望轨迹（dxd）之间的差。

7. 发明授权

US5737500A Mobile dexterous siren degree of freedom robot arm with real-time control system 失效
标题翻译：移动灵巧七自由度机器人手臂与实时控制系统
公开(公告)号：US5737500A
公开(公告)日：1998-04-07
申请号：US431361
申请日：1995-04-28
申请人： Homayoun Seraji , David Lim , Thomas S. Lee
发明人： Homayoun Seraji , David Lim , Thomas S. Lee
IPC分类号： B25J9/16 , B25J9/18 , G05B19/04 , G05B19/18
CPC分类号： B25J9/1643 , G05B2219/33169 , G05B2219/34403 , G05B2219/39062 , G05B2219/39081 , G05B2219/39082 , G05B2219/39172 , G05B2219/39174 , G05B2219/39414 , G05B2219/39422 , G05B2219/40252 , G05B2219/40293 , G05B2219/40297 , G05B2219/40298 , G05B2219/40317 , G05B2219/40327 , G05B2219/40342 , G05B2219/40345 , G05B2219/40362 , G05B2219/40371 , G05B2219/40379
摘要： The present invention is a mobile redundant dexterous manipulator with a seven-degree-of-freedom robot arm mounted on a 1 degree-of-freedom mobile platform with a six-degree-of freedom end effector including a real-time control system with multiple modes of operation. The manipulator-plus-platform system has two degrees-of-redundancy for the task of hand placement and orientation. The redundancy resolution is achieved by accomplishing two additional tasks using a configuration control technique. This mobile manipulator with control system allows a choice of arm angle control or collision avoidance for the seventh task, and platform placement or elbow angle control for the eighth task. In addition, joint limit avoidance task is automatically invoked when any of the joints approach their limits. The robot is controlled by a processor employing a 6-by-7 Jacobian matrix for defining location and orientation of the end effector.
摘要翻译：本发明是一种具有七自由度机器人臂的移动冗余灵巧操纵器，其安装在具有六自由度终端执行器的1自由度移动平台上，所述六自由度终端执行器包括具有多个操作模式。机械手加平台系统具有两个冗余度的手工放置和定向任务。通过使用配置控制技术完成两个附加任务来实现冗余分辨率。具有控制系统的移动操纵器允许为第七任务选择手臂角度控制或碰撞避免，以及用于第八任务的平台放置或肘角度控制。另外，当任何一个关节接近极限时，自动调用关节限制回避任务。机器人由采用6×7的雅可比矩阵的处理器控制，用于定义末端执行器的位置和取向。

8. 发明授权

US5550953A On-line method and apparatus for coordinated mobility and manipulation of mobile robots 失效
标题翻译：用于协调移动和操纵移动机器人的在线方法和装置
公开(公告)号：US5550953A
公开(公告)日：1996-08-27
申请号：US231597
申请日：1994-04-20
申请人： Homayoun Seraji
发明人： Homayoun Seraji
IPC分类号： B25J9/16 , G05B15/00 , G05B19/00
CPC分类号： B25J9/162 , G05B2219/39081 , G05B2219/39172 , G05B2219/39174 , G05B2219/40252 , G05B2219/40293 , G05B2219/40297 , G05B2219/40298 , G05B2219/40327
摘要： A simple and computationally efficient approach is disclosed for on-line coordinated control of mobile robots consisting of a manipulator arm mounted on a mobile base. The effect of base mobility on the end-effector manipulability index is discussed. The base mobility and arm manipulation degrees-of-freedom are treated equally as the joints of a kinematically redundant composite robot. The redundancy introduced by the mobile base is exploited to satisfy a set of user-defined additional tasks during the end-effector motion. A simple on-line control scheme is proposed which allows the user to assign weighting factors to individual degrees-of-mobility and degrees-of-manipulation, as well as to each task specification. The computational efficiency of the control algorithm makes it particularly suitable for real-time implementations. Four case studies are discussed in detail to demonstrate the application of the coordinated control scheme to various mobile robots.
摘要翻译：公开了一种简单且计算有效的方法，用于在安装在移动基座上的操纵臂组成的移动机器人的在线协调控制。讨论了基底迁移率对末端效应器操纵性指数的影响。基本移动性和手臂操纵自由度被视为运动学冗余复合机器人的关节。利用移动基础引入的冗余来满足末端执行器运动期间的一组用户定义的附加任务。提出了一种简单的在线控制方案，其允许用户将加权因子分配给个体移动度和操作程度以及每个任务规范。控制算法的计算效率使其特别适合实时实现。详细讨论了四个案例研究，以演示协调控制方案在各种移动机器人中的应用。

9. 发明授权

US4893254A Manipulator arm position sensing 失效
标题翻译：操纵臂位置检测
公开(公告)号：US4893254A
公开(公告)日：1990-01-09
申请号：US184107
申请日：1988-04-20
申请人： STephen K. C. Chan , Peter D. Lawrence
发明人： STephen K. C. Chan , Peter D. Lawrence
IPC分类号： B25J13/00 , B25J9/16 , B25J9/18 , G05B13/00 , G05D3/12
CPC分类号： B25J9/1607 , G05B2219/40327
摘要： A method of controlling the movement of an articulated arm to permit the arm to move an end point thereof more freely and more directly to a preselected target. This smoother operation is obtained by a computer calculating the change in joint angle using an iterative pseudo inverse Jacobian having a damping factor. The damping factor is adjusted for each iteration based on the distance necessary to reach said preselected target.

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