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1. 发明授权

US08121731B2 Teaching position correcting apparatus and teaching position correction method 有权
标题翻译：教学位置校正装置及教学位置校正方法
公开(公告)号：US08121731B2
公开(公告)日：2012-02-21
申请号：US11684503
申请日：2007-03-09
申请人： Kazunori Ban , Ichiro Kanno , Gang Shen , Katsutoshi Takizawa
发明人： Kazunori Ban , Ichiro Kanno , Gang Shen , Katsutoshi Takizawa
IPC分类号： B25J9/22
CPC分类号： B25J9/1656 , G05B19/425 , G05B2219/40385 , G05B2219/45104
摘要： A teaching position correcting apparatus corrects plural teaching point positions of a robot in a robot operation program, by sequentially moving the robot to each of the plural teaching points and by sequentially reading a current position of the robot at each of the plural teaching points. The apparatus includes: a position correction amount calculating unit that calculates a position correction amount, based on corrected teaching point positions and teaching point positions before correction; and a corrected-position calculating unit that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount. At the time of moving the robot to uncorrected teaching points, a moving unit moves the robot to corrected positions of the teaching point positions before correction.
摘要翻译：教学位置校正装置通过将机器人顺序地移动到多个教学点中的每一个，并且通过在多个教学点中的每一个依次读取机器人的当前位置，来校正机器人操作程序中的机器人的多个教学点位置。该装置包括：位置校正量计算单元，其基于校正前的校正教学点位置和教学点位置来计算位置校正量; 以及校正位置计算单元，基于位置校正量计算多个教学点之前的校正前的教学点位置的校正位置。在将机器人移动到未校正的教学点时，移动单元将机器人移动到校正前的教学点位置的校正位置。

2. 发明申请

US20070213873A1 TEACHING POSITION CORRECTING APPARATUS AND TEACHING POSITION CORRECTION METHOD 有权
标题翻译：教学位置校正装置和教学位置校正方法
公开(公告)号：US20070213873A1
公开(公告)日：2007-09-13
申请号：US11684503
申请日：2007-03-09
申请人： Kazunori BAN , Ichiro KANNO , Gang SHEN , Katsutoshi TAKIZAWA
发明人： Kazunori BAN , Ichiro KANNO , Gang SHEN , Katsutoshi TAKIZAWA
IPC分类号： G06F19/00
CPC分类号： B25J9/1656 , G05B19/425 , G05B2219/40385 , G05B2219/45104
摘要： A teaching position correcting apparatus (1) corrects plural teaching point positions of a robot (2) in a robot operation program, by sequentially moving the robot (2) to each of the plural teaching points and by sequentially reading a current position of the robot (2) at each of the plural teaching points. The teaching position correcting apparatus (1) includes: a position correction amount calculating means (11a) that calculates a position correction amount (A), based on corrected teaching point positions and teaching point positions before correction; and a corrected-position calculating means (11b) that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount (A). At the time of moving the robot to uncorrected teaching points, a moving means (15) moves the robot to corrected positions of the teaching point positions before correction. Based on the above operation, even when a posture change of the robot is large, teaching point positions in the operation program can be corrected accurately in short time.
摘要翻译：教学位置校正装置（1）通过将机器人（2）顺序地移动到多个教学点中的每一个并且通过顺序地读取机器人的当前位置来校正机器人操作程序中的机器人（2）的多个教学点位置（2）在多个教学点的每一个。教学位置校正装置（1）包括：基于校正后的教学点位置和教学点位置来计算位置校正量（A）的位置校正量计算单元（11a）以及校正位置计算装置，其基于位置校正量（A）计算多个教学点之前的校正前的教学点位置的校正位置。在将机器人移动到未校正的教导点时，移动装置（15）将机器人移动到校正前的教学点位置的校正位置。基于上述操作，即使在机器人的姿态变化大的情况下，能够在短时间内精确地校正操作程序中的教导点位置。

3. 发明申请

US20180164773A1 ROBOT CONTROLLER HAVING FUNCTION THAT SIMPLIFIES LEARNING, AND ROBOT CONTROL METHOD 审中-公开
公开(公告)号：US20180164773A1
公开(公告)日：2018-06-14
申请号：US15815893
申请日：2017-11-17
申请人： FANUC CORPORATION
发明人： Kaimeng WANG , Shuusuke WATANABE
IPC分类号： G05B19/19 , B25J9/16 , G05B13/04
CPC分类号： G05B19/19 , B25J9/16 , B25J9/163 , B25J13/06 , G05B13/04 , G05B13/048 , G05B2219/40382 , G05B2219/40385 , G05B2219/40519 , G05B2219/45083
摘要： A robot controller having a function that simplifies learning and a robot control method. The robot controller includes: a learning section configured to carry out learning of detecting a deviation between a commanded trajectory representing a position of the robot generated according to the command values and an operation trajectory representing an actual position where the robot has moved, and generate a corrected program by adjusting the commanded trajectory; a saving section configured to save the corrected program; and a relearning section configured to carry out relearning on a relearning location, the relearning location being a part of the operation trajectory designated by an operator.

4. 发明申请

US20170090431A1 ROBOT CONTROL METHOD 审中-公开
公开(公告)号：US20170090431A1
公开(公告)日：2017-03-30
申请号：US15126881
申请日：2015-03-26
申请人： Panasonic Intellectual Property Management Co., Ltd.
发明人： TAKAMICHI KOMATSU , KAZUMASA YOSHIMA , TATSUYA IKEDA
IPC分类号： G05B13/02 , G05B19/406 , B23K9/127
CPC分类号： G05B13/0265 , B23K9/1274 , B25J9/1684 , G05B19/406 , G05B2219/36415 , G05B2219/36433 , G05B2219/40385 , G05B2219/45135 , G05B2219/4701 , G05B2219/4705 , G05B2219/4719
摘要： A robot control method includes a teaching step, first processing step, modifying step, second processing step, and third processing step. In the modifying step, a third teaching point is changed to a second modified point, a fourth teaching point to a third modified point, and a fifth teaching point to a fourth modified point, based on a difference between a second teaching point and a first modified point. A profile modifying control to change the position of a work tool is applied, using a sensor mounted on the processing advancing direction side of the work tool, in the first processing step and the third processing step. An attitude of the work tool is changed during the second processing step.

5. 发明授权

US08761936B2 Teaching line correcting apparatus, teaching line correcting method, and program thereof 有权
标题翻译：教学线校正装置，教学线校正方法及其程序
公开(公告)号：US08761936B2
公开(公告)日：2014-06-24
申请号：US12941198
申请日：2010-11-08
申请人： Hironobu Hayama , Shinya Murakami , Yutaka Hariya , Naoki Eto , Masashi Takebe
发明人： Hironobu Hayama , Shinya Murakami , Yutaka Hariya , Naoki Eto , Masashi Takebe
IPC分类号： B25J9/10 , G05B19/04 , G05B19/42 , G05B19/404
CPC分类号： B25J9/1656 , G05B2219/40385
摘要： A teaching line correcting apparatus defines a first plane, which is determined by a first reference position of a preset first reference region, a second reference position of a preset second reference region, and a third reference position of a preset third reference region, defines a second plane, which is determined by a detected position of the first reference region, a detected position of the second reference region, and a detected position of the third reference region, calculates a corrective value for equalizing the first reference region to an origin, equalizing the first reference position of the first reference region as the origin to the detected position of the first reference region as the origin, and equalizing the first plane to the second plane, and correcting reference coordinates where operating points are taught based on the calculated corrective value.
摘要翻译：教学线校正装置定义由预设的第一参考区域的第一参考位置，预设的第二参考区域的第二参考位置和预设的第三参考区域的第三参考位置确定的第一平面，由第一参考区域的检测位置，第二参考区域的检测位置和第三参考区域的检测位置确定的第二平面，计算用于使第一参考区域与原点相等的校正值，均衡将作为原点的第一参考区域的第一参考位置作为原点的第一参考区域的检测位置，并将第一平面与第二平面相平衡，以及校正参考坐标，其中基于所计算的校正值来教导工作点。

6. 发明申请

US20090125146A1 Method of and Apparatus for Automated Path Learning 有权
标题翻译：自动路径学习的方法和装置
公开(公告)号：US20090125146A1
公开(公告)日：2009-05-14
申请号：US11884809
申请日：2006-02-10
申请人： Hui Zhang , Torgny Brogardh , Jianjun Wang , George Zhang
发明人： Hui Zhang , Torgny Brogardh , Jianjun Wang , George Zhang
IPC分类号： G06F19/00
CPC分类号： G05B19/423 , B25J9/1664 , G05B2219/36404 , G05B2219/36409 , G05B2219/40385
摘要： A robot having a force sensor and a tool fixture for operating on a workpiece that may have a complex surface contour is programmed by an operator first teaching the robot by a suitable technique such as lead through teaching a few gross points of the contour. These points, known as guiding points, are used to generate a program to be followed by the robot under the control of the robot controller and using force control during which the robot finalizes the guiding points and teaches one or more points on the contour intermediate adjacent guiding points. The controller or other computing device uses the points so taught to generate the path the robot tool fixture will follow when the tool is to operate on the workpiece.
摘要翻译：具有力传感器和用于在可能具有复杂表面轮廓的工件上操作的工具夹具的机器人由操作者编程，首先通过教导轮廓的几个总点的合适技术（例如导线）来教导机器人。这些点被称为引导点，用于在机器人控制器的控制下产生机器人跟随的程序，并且使用力控制，在该控制期间，机器人完成引导点并且教导轮廓上的一个或多个点在中间相邻指导点。控制器或其他计算设备使用所教导的点来产生当工具在工件上操作时机器人工具夹具将遵循的路径。

7. 发明授权

US09207668B2 Method of and apparatus for automated path learning 有权
标题翻译：自动路径学习的方法和装置
公开(公告)号：US09207668B2
公开(公告)日：2015-12-08
申请号：US11884809
申请日：2006-02-10
申请人： Hui Zhang , Torgny Brogardh , Jianjun Wang , George Zhang
发明人： Hui Zhang , Torgny Brogardh , Jianjun Wang , George Zhang
IPC分类号： G05B19/18 , G05B19/423 , B25J9/16
CPC分类号： G05B19/423 , B25J9/1664 , G05B2219/36404 , G05B2219/36409 , G05B2219/40385
摘要： A robot having a force sensor and a tool fixture for operating on a workpiece that may have a complex surface contour is programmed by an operator first teaching the robot by a suitable technique such as lead through teaching a few gross points of the contour. These points, known as guiding points, are used to generate a program to be followed by the robot under the control of the robot controller and using force control during which the robot finalizes the guiding points and teaches one or more points on the contour intermediate adjacent guiding points. The controller or other computing device uses the points so taught to generate the path the robot tool fixture will follow when the tool is to operate on the workpiece.
摘要翻译：具有力传感器和用于在可能具有复杂表面轮廓的工件上操作的工具夹具的机器人由操作者编程，首先通过教导轮廓的几个总点的合适技术（例如导线）来教导机器人。这些点被称为引导点，用于在机器人控制器的控制下产生机器人跟随的程序，并且使用力控制，在该控制期间，机器人完成引导点并且教导轮廓上的一个或多个点在中间相邻指导点。控制器或其他计算设备使用所教导的点来产生当工具在工件上操作时机器人工具夹具将遵循的路径。

8. 发明申请

US20110106304A1 DEVICE, PROGRAM, RECORDING MEDIUM AND METHOD FOR CORRECTING TAUGHT POINT 有权
标题翻译：设备，程序，记录介质以及校正点的方法
公开(公告)号：US20110106304A1
公开(公告)日：2011-05-05
申请号：US12984796
申请日：2011-01-05
申请人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
发明人： Ryo Nihei , Tetsuaki Kato , Hiroji Nishi
IPC分类号： G05B19/425
CPC分类号： G05B19/4083 , B25J9/1664 , G05B2219/36404 , G05B2219/40385 , G05B2219/45104
摘要： A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.
摘要翻译：一种用于校正机器人的操作程序中的教导点的教导点校正装置。该装置包括：判断部，其判断是否已经校正了先前教导并包括在操作程序中的多个不同教导点中的任一个的位置数据; 以及数据校正部，根据所述判断部判断所述不同教导点中的第一教导点的位置数据已被校正，校正与所述第一教导点具有相对位置关系的相关教导点的位置数据以前规定不同教学点之间的相对位置关系的教导点规则。设备还可以包括存储教导点规则的存储部分。教导点规则可以包括规定不同教导点之间的任何两个教导点之间的距离的规则。

9. 发明授权

US5980082A Robot movement control device and movement control method 失效
标题翻译：机器人运动控制装置和运动控制方法
公开(公告)号：US5980082A
公开(公告)日：1999-11-09
申请号：US793758
申请日：1997-03-03
申请人： Atsushi Watanabe , Tetsuya Kosaka , Tomoyuki Yamamoto
发明人： Atsushi Watanabe , Tetsuya Kosaka , Tomoyuki Yamamoto
IPC分类号： B25J9/16 , B25J9/22 , G05B19/425 , G05B19/42
CPC分类号： B25J9/1658 , G05B19/425 , G05B2219/36048 , G05B2219/36427 , G05B2219/40385
摘要： The present invention corrects a teaching point set in a robot movement control program to another position using jog-feed buttons. A robot tool is moved by jog-feed buttons using a jog-feed command unit toward a position to which a teaching point is to be corrected. When the position of the tool approaches any teaching point contained in a movement command program, the robot is automatically shifted to the teaching point to be corrected in the movement command program. When the teaching point to be corrected is found, correction of a teaching point from the closest teaching point to the position to be corrected is then performed.
摘要翻译： PCT No.PCT / JP96 / 01878第 371日期1997年3月3日 102（e）1997年3月3日PCT PCT 1996年7月5日PCT公布。出版物WO97 / 02114 日期1997年1月23日本发明使用点动馈送按钮将机器人运动控制程序中的教导点校正到另一位置。使用点动给送指令单元通过点动给送按钮移动机器人工具朝向要校正教学点的位置。当工具的位置接近包含在移动指令程序中的任何教导点时，机器人自动地移动到教导点以在移动命令程序中被校正。当发现要校正的教导点时，然后执行从最接近的教导点到要校正的位置的教学点的校正。

10. 发明授权

US4817017A Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US4817017A
公开(公告)日：1989-03-28
申请号：US169122
申请日：1988-03-09
申请人： Hisao Kato
发明人： Hisao Kato
IPC分类号： B25J9/00 , G05B19/408 , G05B19/42 , B25J15/00
CPC分类号： G05B19/4083 , B25J9/0093 , G05B19/42 , G05B2219/39102 , G05B2219/40385 , G05B2219/40387 , G05B2219/45104
摘要： In an industrial robot according to this invention, at least three points among a large number of off-line teaching points set for tasks are directly taught in the actual site of the tasks, the "deviations" between the actual teaching points and the off-line set teaching points respectively corresponding to each other are computed in directions X, Y and Z, and all the large number of off-line teaching points are corrected on the basis of the errors detected for at least the three points.
摘要翻译：在根据本发明的工业机器人中，在任务的实际位置直接教授大量离职教学点中的至少三点，实际教学点与离职教学点之间的“偏差” 在X，Y，Z方向上分别对应的线组教学点，根据至少三点检测到的错误，校正所有大量离线示教点。

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