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1. 发明申请

US20020123825A1 Manipulator system, method for controlling a manipulator, master manipulator, method for controlling a master manipulator, slave manipulator, method for controlling a slave manipulator, and storage medium 有权
标题翻译：操纵器系统，用于控制机械手的方法，主操纵器，用于控制主操纵器的方法，从操作器，用于控制从动操纵器的方法和存储介质
公开(公告)号：US20020123825A1
公开(公告)日：2002-09-05
申请号：US10023631
申请日：2001-12-18
发明人： Tomoyuki Ohtsuki
IPC分类号： G06F019/00
CPC分类号： B25J9/1689 , A61B34/25 , A61B34/30 , A61B90/361 , G05B2219/40144 , G05B2219/40169 , G05B2219/40405 , G05B2219/45123
摘要： In a system and a method for remotely controlling a slave manipulator easily and highly accurately, operations of three master manipulators are consolidated, and one slave manipulator is remotely controlled in accordance with the consolidation result, thereby ensuring that the slave manipulator is moved along a target path.
摘要翻译：在容易且高度准确地远程控制从操作器的系统和方法中，三个主操纵器的操作被整合，并且根据合并结果远程控制一个从操纵器，从而确保从操纵器沿目标移动路径。

2. 发明授权

US09511948B2 Control unit for centralizing control by grouping a plurality of paths 有权
标题翻译：用于通过分组多个路径来集中控制的控制单元
公开(公告)号：US09511948B2
公开(公告)日：2016-12-06
申请号：US14471507
申请日：2014-08-28
申请人： FANUC Corporation
发明人： Yuuki Oonishi
IPC分类号： G06F7/00 , B65G43/00 , G05B19/00 , G05B19/418
CPC分类号： B65G43/00 , G05B19/00 , G05B19/41865 , G05B2219/1215 , G05B2219/31281 , G05B2219/40405 , Y02P90/08 , Y02P90/20 , Y02P90/28
摘要： The control of second to fourth paths (slave paths) is performed with reference to various settings and the sequence of the first path (master path), instead of various settings and sequences of the second to fourth paths, thus, control of all path groups is centralized by the sequence of the first path.
摘要翻译：参考各种设置和第一路径（主路径）的顺序而不是第二至第四路径的各种设置和序列来执行第二至第四路径（从站路径）的控制，因此控制所有路径组通过第一条路径的顺序进行集中。

3. 发明申请

US20180078321A1 MASTER-TO-SLAVE ORIENTATION MAPPING WHEN MISALIGNED 审中-公开
公开(公告)号：US20180078321A1
公开(公告)日：2018-03-22
申请号：US15564160
申请日：2016-06-10
申请人： Intuitive Surgical Operations, Inc.
发明人： Hsien-Hsin Liao
IPC分类号： A61B34/37 , A61B90/00 , A61B34/35 , B25J9/16
CPC分类号： A61B34/37 , A61B34/35 , A61B90/361 , A61B2017/00725 , A61B2034/301 , A61B2034/742 , A61B2090/367 , B25J9/1612 , B25J9/1689 , G05B2219/40405 , G05B2219/45117 , G05B2219/45123
摘要： A controller stores the orientations of a master tool grip and a slave surgical instrument tip upon completion of a master-slave alignment process, and enters following. During following each commanded movement of the slave surgical instrument tip from the master tool grip is processed by the controller to compensate for any alignment error between the master tool grip and the slave surgical instrument tip before following was entered. The result of this processing is that the motion of the slave surgical instrument tip intuitively corresponds to the motion of the master tool grip despite an initial swooping orientation misalignment between the master tool grip and the slave surgical instrument tip.

4. 发明申请

US20060095143A1 Manipulator and its control apparatus and method 有权
公开(公告)号：US20060095143A1
公开(公告)日：2006-05-04
申请号：US11259148
申请日：2005-10-27
申请人： Takamitsu Sunaoshi
发明人： Takamitsu Sunaoshi
IPC分类号： G05B19/18
CPC分类号： B25J9/1689 , A61B34/30 , A61B34/37 , A61B34/70 , G05B2219/40399 , G05B2219/40405 , G05B2219/45117
摘要： A manipulator operative in a master/slave operative mode, comprising: a master unit commanding an operation; a slave unit having a work unit ; a detector detecting the orientation of the master unit and the orientation of the slave unit; and a control device controlling the slave unit in response to the command from the master unit, wherein the control device includes: a function of determining a non-mater/slave operative mode or a master/slave operative mode; a function of calculating a difference between the orientation of the master unit and the orientation of the slave unit; and a function of comparing the absolute value of the difference with a preset reference value; and depending upon the result of the comparison, determining a normal master/slave operative mode or a transitional master/slave operative mode, in the master/slave operative mode, the transitional master/slave operative mode is a transitional mode from the non-master/slave operative mode to the master/slave operative mode.

5. 发明申请

US20170151667A1 SYSTEMS, DEVICES, AND METHODS FOR THE DISTRIBUTION AND COLLECTION OF MULTIMODAL DATA ASSOCIATED WITH ROBOTS 审中-公开
公开(公告)号：US20170151667A1
公开(公告)日：2017-06-01
申请号：US15365527
申请日：2016-11-30
申请人： Kindred Systems Inc.
发明人： James Sterling Bergstra , Suzanne Gildert , George Samuel Rose
IPC分类号： B25J9/16 , B25J13/00 , B25J3/00
CPC分类号： B25J9/1656 , G05B2219/39354 , G05B2219/40405
摘要： A dynamic representation of a robot in an environment is produced, one or more observer agent collects data, and respective values of one or more metrics for the robot are computed based at least in part on the collected data. Tasks for the robot to perform are generated. Ratings and challenge questions are generated. A server may produce a user interface and a value of a metric based on collected observer data.

6. 发明授权

US09415516B2 Control apparatus and control method for master slave robot, robot, control program for master slave robot, and integrated electronic circuit for control of master slave robot 有权
标题翻译：主从机器人的控制装置和控制方法，机器人，主从机器人的控制程序，以及主从机器人控制的集成电子电路
公开(公告)号：US09415516B2
公开(公告)日：2016-08-16
申请号：US14307683
申请日：2014-06-18
申请人： Panasonic Corporation
发明人： Yudai Fudaba , Yuko Tsusaka
IPC分类号： B25J9/16
CPC分类号： B25J9/1689 , G05B2219/40139 , G05B2219/40405 , Y10S901/02
摘要： A force information correcting unit generates force information in accordance with magnification percentage information acquired by a display information acquiring unit. The force information matches a picture watched by an operator to manipulation of the operator with no sense of incongruity. A force information presentation unit presents the generated force information to the operator, so that work efficiency is improved.
摘要翻译：力信息校正单元根据由显示信息获取单元获取的倍率信息生成力信息。力信息与操作者观看的图像匹配操作者没有不协调的感觉。力信息呈现单元向操作者呈现生成的力信息，从而提高了工作效率。

7. 发明授权

US06470236B2 System and method for controlling master and slave manipulator 有权
标题翻译：用于控制主从机械手的系统和方法
公开(公告)号：US06470236B2
公开(公告)日：2002-10-22
申请号：US10023631
申请日：2001-12-18
申请人： Tomoyuki Ohtsuki
发明人： Tomoyuki Ohtsuki
IPC分类号： G05B1904
CPC分类号： B25J9/1689 , A61B34/25 , A61B34/30 , A61B90/361 , G05B2219/40144 , G05B2219/40169 , G05B2219/40405 , G05B2219/45123
摘要： In a system and a method for remotely controlling a slave manipulator easily and highly accurately, operations of three master manipulators are consolidated, and one slave manipulator is remotely controlled in accordance with the consolidation result, thereby ensuring that the slave manipulator is moved along a target path.
摘要翻译：在容易且高度准确地远程控制从操作器的系统和方法中，三个主操纵器的操作被整合，并且根据合并结果远程控制一个从操纵器，从而确保从操纵器沿目标移动路径。

8. 发明授权

US5949686A Master/slave manipulator and control method therefor 失效
标题翻译：主/从机械手及其控制方法
公开(公告)号：US5949686A
公开(公告)日：1999-09-07
申请号：US809393
申请日：1997-03-20
申请人： Hiroshi Yoshinada , Kenji Okamura , Kunikazu Yanagi
发明人： Hiroshi Yoshinada , Kenji Okamura , Kunikazu Yanagi
IPC分类号： B25J3/04 , B25J9/16 , B25J9/18 , G06F17/00 , G05B15/00
CPC分类号： B25J9/1689 , B25J3/04 , G05B2219/40401 , G05B2219/40405 , G05B2219/45012 , G05B2219/45058
摘要： The present invention relates to a master/slave manipulator and a method for controlling the same, in which a large working area and good controllability can be provided and a corresponding position shift and an enlargement ratio change can also be attained. To this end, a plurality of representing points are set on and inside a closed surface (A1) of an operating area (A) of one manipulator, while a plurality of target points corresponding to the plurality of representing points are set on and inside a closed surface (B1) of a working area (B) of the other manipulator. Working amounts (.beta.1, .beta.2, .theta.1, .theta.2) when the leading ends (11, 12) of the one manipulator and the other manipulator respectively reach the plurality of representing points and the plurality of target points, and a corresponding relationship between the working amounts of the two manipulators are obtained; and when the slave (2) is to be operated, the working amounts (.beta.1, .beta.2) of the master (1) are converted into working amounts (.theta.1, .theta.2) of the slave (2) to thereby operate the slave (2).
摘要翻译： PCT No.PCT / JP95 / 01864 Sec。 371日期1997年3月20日 102（e）1997年3月20日PCT PCT 1995年9月19日PCT公布。出版物WO96 / 09144 日期：1996年3月28日本发明涉及一种主/从操作器及其控制方法，其中可以提供大的工作区域和良好的可控性，并且还可以实现相应的位置偏移和放大率变化。为此，在一个操纵器的操作区域（A）的闭合表面（A1）的内部和内部设置多个表示点，而对应于多个代表点的多个目标点被设置在一个另一个操纵器的工作区域（B）的闭合面（B1）。当一个操纵器和另一个操纵器的前端（11,12）分别到达多个表示点和多个目标点时，工作量（β1，β2，θ1，θ2）和对应关系获得两个操纵器的工作量之间; 并且当从动装置（2）要被操作时，主装置（1）的工作量（β1，β2）被转换成从装置（2）的工作量（θ1，θ2）奴隶（2）。

9. 发明申请

US20170190048A1 Marsupial Robotic System 审中-公开
公开(公告)号：US20170190048A1
公开(公告)日：2017-07-06
申请号：US15393647
申请日：2016-12-29
申请人： Anthrotronix, Inc.
发明人： Jack M. Vice , Anna D. Skinner , Joshua M. Nichols
IPC分类号： B25J5/00
CPC分类号： B25J5/007 , B25J9/1617 , G05B2219/40306 , G05B2219/40405 , G05B2219/40442 , G05B2219/40572 , G05B2219/40621 , G05D1/0274 , G05D1/0295 , G05D2201/0207 , Y10S901/01
摘要： The embodiments relate to a distributed marsupial robotic system. The system includes a parent component having a sensor suite to obtain and process environment data via a parent pattern classification algorithm, and one or more child components each having a sensor suite to obtain and process environment data via a child pattern classification algorithm. Each sensor suite includes one or more sensor devices in communication with a processing unit and memory. Each child component is configured to dock to the parent component, and to separate from the parent component in response to a deployment signal. Each child component obtains environment data during separation. The parent component is configured to construct a map of the environment by receiving and integrating the data obtained by each child component.

10. 发明申请

US20150066203A1 CONTROL UNIT FOR CENTRALIZING CONTROL BY GROUPING A PLURALITY OF PATHS 有权
标题翻译：通过分组多个PATHS来集中控制的控制单元
公开(公告)号：US20150066203A1
公开(公告)日：2015-03-05
申请号：US14471507
申请日：2014-08-28
申请人： FANUC Corporation
发明人： Yuuki OONISHI
IPC分类号： B65G43/00 , G05B19/00
CPC分类号： B65G43/00 , G05B19/00 , G05B19/41865 , G05B2219/1215 , G05B2219/31281 , G05B2219/40405 , Y02P90/08 , Y02P90/20 , Y02P90/28
摘要： The control of second to fourth paths (slave paths) is performed with reference to various settings and the sequence of the first path (master path), instead of various settings and sequences of the second to fourth paths, thus, control of all path groups is centralized by the sequence of the first path.
摘要翻译：参考各种设置和第一路径（主路径）的顺序而不是第二至第四路径的各种设置和序列来执行第二至第四路径（从站路径）的控制，因此控制所有路径组通过第一条路径的顺序进行集中。

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