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1. 发明授权

US08843237B2 Method and device for controlling a manipulator 有权
标题翻译：用于控制机械手的方法和装置
公开(公告)号：US08843237B2
公开(公告)日：2014-09-23
申请号：US12903769
申请日：2010-10-13
申请人： Andreas Aurnhammer , Stefan Burkhart , Manfred Huttenhofer , Martin Weiss
发明人： Andreas Aurnhammer , Stefan Burkhart , Manfred Huttenhofer , Martin Weiss
IPC分类号： B25J9/16 , G05B19/416
CPC分类号： G05B19/416 , G05B2219/40057 , G05B2219/40453 , G05B2219/40454 , G05B2219/43057 , G05B2219/43058 , G05B2219/43062 , G05B2219/43203 , G05B2219/45013 , G05B2219/45065 , G05B2219/45238 , Y10S901/01
摘要： A method according to the invention for controlling a manipulator, in particular a robot, includes the following steps:determining (S10, S20) a target path (q(s)) of the manipulator, anddetermining (S70) a motion value (v(s)) for this target path,optionally, determining (S50) a path segment ([s_A, s_E]) with a defined profile of a motion value (v(s)=vc), and automatically determining (S60) this motion value on the basis of motion values (v_max_RB, v_max_vg) permissible in this path segment.
摘要翻译：根据本发明的用于控制机械手，特别是机器人的方法包括以下步骤：确定（S10，S20）操纵器的目标路径（q（s）），并且确定（S70）运动值（v （s）），可选地，确定（S50）具有运动值（v（s）= vc）的限定轮廓的路段（[s_A，s_E]），并且自动确定（S60）该运动基于此路径段中允许的运动值（v_max_RB，v_max_vg）的值。

2. 发明申请

US20160288326A1 ROBOT SYSTEM JUDGING ABNORMALITY OF FASTENED WORK AND ABNORMALITY JUDGMENT METHOD 有权
标题翻译：机器人系统判断工作异常和异常判决方法
公开(公告)号：US20160288326A1
公开(公告)日：2016-10-06
申请号：US15068638
申请日：2016-03-14
申请人： FANUC CORPORATION
发明人： Yoshitake FURUYA
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B23Q3/002 , B23Q3/186 , B23Q7/04 , B25J9/1674 , G05B2219/40453 , Y10S901/02 , Y10S901/30
摘要： A robot system of the present invention has a disturbance torque monitoring part which monitors a disturbance torque of a servo motor which drives rotation about a joint of the robot in accordance with an operating command of a robot operation control part. Further, when a work gripped by the hand is fastened by a work fasting device, the abnormality judging part compares the disturbance torque with a predetermined first threshold value and, when the disturbance torque is over the first threshold value, judges that an abnormality has occurred in the position of the work fastened by the work fastening device.
摘要翻译：本发明的机器人系统具有：扰动转矩监视部，其根据机器人操作控制部的操作指令，监视驱动机器人关节周围的旋转的伺服电动机的扰动转矩。此外，当通过工作禁食装置紧固由手抓住的工件时，异常判断部将干扰转矩与预定的第一阈值进行比较，并且当干扰转矩超过第一阈值时，判断发生异常在由紧固装置固定的工件的位置。

3. 发明授权

US6055462A Loading pattern generating system and loading device 失效
标题翻译：加载模式生成系统和装载装置
公开(公告)号：US6055462A
公开(公告)日：2000-04-25
申请号：US108582
申请日：1998-07-01
申请人： Toshiyuki Sato
发明人： Toshiyuki Sato
IPC分类号： B65G57/00 , B25J9/16 , B65G61/00 , G06F7/00
CPC分类号： B25J9/1687 , G05B2219/31042 , G05B2219/36513 , G05B2219/40006 , G05B2219/40453 , Y02P90/04
摘要： A loading pattern generating system requires only the input of loading pattern generating conditions to automatically generate a loading pattern which satisfies the target capacity within the physical constraints of a loading system. The loading pattern generating conditions include the size of a pallet, the size of a product, data relating to a loading device, and the target capacity to load products on a pallet. A candidate pattern registration device stores a plurality of candidate patterns for loading products on a pallet. A calculation section prepares a loading pattern which controls a loading device corresponding to the loading pattern generating conditions that have been input. The loading pattern is selected from the candidate patterns stored in the candidate pattern registration means device. The calculation section calculates the resulting loading capacity. This loading capacity is adjusted to satisfy the target loading capacity. The maximum torque on the palletizer is compared with an allowed torque. When the torque exceeds the maximum, the candidate pattern is rejected, and calculation is performed on the next candidate pattern. An output section outputs the resulting loading pattern.
摘要翻译：加载模式生成系统仅需要加载模式生成条件的输入，以自动生成在加载系统的物理约束内满足目标能力的加载模式。装载模式生成条件包括托盘的尺寸，产品的尺寸，与装载装置有关的数据以及在托盘上装载产品的目标容量。候选图案注册装置存储用于在货盘上装载商品的多个候选图案。计算部分准备加载模式，其控制与已经输入的加载模式生成条件对应的加载装置。从存储在候选模式登记装置装置中的候选模式中选择装载模式。计算部分计算最终的装载量。调整装载量以满足目标装载能力。将码垛机上的最大扭矩与允许的扭矩进行比较。当扭矩超过最大值时，候选模式被拒绝，并对下一个候选模式进行计算。输出部分输出结果加载模式。

4. 发明授权

US08620474B2 Control device and method for a manipulator 有权
标题翻译：机械手的控制装置和方法
公开(公告)号：US08620474B2
公开(公告)日：2013-12-31
申请号：US12695198
申请日：2010-01-28
申请人： Christian Sonner , Uwe Zimmermann
发明人： Christian Sonner , Uwe Zimmermann
IPC分类号： G05B15/00 , G05B19/00 , G05B19/04 , G05B19/18 , G05B19/416
CPC分类号： B25J9/1674 , B25J9/1664 , G05B2219/40336 , G05B2219/40358 , G05B2219/40453 , G05B2219/40521 , G05B2219/42289
摘要： In a method for controlling a manipulator, in particular a robot, a reference path is stored and reference increments are automatically determined while following the path the reference increments are determined based on the dynamics of the manipulator while following the path.
摘要翻译：在用于控制机械手，特别是机器人的方法中，存储参考路径，并且在跟随路径之后自动确定参考增量，基于在跟随路径的同时机械手的动力学来确定参考增量。

5. 发明授权

US5811952A Method of setting accelerating/decelerating motion of robot 失效
标题翻译：设置机器人加速/减速运动的方法
公开(公告)号：US5811952A
公开(公告)日：1998-09-22
申请号：US793584
申请日：1997-02-28
申请人： Tetsuaki Kato , Atsuo Nagayama
发明人： Tetsuaki Kato , Atsuo Nagayama
IPC分类号： B25J9/10 , B25J9/18 , B25J13/00 , G05B19/18 , G05B19/416 , G05D17/02 , G05B13/00
CPC分类号： G05B19/416 , G05B2219/40453 , G05B2219/40523 , G05B2219/43069
摘要： A method of setting an accelerating/decelerating motion of a robot, in which a torque of the robot can be used efficiently without being saturated. In one section of motion, a moving ratio r representing a position which satisfies a condition such that a maximum torque is generated at a position where the maximum torque is needed, is successively and approximately obtained. First, a 0-th approximate solution (initial value) is assumed as .sub.i r.sub.0 =0, and then equations of motion are calculated at the position .sub.i r.sub.0 to obtain an acceleration so as to generate the maximum torque. The position such that the torque becomes maximal when the calculated acceleration is used is obtained as .sub.i r.sub.k+1. The difference .vertline..sub.i r.sub.k+1 -.sub.i r.sub.k .vertline. between the calculated .sub.i r.sub.k+1 and the previously calculated .sub.i r.sub.k is calculated, and it is checked whether or not the difference exceeds a preset very small value .epsilon.. If yes, the processing returns to S3. If no, it is determined and stored as .sub.i rsol=.sub.i r.sub.k+1, the index i is increased by 1 and k is cleared as k=0. If calculation for all the axes has not completed, the processing returns S1. Upon completion of calculation for all the axes, the processing proceeds to S7. In S7, the maximum of .sub.i rsol is defined as rsol, an acceleration in accordance with rsol is obtained for each axis, and a condition for the accelerating motion of each axis is set.
摘要翻译： PCT No.PCT / JP96 / 01819 Sec。 371日期1997年2月28日 102（e）1997年2月28日PCT PCT 1996年7月1日PCT公布。出版物WO97 / 01801 日期1997年1月16日一种设定机器人的加速/减速运动的方法，其中可以有效地使用机器人的扭矩而不被饱和。在运动的一个部分中，连续地且大致地获得表示满足在需要最大转矩的位置处产生最大转矩的条件的位置的移动比率r。首先，假设第0次近似解（初始值）为ir0 = 0，然后在位置ir0计算运动方程，以获得加速度，以便产生最大扭矩。获得当使用计算的加速度时转矩变为最大的位置为irk + 1。差异| irk + 1-irk | 在计算出的irk + 1和先前计算的irk之间计算，并且检查该差是否超过预设的非常小的值ε。如果是，则处理返回到S3。如果否，则确定并存储为irsol = irk + 1，索引i增加1，k被清除为k = 0。如果所有轴的计算尚未完成，则处理返回S1。在完成所有轴的计算后，处理进行到S7。在S7中，irsol的最大值被定义为rsol，对于每个轴获得与rsol相应的加速度，并且设定每个轴的加速运动的条件。

6. 发明申请

US20140052294A1 ADAPTING THE DYNAMICS OF AT LEAST ONE ROBOT 有权
标题翻译：适应一个机器人的动态
公开(公告)号：US20140052294A1
公开(公告)日：2014-02-20
申请号：US13982493
申请日：2012-02-06
申请人： Frank Herre
发明人： Frank Herre
IPC分类号： G05B19/418
CPC分类号： G05B19/418 , B05B13/0292 , B05B13/0431 , B25J9/1651 , G05B19/404 , G05B19/416 , G05B19/41815 , G05B2219/37252 , G05B2219/39144 , G05B2219/39364 , G05B2219/40318 , G05B2219/40453 , G05B2219/40454 , G05B2219/40552 , G05B2219/43062 , G05B2219/43203 , G05B2219/45013 , G05B2219/45238 , Y02P90/08 , Y02P90/083 , Y02P90/265 , Y10S901/43
摘要： The invention concerns a method for controlling a robot or a first robot (LR1) and at least one further second robot (LR2), wherein the robot or the first robot (LR1) and the at least one further second robot (LR2) is provided to run through a plurality of positioning ranges (SB11, SB22) during operation. Preferably, a dynamic behavior and/or a load characteristic value of the robot in at least one first positioning range is adapted to a dynamic behavior and/or a load characteristic value in at least one second positioning range of the robot and/or a dynamic behavior and/or a load characteristic value of the first robot (LR1) in at least one first positioning range (SB11) is adapted to a dynamic behavior and/or a load characteristic value of the second robot (LR2) in at least one second positioning range (SB22). The invention further concerns a corresponding control system, a corresponding computer program resp. computer-readable medium and a corresponding robot.
摘要翻译：本发明涉及一种用于控制机器人或第一机器人（LR1）和至少一个另外的第二机器人（LR2）的方法，其中提供所述机器人或所述第一机器人（LR1）和所述至少一个另外的第二机器人（LR2）在操作期间穿过多个定位范围（SB11，SB22）。优选地，所述机器人在至少一个第一定位范围内的动态特性值和/或载荷特性值适应于所述机器人的至少一个第二定位范围内的动态特性值和/或载荷特性值，和/或动态在至少一个第一定位范围（SB11）中的第一机器人（LR1）的行为和/或负载特性值适应于至少一秒钟内的第二机器人（LR2）的动态特性值和/或负载特性值定位范围（SB22）。本发明还涉及相应的控制系统，相应的计算机程序计算机可读介质和相应的机器人。

7. 发明申请

US20100198404A1 CONTROL DEVICE AND METHOD FOR A MANIPULATOR 有权
标题翻译：用于操纵器的控制装置和方法
公开(公告)号：US20100198404A1
公开(公告)日：2010-08-05
申请号：US12695198
申请日：2010-01-28
申请人： Christian Sonner , Uwe Zimmermann
发明人： Christian Sonner , Uwe Zimmermann
IPC分类号： B25J9/16 , G05B19/00 , G05B15/00 , G06F19/00
CPC分类号： B25J9/1674 , B25J9/1664 , G05B2219/40336 , G05B2219/40358 , G05B2219/40453 , G05B2219/40521 , G05B2219/42289
摘要： In a method for controlling a manipulator, in particular a robot, a reference path is stored and reference increments are automatically determined while following the path the reference increments are determined based on the dynamics of the manipulator while following the path.
摘要翻译：在用于控制机械手，特别是机器人的方法中，存储参考路径，并且在跟随路径之后自动确定参考增量，基于在跟随路径的同时机械手的动力学来确定参考增量。

8. 发明授权

US06226565B1 Method for control of an industrial robot along a given track 失效
标题翻译：沿给定轨道控制工业机器人的方法
公开(公告)号：US06226565B1
公开(公告)日：2001-05-01
申请号：US09101532
申请日：1998-07-10
申请人： Staffan Elfving , John-Erik Snell
发明人： Staffan Elfving , John-Erik Snell
IPC分类号： G05B1904
CPC分类号： B25J9/163 , B25J9/1674 , G05B2219/39243 , G05B2219/40453
摘要： A method for control of the movement of the movement of an industrial robot along a given track (P1-P4) with a desired track speed (v), which industrial robot has a number of movement axes and for each axis servo equipment for control of the axis movement in accordance with reference values ({overscore (&tgr;)}korr) supplied thereto. First, those axis angles ({overscore (&phgr;)}i) which are needed for assuming the next position on the track are calculated. In dependence on the calculated axis angles and a first mathematical model, which describes the static and dynamic properties of the robot, for each one of the movement axes that torque ({overscore (&tgr;)}=(&tgr;1, &tgr;2 . . . &tgr;6)) is calculated which is required for assuming the next position. The load (t) is calculated at one or more mechanically critical points for the calculated axis angles ({overscore (&phgr;)}i) with the aid of a second mathematical model, which describes the load of the robot at the critical points. For each one of the axes, the calculated torque ({overscore (&tgr;)}) is compared with a maximum permissible torque, ({overscore (&tgr;)}max), and the load (t) is compared with a maximum permissible load (tmax) for the critical point. If the calculated torque exceeds the maximum permissible torque for any axis, or if the calculated load exceeds the maximum permissible load for any critical point, then the track speed (v) is reduced and the reference values for the servo system {overscore (&tgr;)}korr=(&tgr;korr1, &tgr;korr2 . . . &tgr;korr6, are calculated in dependence on the reduced track speed.
摘要翻译：一种用于控制工业机器人沿着给定轨道（P1-P4）的运动以期望的轨道速度（v）的运动的方法，该工业机器人具有多个运动轴线，并且每个轴线伺服设备用于控制根据提供给它的参考值（{overscore（＆tgr;）} korr）的轴运动。首先，计算在轨道上假定下一个位置所需的那些轴角（{overscore（phi）} i）。根据计算的轴角度和第一个数学模型，其描述了机器人的静态和动态特性，对于扭矩（{overscore（＆tgr））=（＆tgr; 1，＆tgr; 2）的每个运动轴。。。＆tgr; 6））是假定下一个位置所需的。在第二个数学模型的帮助下，针对计算出的轴角度（{overscore（phi）} i）的一个或多个机械临界点计算负载（t），该第二数学模型描述了机器人在临界点的负载。对于每个轴，将计算的扭矩（{overscore（＆tgr;）}）与最大允许扭矩（{overscore（＆tgr;）} max）进行比较，并将负载（t）与允许的最大值临界点的负载（tmax）。如果计算出的扭矩超过任何轴的最大允许扭矩，或者如果计算的载荷超过任何临界点的最大允许负载，则轨道速度（v）将减小，伺服系统的参考值（过大（＆tgr; ）} korr =（＆tgr; korr1，＆tgr; korr2。。＆tgr; korr6，根据减小的轨道速度计算。

9. 发明授权

US09902063B2 Robot system judging abnormality of fastened work and abnormality judgment method 有权
公开(公告)号：US09902063B2
公开(公告)日：2018-02-27
申请号：US15068638
申请日：2016-03-14
申请人： FANUC CORPORATION
发明人： Yoshitake Furuya
IPC分类号： B23Q3/00 , B23Q7/00 , G06F19/00 , B25J9/16 , B23Q3/18 , B23Q7/04
CPC分类号： B25J9/1633 , B23Q3/002 , B23Q3/186 , B23Q7/04 , B25J9/1674 , G05B2219/40453 , Y10S901/02 , Y10S901/30
摘要： A robot system of the present invention has a disturbance torque monitoring part which monitors a disturbance torque of a servo motor which drives rotation about a joint of the robot in accordance with an operating command of a robot operation control part. Further, when a work gripped by the hand is fastened by a work fasting device, the abnormality judging part compares the disturbance torque with a predetermined first threshold value and, when the disturbance torque is over the first threshold value, judges that an abnormality has occurred in the position of the work fastened by the work fastening device.

10. 发明授权

US09703283B2 Adapting the dynamics of at least one robot 有权
公开(公告)号：US09703283B2
公开(公告)日：2017-07-11
申请号：US13982493
申请日：2012-02-06
申请人： Frank Herre
发明人： Frank Herre
IPC分类号： G05B19/418 , B05B13/04 , B25J9/16 , G05B19/404 , G05B19/416 , B05B13/02
CPC分类号： G05B19/418 , B05B13/0292 , B05B13/0431 , B25J9/1651 , G05B19/404 , G05B19/416 , G05B19/41815 , G05B2219/37252 , G05B2219/39144 , G05B2219/39364 , G05B2219/40318 , G05B2219/40453 , G05B2219/40454 , G05B2219/40552 , G05B2219/43062 , G05B2219/43203 , G05B2219/45013 , G05B2219/45238 , Y02P90/08 , Y02P90/083 , Y02P90/265 , Y10S901/43
摘要： A first robot and at least one further second robot are provided to run through a plurality of positioning ranges during operation. A dynamic behavior and/or a load characteristic value of the robot in at least one first positioning range can be adapted to a dynamic behavior and/or a load characteristic value in at least one second positioning range of the robot and/or a dynamic behavior and/or a load characteristic value of the first robot in at least one first positioning range is adapted to a dynamic behavior and/or a load characteristic value of the second robot in at least one second positioning range.

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