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1. 发明申请

US20140156077A1 ROBOT, CARRIAGE DEVICE, AND CONTROL METHOD USING INERTIA SENSOR 审中-公开
标题翻译：机器人，运输装置和使用惯性传感器的控制方法
公开(公告)号：US20140156077A1
公开(公告)日：2014-06-05
申请号：US14174255
申请日：2014-02-06
申请人： Seiko Epson Corporation
发明人： Masaki MOTOYOSHI , Izumi IIDA
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B25J9/1638 , B25J9/1651 , G05B2219/39195 , G05B2219/41128 , G05B2219/42104 , G05B2219/42225 , Y10S901/09 , Y10S901/46
摘要： A robot includes: an arm; a driving source that pivots the arm; an angle sensor that detects a pivot angle and outputs pivot angle information; an inertia sensor that is attached to the arm and outputs inertial force information; a control command generating unit that outputs a control command defining rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used when the driving source is controlled; and an arm operation control unit that performs a first control based on the control command, the pivot angle information, and the inertial force information, if the control conversion determining unit determines that the inertial force information should be used, and performs a second control based on the control command and the pivot angle information, if the control conversion determining unit determines that the inertial force information should not be used.
摘要翻译：机器人包括：手臂; 一个枢转臂的驱动源; 角度传感器，其检测枢转角度并输出枢转角度信息; 惯性传感器，其附接到臂并输出惯性力信息; 控制指令生成单元，其输出限定所述臂的旋转动作的控制指令; 控制转换确定单元，其确定在驱动源被控制时惯性力信息是否被使用; 以及臂操作控制单元，如果控制转换确定单元确定应当使用惯性力信息，并且基于控制命令，枢转角度信息和惯性力信息执行基于第二控制的第二控制，则执行第一控制关于控制命令和枢转角度信息，如果控制转换确定单元确定不应该使用惯性力信息。

2. 发明申请

US20130234642A1 MOTOR CONTROL DEVICE 有权
标题翻译：电机控制装置
公开(公告)号：US20130234642A1
公开(公告)日：2013-09-12
申请号：US13884295
申请日：2011-12-16
申请人： Yuji Igarashi , Hidetoshi Ikeda , Hiroto Takei
发明人： Yuji Igarashi , Hidetoshi Ikeda , Hiroto Takei
IPC分类号： G05B5/01
CPC分类号： G05B5/01 , B25J9/1641 , G05B2219/39186 , G05B2219/39195 , G05B2219/41128 , G05B2219/41166 , G05B2219/41233 , G05B2219/42077 , H02P23/0004 , H02P29/50
摘要： A motor control device that controls motion of a control target including a motor and a vibratable element includes a generating unit configured to generate, according to state information representing a state of the control target related to a vibration characteristic of the control target, a first parameter representing the vibration characteristic of the control target, a first calculating unit configured to calculate a second parameter corresponding to a temporal change amount of the first parameter generated by the generating unit, a second calculating unit configured to calculate, using a motion target value, the first parameter, and the second parameter, model torque such that the control target does not excite vibration, and a developing unit configured to develop, according to the model torque calculated by the second calculating unit, a torque command such that the motion of the control target follows the motion target value.
摘要翻译：控制包括电动机和可振动元件的控制目标的运动的电动机控制装置包括生成单元，其被配置为根据表示与控制对象的振动特性相关的控制目标的状态的状态信息，生成第一参数代表控制目标的振动特性的第一计算单元，被配置为计算与由生成单元生成的第一参数的时间变化量对应的第二参数的第一计算单元，被配置为使用运动目标值，第一参数和第二参数，使得控制对象不激励振动的模型扭矩;以及显影单元，其被配置为根据由第二计算单元计算的模型转矩来形成转矩指令，使得控制的运动目标跟随运动目标值。

3. 发明授权

US5719479A Collision detecting method 失效
标题翻译：碰撞检测方法
公开(公告)号：US5719479A
公开(公告)日：1998-02-17
申请号：US518689
申请日：1995-08-24
申请人： Tetsuaki Kato , Soichi Arita , Ichiro Kanno
发明人： Tetsuaki Kato , Soichi Arita , Ichiro Kanno
IPC分类号： B25J9/16 , B25J19/06 , G05B19/19 , G05B19/4061 , G05D3/00 , G05D3/12 , H02P29/00 , F15B9/00 , G05B5/00
CPC分类号： G05B19/4061 , G05B19/19 , G05B2219/37624 , G05B2219/41128 , G05B2219/41381 , G05B2219/41395
摘要： A collision detecting method, in which a collision of a driven body driven by a servomotor is detected by a disturbance estimating observer. The method obtains a disturbance component which can be known in advance, subtracts the disturbance component from an input torque to generate a modified torque, and inputs the modified torque to a distrubance estimating observer.
摘要翻译：一种碰撞检测方法，其中由伺服电动机驱动的从动体的碰撞被干扰估计观察器检测到。该方法获得预先知道的扰动分量，从输入转矩中减去干扰分量以产生修正转矩，并将改变后的转矩输入到发散估计观测器。

4. 发明授权

US08853988B2 Control systems and methods for compensating for effects of a stage motor 有权
标题翻译：用于补偿平台电机的影响的控制系统和方法
公开(公告)号：US08853988B2
公开(公告)日：2014-10-07
申请号：US12406322
申请日：2009-03-18
申请人： Michael B. Binnard , Scott Coakley , Douglas C. Watson , Pai-Hsueh Yang
发明人： Michael B. Binnard , Scott Coakley , Douglas C. Watson , Pai-Hsueh Yang
IPC分类号： G05B1/06 , G05B19/404 , G03F7/20
CPC分类号： G05B19/404 , G03F7/70725 , G03F7/70758 , G05B2219/41128 , G05B2219/41443
摘要： Embodiments of the invention compensate for one or more effects of a stage motor in a precision stage device. A feedforward module receives an input signal corresponding to the effect of the motor and generates a feedforward control signal that can be used to modify a motor control signal to compensate for the effect of the motor. In some embodiments, a control system is provided to compensate for a back-electromotive force generated by a motor, while in other embodiments, a control system may compensate for an inductive effect of a motor. Embodiments of the invention may be useful in precision stage devices, for example, lithography devices such as steppers and scanners.
摘要翻译：本发明的实施例补偿了精密级装置中的级电动机的一个或多个效果。前馈模块接收与电动机的效果相对应的输入信号，并产生可用于修改电动机控制信号以补偿电动机的影响的前馈控制信号。在一些实施例中，提供控制系统以补偿由电动机产生的反电动势，而在其他实施例中，控制系统可以补偿电动机的感应效应。本发明的实施例可用于精密平台装置，例如平版印刷装置，例如步进器和扫描器。

5. 发明授权

US08538582B2 Robot and noise removing method for the robot 有权
标题翻译：机器人的机器人和噪声去除方法
公开(公告)号：US08538582B2
公开(公告)日：2013-09-17
申请号：US13344115
申请日：2012-01-05
申请人： Shigenori Sasai
发明人： Shigenori Sasai
IPC分类号： G05B19/404
CPC分类号： B25J9/1694 , G01C19/56 , G05B2219/37008 , G05B2219/37507 , G05B2219/39195 , G05B2219/40549 , G05B2219/40596 , G05B2219/40597 , G05B2219/41128
摘要： A robot includes: an arm driven by a motor; an angle sensor that detects a pivoting angle of the motor; an inertia sensor that detects an inertial force acting on the arm; a noise detecting unit that detects a noise frequency of the inertia sensor from both an output of the angle sensor and an output of the inertia sensor; a filter-constant determining unit that determines a characteristic of a filter from information of the noise detecting unit; and the filter that removes noise of the inertia sensor on the basis of the filter-constant determining unit.
摘要翻译：机器人包括：由马达驱动的手臂; 角度传感器，其检测电动机的摆动角度; 检测作用在臂上的惯性力的惯性传感器; 噪声检测单元，从角度传感器的输出和惯性传感器的输出检测惯性传感器的噪声频率; 滤波器常数确定单元，其根据噪声检测单元的信息确定滤波器的特性; 以及滤波器，其基于滤波器常数确定单元去除惯性传感器的噪声。

6. 发明申请

US20100318223A1 ROBOT, CARRIAGE DEVICE, AND CONTROL METHOD USING INERTIA SENSOR 有权
标题翻译：机器人，运输装置和使用惯性传感器的控制方法
公开(公告)号：US20100318223A1
公开(公告)日：2010-12-16
申请号：US12814908
申请日：2010-06-14
申请人： Masaki MOTOYOSHI , Izumi IIDA
发明人： Masaki MOTOYOSHI , Izumi IIDA
IPC分类号： G05B15/00
CPC分类号： B25J9/1633 , B25J9/1638 , B25J9/1651 , G05B2219/39195 , G05B2219/41128 , G05B2219/42104 , G05B2219/42225 , Y10S901/09 , Y10S901/46
摘要： A robot includes: an arm with one end pivotally supported; a driving source that pivots the arm; an angle sensor that detects a pivot angle of the driving source and outputs pivot angle information of the driving source; an inertia sensor that is attached to the arm and outputs inertial force information of an inertial force acting on the arm; a control command generating unit that outputs a control command defining rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used or not when the driving source is controlled to control operation of the arm; and an arm operation control unit that performs a first control based on the control command, the pivot angle information, and the inertial force information, to control the driving source and thus control the operation of the arm, if the control conversion determining unit determines to use the inertial force information, and performs a second control which is different from the first control, based on the control command and the pivot angle information, to control the driving source and thus control the operation of the arm, if the control conversion determining unit determines not to use the inertial force information.
摘要翻译：机器人包括：一端枢轴支撑的臂; 一个枢转臂的驱动源; 角度传感器，其检测所述驱动源的枢转角度并输出所述驱动源的枢转角度信息; 惯性传感器，其附接到臂并输出作用在臂上的惯性力的惯性力信息; 控制指令生成单元，其输出限定所述臂的旋转动作的控制指令; 控制转换确定单元，其确定当驱动源被控制以控制所述臂的操作时是否使用惯性力信息; 以及臂操作控制单元，其根据所述控制命令，所述枢转角度信息和惯性力信息执行第一控制，以控制所述驱动源，从而控制所述臂的操作，如果所述控制转换确定单元确定为使用惯性力信息，并且基于控制命令和枢转角度信息执行与第一控制不同的第二控制，以控制驱动源，从而控制臂的操作，如果控制转换确定单元决定不使用惯性力信息。

7. 发明授权

US5432423A Electronic damping system 失效
标题翻译：电子阻尼系统
公开(公告)号：US5432423A
公开(公告)日：1995-07-11
申请号：US053689
申请日：1993-04-29
申请人： James E. York
发明人： James E. York
IPC分类号： G05B19/19 , G05B5/01
CPC分类号： G05B19/19 , G05B2219/41128 , G05B2219/50389
摘要： An electronic damping system is disclosed which dampens mechanical resonant vibrations of a gantry beam end. The system includes a secondary velocity feedback loop in addition to the main servo motor-tach velocity loop. The resonant velocity of the beam is sensed from the movement of the end of the beam. The velocity feedback signal is summed as negative feedback with the velocity command signal from the position controller. The resultant sum of the signals are combined to form the velocity reference input command signal to a servo power amplifier. The servo power amplifier is connected to a main servo motor which controls the movement of the gantry beam in the Y-direction relative to printed circuit board.
摘要翻译：公开了一种电子阻尼系统，其抑制龙门梁末端的机械共振振动。该系统除了主伺服马达速度回路外，还包括二次速度反馈回路。光束的共振速度是从光束的端部的移动来感测的。速度反馈信号与来自位置控制器的速度指令信号相加为负反馈。合成信号的总和，以形成速度参考输入指令信号给伺服功率放大器。伺服功率放大器连接到主伺服电动机，该主伺服电动机控制台架梁相对于印刷电路板在Y方向上的运动。

8. 发明授权

US09075400B2 Motor control device 有权
标题翻译：电机控制装置
公开(公告)号：US09075400B2
公开(公告)日：2015-07-07
申请号：US13884295
申请日：2011-12-16
申请人： Yuji Igarashi , Hidetoshi Ikeda , Hiroto Takei
发明人： Yuji Igarashi , Hidetoshi Ikeda , Hiroto Takei
IPC分类号： G05B5/01 , H02P29/00 , H02P23/00 , B25J9/16
CPC分类号： G05B5/01 , B25J9/1641 , G05B2219/39186 , G05B2219/39195 , G05B2219/41128 , G05B2219/41166 , G05B2219/41233 , G05B2219/42077 , H02P23/0004 , H02P29/50
摘要： A motor control device that controls motion of a control target including a motor and a vibratable element includes a generating unit configured to generate, according to state information representing a state of the control target related to a vibration characteristic of the control target, a first parameter representing the vibration characteristic of the control target, a first calculating unit configured to calculate a second parameter corresponding to a temporal change amount of the first parameter generated by the generating unit, a second calculating unit configured to calculate, using a motion target value, the first parameter, and the second parameter, model torque such that the control target does not excite vibration, and a developing unit configured to develop, according to the model torque calculated by the second calculating unit, a torque command such that the motion of the control target follows the motion target value.
摘要翻译：控制包括电动机和可振动元件的控制目标的运动的电动机控制装置包括生成单元，其被配置为根据表示与控制对象的振动特性相关的控制目标的状态的状态信息，生成第一参数代表控制目标的振动特性的第一计算单元，被配置为计算与由生成单元生成的第一参数的时间变化量对应的第二参数的第一计算单元，被配置为使用运动目标值，第一参数和第二参数，使得控制对象不激励振动的模型扭矩;以及显影单元，其被配置为根据由第二计算单元计算的模型转矩来形成转矩指令，使得控制的运动目标跟随运动目标值。

9. 发明申请

US20130253704A1 ROBOT, CARRIAGE DEVICE, AND CONTROL METHOD USING INERTIA SENSOR 有权
标题翻译：机器人，运输装置和使用惯性传感器的控制方法
公开(公告)号：US20130253704A1
公开(公告)日：2013-09-26
申请号：US13890572
申请日：2013-05-09
申请人： Seiko Epson Corporation
发明人： Masaki MOTOYOSHI , Izumi IIDA
IPC分类号： B25J9/16
CPC分类号： B25J9/1633 , B25J9/1638 , B25J9/1651 , G05B2219/39195 , G05B2219/41128 , G05B2219/42104 , G05B2219/42225 , Y10S901/09 , Y10S901/46
摘要： A robot includes: an arm; a driving source that pivots the arm; an angle sensor that detects a pivot angle and outputs pivot angle information; an inertia sensor that is attached to the arm and outputs inertial force information; a control command generating unit that outputs a control command defining rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used when the driving source is controlled; and an arm operation control unit that performs a first control based on the control command, the pivot angle information, and the inertial force information, if the control conversion determining unit determines that the inertial force information should be used, and performs a second control based on the control command and the pivot angle information, if the control conversion determining unit determines that the inertial force information should not be used.
摘要翻译：机器人包括：手臂; 一个枢转臂的驱动源; 角度传感器，其检测枢转角度并输出枢转角度信息; 惯性传感器，其附接到臂并输出惯性力信息; 控制指令生成单元，其输出限定所述臂的旋转动作的控制指令; 控制转换确定单元，其确定在驱动源被控制时惯性力信息是否被使用; 以及臂操作控制单元，如果控制转换确定单元确定应当使用惯性力信息，并且基于控制命令，枢转角度信息和惯性力信息执行基于第二控制的第二控制，则执行第一控制关于控制命令和枢转角度信息，如果控制转换确定单元确定不应该使用惯性力信息。

10. 发明申请

US20120179294A1 ROBOT AND NOISE REMOVING METHOD FOR THE ROBOT 有权
标题翻译：机器人和机器人的噪声消除方法
公开(公告)号：US20120179294A1
公开(公告)日：2012-07-12
申请号：US13344115
申请日：2012-01-05
申请人： Shigenori Sasai
发明人： Shigenori Sasai
IPC分类号： B25J9/02
CPC分类号： B25J9/1694 , G01C19/56 , G05B2219/37008 , G05B2219/37507 , G05B2219/39195 , G05B2219/40549 , G05B2219/40596 , G05B2219/40597 , G05B2219/41128
摘要： A robot includes: an arm driven by a motor; an angle sensor that detects a pivoting angle of the motor; an inertia sensor that detects an inertial force acting on the arm; a noise detecting unit that detects a noise frequency of the inertia sensor from both an output of the angle sensor and an output of the inertia sensor; a filter-constant determining unit that determines a characteristic of a filter from information of the noise detecting unit; and the filter that removes noise of the inertia sensor on the basis of the filter-constant determining unit.
摘要翻译：机器人包括：由马达驱动的手臂; 角度传感器，其检测电动机的摆动角度; 检测作用在臂上的惯性力的惯性传感器; 噪声检测单元，从角度传感器的输出和惯性传感器的输出检测惯性传感器的噪声频率; 滤波器常数确定单元，其根据噪声检测单元的信息确定滤波器的特性; 以及滤波器，其基于滤波器常数确定单元去除惯性传感器的噪声。

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