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1. 发明申请

WO2012149446A3 TELEOPERATED ROBOTIC SYSTEM 审中-公开
标题翻译：远程机器人系统
公开(公告)号：WO2012149446A3
公开(公告)日：2013-09-12
申请号：PCT/US2012035620
申请日：2012-04-27
申请人： RAYTHEON CO , JACOBSEN STEPHEN C , SMITH FRASER M , MCCULLOUGH JOHN , COLVIN JR GLENN E , SCROGGIN WAYCO , OLIVIER MARC X
发明人： JACOBSEN STEPHEN C , SMITH FRASER M , MCCULLOUGH JOHN , COLVIN JR GLENN E , SCROGGIN WAYCO , OLIVIER MARC X
IPC分类号： B25J3/04 , B25J5/00 , B25J13/02
CPC分类号： B25J3/04 , B25J5/005 , B25J13/025
摘要： A teleoperated robotic system that includes master control arms, slave arms, and a mobile platform. In use, a user manipulates the master control arms to control movement of the slave arms. The teleoperated robotic system can include two master control arms and two slave arms. The master control arms and the slave arms can be mounted on the platform. The platform can provide support for the master control arms and for a teleoperator, or user, of the robotic system. Thus, a mobile platform can allow the robotic system to be moved from place to place to locate the slave arms in a position for use. Additionally, the user can be positioned on the platform, such that the user can see and hear, directly, the slave arms and the workspace in which the slave arms operate.
摘要翻译：包括主控臂，从手臂和移动平台的远程机器人系统。在使用中，用户操纵主控臂以控制从臂的移动。远程机器人系统可以包括两个主控臂和两个从站。主控制臂和从动臂可以安装在平台上。该平台可以为机器人系统的主控制臂和远程操作员或用户提供支持。因此，移动平台可以允许机器人系统从一个地方移动到另一个地方，以将从属臂定位在使用位置。另外，用户可以定位在平台上，使得用户可以直接看到和听到从手臂和从属臂操作的工作空间。

2. 发明申请

WO2012170123A3 PLATFORM PERTURBATION COMPENSATION 审中-公开
标题翻译：平台施压补偿
公开(公告)号：WO2012170123A3
公开(公告)日：2013-09-26
申请号：PCT/US2012035592
申请日：2012-04-27
申请人： RAYTHEON CO , JACOBSEN STEPHEN C , MCCULLOUGH JOHN , SMITH FRASER M , OLIVIER MARC X
发明人： JACOBSEN STEPHEN C , MCCULLOUGH JOHN , SMITH FRASER M , OLIVIER MARC X
IPC分类号： B25J9/16 , B25J5/00 , B25J9/00
CPC分类号： B66F9/182 , B25J5/007 , B25J9/0084 , B25J9/162 , B25J11/00 , B25J13/08 , B25J15/0608 , B66C1/04 , B66C1/68 , H01F7/04 , Y10T483/1726
摘要： A method for compensating for a perturbation external to a platform having a plurality of mechanical arms in accordance with an embodiment of the technology includes detecting a normal positional and/or orientational measurement of the platform using a sensor. A perturbed positional and/or orientational measurement of the platform can also be detected using the sensor. The normal positional and/or orientational measurement and the perturbed positional and/or orientational measurement can be compared to determine a positional and/or orientational difference. A position and/or orientation of a mechanical arm can be adjusted to compensate for the perturbation based on the positional and/or orientational difference.
摘要翻译：根据该技术的实施例，用于补偿具有多个机械臂的平台外部的扰动的方法包括使用传感器检测平台的正常位置和/或取向测量。还可以使用传感器来检测平台的扰动位置和/或取向测量。可以比较正常的位置和/或取向测量和扰动的位置和/或取向测量以确定位置和/或取向差。可以调节机械臂的位置和/或取向，以基于位置和/或取向差来补偿扰动。

3. 发明申请

WO2012125903A3 ROBOTIC MOBILE LOW-PROFILE TRANSPORT VEHICLE 审中-公开
标题翻译：机动车手机低档运输车辆
公开(公告)号：WO2012125903A3
公开(公告)日：2013-01-17
申请号：PCT/US2012029385
申请日：2012-03-16
申请人： RAYTHEON CO , JACOBSEN STEPHEN C , OLIVIER MARC X , MCCULLOUGH JOHN , SMITH FRASER M
发明人： JACOBSEN STEPHEN C , OLIVIER MARC X , MCCULLOUGH JOHN , SMITH FRASER M
IPC分类号： B62D55/065 , B62D37/04 , F41H7/00
CPC分类号： B62D59/04 , B62D37/04 , B62D55/0655 , F41H7/005
摘要： A robotic mobile low-profile transport vehicle (10) is disclosed. The vehicle can comprise a first transport module (14) having a frame assembly (18), a mobility system (20) and a propulsion system and a second transport module (16) having a frame assembly and a mobility system. A multi-degree of freedom coupling assemblage (84) can join the first and second transport modules together. The vehicle can include a first platform (70) supported about the frame assembly of the first transport module, and a second platform (71) supported about the frame assembly of the second transport module. Each of the platforms can be configured to receive a load for transport. Additionally, the vehicle can include a control system that can operate to facilitate intra-module communication and coordination to provide a coordinated operating mode of the first and second transport modules and the coupling assemblage about a given terrain.
摘要翻译：公开了一种机器人移动小型运输车辆（10）。车辆可以包括具有框架组件（18），移动系统（20）和推进系统的第一运输模块（14）和具有框架组件和移动系统的第二运输模块（16）。多自由度联接组件（84）可以将第一和第二传输模块连接在一起。车辆可以包括围绕第一运输模块的框架组件支撑的第一平台（70）和围绕第二运输模块的框架组件支撑的第二平台（71）。可以将每个平台配置为接收运输负载。另外，车辆可以包括控制系统，其可以操作以促进模块内通信和协调，以提供关于给定地形的第一和第二传输模块和联接组合的协调操作模式。

4. 发明申请

WO2012149435A3 SYSTEM AND METHOD FOR CONTROLLING A TELE-OPERATED ROBOTIC AGILE LIFT SYSTEM 审中-公开
标题翻译：用于控制电动机器人提升系统的系统和方法
公开(公告)号：WO2012149435A3
公开(公告)日：2013-09-12
申请号：PCT/US2012035609
申请日：2012-04-27
申请人： RAYTHEON CO , JACOBSEN STEPHEN C , SMITH FRASER M , OLIVIER MARC X , STILSON SHANE
发明人： JACOBSEN STEPHEN C , SMITH FRASER M , OLIVIER MARC X , STILSON SHANE
IPC分类号： B25J3/04 , B25J5/00 , B25J9/00 , B25J9/16 , B25J13/02
CPC分类号： B25J3/04 , B25J5/005 , B25J9/0084 , B25J9/1689 , B25J13/025 , B66C1/425 , B66C13/44
摘要： A method for controlling a tele-operated robot agile lift system is disclosed. The method comprises manipulating a human-machine interface of a master robot located on a mobile platform. The human machine interface is kinematically equivalent to a user's arm with a plurality of support members. A position value and a torque value is measured for each support member. The position value and torque value are communicated to support members of a kinematically equivalent slave arm to position the support members to correspond with a position of the human-machine interface.
摘要翻译：公开了一种用于控制远程操作的机器人敏捷升降系统的方法。该方法包括操纵位于移动平台上的主机器人的人机界面。人机界面在运动上相当于具有多个支撑构件的使用者手臂。测量每个支撑构件的位置值和扭矩值。位置值和扭矩值被传递到运动学等效的从动臂的支撑构件，以将支撑构件定位成与人机界面的位置相对应。

5. 发明申请

WO2012149402A3 ROBOTIC AGILE LIFT SYSTEM WITH EXTREMITY CONTROL 审中-公开
标题翻译：具有极限控制功能的机器人助力系统
公开(公告)号：WO2012149402A3
公开(公告)日：2013-06-13
申请号：PCT/US2012035570
申请日：2012-04-27
申请人： RAYTHEON CO , JACOBSEN STEPHEN C , MCCULLOUGH JOHN , OLIVIER MARC X
发明人： JACOBSEN STEPHEN C , MCCULLOUGH JOHN , OLIVIER MARC X
IPC分类号： B25J1/00 , B25J5/00 , B25J13/02
CPC分类号： B25J5/005 , B25J1/00 , B25J13/02
摘要： A mobile robotic lift assistance system (10) that can accommodate and provide for operator manipulation and control of a robotic arm (30) and associated end effector (130) locally from and via the robotic arm itself, and within a zone of operation (4). The mobile robotic lift assistance system can include one or more robotic arms having an associated extremity control system (150) operable therefrom, wherein the operator enters the zone of operation and engages a control interface (154) device to manipulate and control the robotic arm, any end effector associated therewith, and optionally the mobile platform unit (14). The control interface system facilitates extremity control by the operator of the mobile robotic lift assistance system.
摘要翻译：一种可移动的机器人提升辅助系统（10），其可容纳并且提供操作者操纵和控制机器人手臂（30）和相关联的端部执行器（130），所述自动臂（30）和相关联的端部执行器（130）从机器手臂本身和经由机器手臂本身以及在操作区域）。可移动机器人提升辅助系统可以包括一个或多个机器人臂，其具有可从其操作的相关联的末端控制系统（150），其中操作者进入操作区域并且接合控制接口（154）装置以操纵和控制机器人手臂，与其相关联的任何末端执行器，以及可选的移动平台单元（14）。控制接口系统便于移动机器人提升辅助系统的操作者的肢体控制。

6. 发明申请

WO2010144820A3 AMPHIBIOUS ROBOTIC CRAWLER 审中-公开
标题翻译：大型机动式起重机
公开(公告)号：WO2010144820A3
公开(公告)日：2011-03-24
申请号：PCT/US2010038339
申请日：2010-06-11
申请人： RAYTHEON SARCOS LLC , JACOBSEN STEPHEN C , SMITH FRASER M , OLIVIER MARC X
发明人： JACOBSEN STEPHEN C , SMITH FRASER M , OLIVIER MARC X
IPC分类号： B63C11/34 , B60F3/00 , B63C11/52
CPC分类号： B63C11/52 , B63C11/34
摘要： An amphibious robotic crawler for traversing a body of water having two frame units coupled end-to-end or in tandem by an actuated linkage arm. Each frame unit includes a housing with a drivable continuous track rotatably supported thereon. The frame units are operable with a power supply, a drive mechanism and a control module. Each frame unit further includes a buoyancy control element for suspending the frame unit in the water, and for controlling the depth of the robotic crawler within the water. The control module coordinates the rotation of the continuous tracks, the position of the linkage arm and the buoyancy of the buoyancy control elements to control movement, direction and pose of the robotic crawler through the body of water.
摘要翻译：一种水陆两用的机器人履带，用于穿过具有两个框架单元的水体，该框架单元由致动的连接臂端对端或串联连接。每个框架单元包括具有可旋转地支撑在其上的可驱动连续轨道的壳体。框架单元可与电源，驱动机构和控制模块一起操作。每个框架单元还包括用于将框架单元悬挂在水中的浮力控制元件，并用于控制机器人履带在水中的深度。控制模块协调连续轨道的旋转，联动臂的位置和浮力控制元件的浮力，以控制机器人履带通过水体的运动，方向和姿态。

7. 发明申请

WO2012149392A2 MULTI-DEGREE OF FREEDOM TORSO SUPPORT FOR A ROBOTIC AGILE LIFT SYSTEM 审中-公开
标题翻译：多机器人自动提升系统支持
公开(公告)号：WO2012149392A2
公开(公告)日：2012-11-01
申请号：PCT/US2012035553
申请日：2012-04-27
申请人： RATHEON COMPANY , JACOBSEN STEPHEN C , MCCULLOUGH JOHN , OLIVIER MARC X
发明人： JACOBSEN STEPHEN C , MCCULLOUGH JOHN , OLIVIER MARC X
IPC分类号： B25J13/06
CPC分类号： B66F9/182 , B25J5/007 , B25J9/0084 , B25J9/162 , B25J11/00 , B25J13/08 , B25J15/0608 , B66C1/04 , B66C1/68 , H01F7/04 , Y10T483/1726
摘要： A controllable robotic arm system comprises a base unit and a moveable torso coupled to the base unit. The moveable torso is capable of moving in at least one degree of freedom independently of movement of the base unit. At least one robotic slave arm is moveably coupled to the torso. A master control system is operable to control the robotic slave arm and the moveable torso. The master control system includes an input interface by which a user can cause control signals to be communicated to the robotic slave arm and the moveable torso.
摘要翻译：可控机器臂系统包括基座单元和联接到基座单元的可移动躯干。独立于基座单元的运动，可移动躯干能够以至少一个自由度移动。至少有一个机器人从动臂可动地连接到躯干上。主控制系统可操作以控制机器人从动臂和可移动躯干。主控制系统包括用户可以通过该输入接口将控制信号传送到机器人从动臂和可移动躯干的输入接口。

8. 发明申请

WO2015080788A3 SERPENTING ROBOTIC CRAWLER FOR PERFORMING DEXTEROUS OPERATIONS 审中-公开
标题翻译：操纵机器人的抓手进行灵活的操作
公开(公告)号：WO2015080788A3
公开(公告)日：2015-08-06
申请号：PCT/US2014055673
申请日：2014-09-15
申请人： RAYTHEON CO
发明人： SMITH FRASER M , OLIVIER MARC X , MCCULLOUGH JOHN
IPC分类号： B25J3/04 , B25J5/00 , B25J9/00 , B25J9/06 , B25J13/02
CPC分类号： B25J9/065 , B25J3/04 , B25J5/005 , B25J5/007 , B25J9/0087 , B25J13/025 , Y10S901/01 , Y10T74/20329
摘要： A serpentine robotic crawler having multiple dexterous manipulators supported about multiple frame units. The frame units are connected via an articulating linkage at proximal ends wherein the articulating linkage is capable of positioning the frames into various configurations. Dexterous manipulators are coupled to distal ends of the frame units and are positionable via the articulating linkage and articulating joints therein into various positions about the frame ends. The configurations and positioning of the dexterous manipulators allows the robotic crawler to perform coordinated dexterous operations.
摘要翻译：一种蛇形机器人爬行器，具有多个灵巧操纵器，支持多个框架单元。框架单元经由近端处的铰接连杆机构连接，其中铰接连杆机构能够将框架定位成各种构造。灵巧的操纵器连接到框架单元的远端并且可通过铰接连杆机构定位并将铰接关节定位在围绕框架端部的不同位置。灵巧操纵器的配置和定位允许机器人履带执行协调灵活的操作。

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