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1. 发明申请

WO2013033289A1 TIME-OPTIMAL TRAJECTORIES FOR ROBOTIC TRANSFER DEVICES 审中-公开
标题翻译：用于机器人传输设备的时间优化TRAJECTORIES
公开(公告)号：WO2013033289A1
公开(公告)日：2013-03-07
申请号：PCT/US2012/052977
申请日：2012-08-30
申请人： BROOKS AUTOMATION, INC. , KRISHNASAMY, Jayaraman , HOSEK, Martin
发明人： KRISHNASAMY, Jayaraman , HOSEK, Martin
IPC分类号： G06F19/00
CPC分类号： B25J9/1664 , G05B19/416 , G05B2219/40449 , G05B2219/40466 , H01L21/67259 , H01L21/67742 , H01L21/67766
摘要： A time-optimal trajectory generation method, for a robotic manipulator having a transport path with at least one path segment, comprising generating a forward time-optimal trajectory of the manipulator along the at least one path segment from a start point of the at least one path segment towards an end point of the at least one path segment, generating a reverse time- optimal trajectory of the manipulator along the at least one path segment from the end point towards the start point of the at least one path segment, and combining the time-optimal forward and reverse trajectories to obtain a complete time-optimal trajectory, where the forward and reverse trajectories of the at least one path segment are blended together with a smoothing bridge joining the time-optimal forward and reverse trajectories in a position-velocity reference frame with substantially no discontinuity between the time-optimal forward and reverse trajectories.
摘要翻译：一种用于具有至少一个路径段的传输路径的机器人操纵器的时间优化轨迹生成方法，包括从所述至少一个路径段的起始点沿着所述至少一个路径段生成所述操纵器的前向时间最优轨迹路径段朝向所述至少一个路径段的终点，从所述至少一个路径段的终点向起始点产生所述操纵器沿着所述至少一个路径段的反向时间最优轨迹，并且将时间最佳的正向和反向轨迹以获得完整的时间最优轨迹，其中至少一个路径段的前向和后向轨迹与平滑桥混合在一起，该平滑桥连接时间最优的前进和后退轨迹，位置速度参考帧在时间最优的正向和反向轨迹之间基本上没有不连续性。

2. 发明申请

WO01043924A1 CONTROLLING METHOD AND APPARATUS FOR POSITIONING A ROBOT 审中-公开
标题翻译：用于定位机器人的控制方法和装置
公开(公告)号：WO01043924A1
公开(公告)日：2001-06-21
申请号：PCT/JP2000/008884
申请日：2000-12-14
IPC分类号： B25J9/10 , B25J9/16 , G05B19/00 , G05B19/19 , G05B19/416 , G05D3/12
CPC分类号： B25J9/1641 , G05B19/00 , G05B19/19 , G05B2219/39357 , G05B2219/40466
摘要： A controlling method and a controlling apparatus both for positioning a robot are provided that can output an optimal speed instruction for controlling a residual vibration after completion of a moving operation, achieve reduction in tact time for the moving operation, and shorten the length of setting time. The method is a controlling method for positioning a robot (1) for performing a point-to-point moving operation of the robot (1), comprising: performing a test operation to measure a frequency of a residual vibration of the robot (1) that is stopped at a target position; measuring a magnitude of the residual vibration based on the frequency during each of different lengths of moving time for a predetermined moving distance of the robot (1) to find a relationship between the length of moving time and the magnitude of the vibration; calculating a shortest moving time at which the magnitude of the vibration becomes a minimum value; and performing the point-to-point operation of the robot (1) for the calculated shortest moving time, thereby to position the robot (1) at the target position.
摘要翻译：提供了一种用于定位机器人的控制方法和控制装置，其可以输出用于在完成移动操作之后控制残余振动的最佳速度指令，实现移动操作的节拍时间的减少，并缩短设定时间的长度。该方法是用于定位用于执行机器人（1）的点对点移动操作的机器人（1）的控制方法，包括：执行测量操作以测量机器人（1）的残余振动的频率，停在目标位置; 基于在所述机器人（1）的预定移动距离的不同长度的移动时间的每个中的频率来求出所述残余振动的大小，以找到所述移动时间的长度与所述振动的大小之间的关系; 计算振动幅度成为最小值的最短移动时间; 并对所计算的最短移动时间进行机器人（1）的点对点操作，从而将机器人（1）定位在目标位置。

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