公开(公告)号：US20130218331A1

公开(公告)日：2013-08-22

申请号：US13768518

申请日：2013-02-15

Applicant: Seiko Epson Corporation

Inventor： Takashi NAMMOTO ,  Kazuhiro KOSUGE ,  Kentaro KAMEI

IPC: B25J9/16

CPC classification number: B25J9/1643 ,  G05B2219/39414 ,  G05B2219/40367

Abstract: A robot control device of a vertical articulated robot having seven axes and an offset structure includes: a storage unit which stores a condition of a status of the vertical articulated robot including a position of an elbow in the vertical articulated robot and control information for controlling the vertical articulated robot such that the condition is satisfied to match each other; an input unit to which the condition of the status of the vertical articulated robot including the position of the elbow is input; and a robot control unit which controls the vertical articulated robot such that the input condition is satisfied on the basis of the control information stored in the storage unit to match the same condition as the condition input to the input unit.

公开(公告)号：US07756606B2

公开(公告)日：2010-07-13

申请号：US11017865

申请日：2004-12-22

Applicant: Atsushi Nakajima ,  Isao Yamaguchi ,  Osamu Okamoto ,  Yoshiaki Ohkami

Inventor： Atsushi Nakajima ,  Isao Yamaguchi ,  Osamu Okamoto ,  Yoshiaki Ohkami

IPC: G06F19/00

CPC classification number: B25J9/1643 ,  G05B2219/40367 ,  Y10S700/90

Abstract: A method of controlling a redundant manipulator for assigning one or more redundant joints from a plurality of joints and obtaining the solution to an inverse kinematics problem at high-speed. The joints are arbitrarily classified into redundant joints and non-redundant joints, and an initial value is set for the joint angle of the classified redundant joint as a parameter. Then based on an evaluating function or a constraint condition defined by the joint angle of the redundant joint provided as a parameter and the joint angle of the non-redundant joint, which is determined by the inverse kinematics calculation according to the change of the parameter, an optimum solution of a set of joint angles is determined, and until the optimum solution covers the target range of the hand position, the procedure to determine the optimum solution is repeated with relaxing the constraint conditions.

Abstract translation: 一种控制冗余操纵器的方法，用于从多个关节分配一个或多个冗余关节，并以高速获得逆运动学问题的解决方案。 关节被任意分为冗余关节和非冗余关节，并且将分类的冗余关节的关节角度的初始值设置为参数。 然后，基于由作为参数提供的冗余关节的关节角度和由根据参数的变化的逆运动学计算确定的非冗余关节的关节角度的评估函数或约束条件， 确定一组关节角度的最佳解，并且直到最佳解覆盖了手位置的目标范围，则通过放宽约束条件来重复确定最优解的过程。

公开(公告)号：US20050143860A1

公开(公告)日：2005-06-30

申请号：US11017865

申请日：2004-12-22

Applicant: Atsushi Nakajima ,  Isao Yamaguchi ,  Osamu Okamoto ,  Yoshiaki Ohkami

Inventor： Atsushi Nakajima ,  Isao Yamaguchi ,  Osamu Okamoto ,  Yoshiaki Ohkami

IPC: B25J13/00 ,  B25J9/06 ,  B25J9/16 ,  G05B19/18 ,  G06F19/00

CPC classification number: B25J9/1643 ,  G05B2219/40367 ,  Y10S700/90

Abstract: A method of controlling a redundant manipulator for assigning one or more redundant joints from a plurality of joints and obtaining the solution to an inverse kinematics problem at high-speed. The joints are arbitrarily classified into redundant joints and non-redundant joints, and an initial value is set for the joint angle of the classified redundant joint as a parameter. Then based on an evaluating function or a constraint condition defined by the joint angle of the redundant joint provided as a parameter and the joint angle of the non-redundant joint, which is determined by the inverse kinematics calculation according to the change of the parameter, an optimum solution of a set of joint angles is determined, and until the optimum solution covers the target range of the hand position, the procedure to determine the optimum solution is repeated with relaxing the constraint conditions.

Abstract translation: 一种控制冗余操纵器的方法，用于从多个关节分配一个或多个冗余关节，并以高速获得逆运动学问题的解决方案。 关节被任意分为冗余关节和非冗余关节，并且将分类的冗余关节的关节角度的初始值设置为参数。 然后，基于由作为参数提供的冗余关节的关节角度和由根据参数的变化的逆运动学计算确定的非冗余关节的关节角度的评估函数或约束条件， 确定一组关节角度的最佳解，并且直到最佳解覆盖了手位置的目标范围，则通过放宽约束条件来重复确定最优解的过程。

公开(公告)号：US11826911B2

公开(公告)日：2023-11-28

申请号：US16767766

申请日：2018-11-20

Applicant: KUKA Deutschland GmbH

Inventor： Mario Daniele Fiore

IPC: B25J9/16 ,  G05B19/4155

CPC classification number: B25J9/1643 ,  G05B19/4155 ,  G05B2219/39172 ,  G05B2219/40298 ,  G05B2219/40367

Abstract: A method for controlling a robot to perform a task, for which the robot is redundant, includes specifying an adjustment of first and second axes of at least one pair of two movement axes of the robot based on a specified operating mode such that both axes can be adjusted and adjustment of the first axis is prioritized over the second axis if a first operating mode is specified. Adjustment of the second axis is prioritized over the first axis if a second operating mode is specified. Additionally or alternatively, adjustment of at least one selected movement axis is specified based on a specified operating mode such that this axis can be adjusted or is blocked independently of the task if a reduced operating mode is specified, and can be adjusted for the purpose of performing this task if an operating mode differing from this reduced operating mode is specified.

公开(公告)号：US09724827B2

公开(公告)日：2017-08-08

申请号：US14309241

申请日：2014-06-19

Applicant: KUKA Laboratories GmbH

Inventor： Marc-Walter Ueberle

IPC: G01L3/00 ,  B25J9/16

CPC classification number: B25J9/1674 ,  B25J9/1643 ,  B25J9/1676 ,  G05B2219/37624 ,  G05B2219/39319 ,  G05B2219/40367 ,  Y10S901/28

Abstract: A method for monitoring a kinematically redundant robot includes detecting joint forces acting in the joints of the robot, determining an external work force between a robot-permanent reference point and an environment based on the detected joint forces, determining a further monitoring variable that is at least substantially independent of an external force acting on the robot-permanent reference point based on the detected joint forces, and monitoring the determined external work force and the determined further monitoring variable.

公开(公告)号：US09555546B2

公开(公告)日：2017-01-31

申请号：US14481479

申请日：2014-09-09

Applicant: SIEMENS AKTIENGESELLSCHAFT

Inventor： Carsten Hamm ,  Sven Tauchmann

IPC: B25J9/00 ,  B25J9/16

CPC classification number: B25J9/1664 ,  B25J9/1643 ,  G05B2219/40333 ,  G05B2219/40336 ,  G05B2219/40367

Abstract: A program for a numerical control device is disclosed that determines path points to be approached by an end effector. A control signal group is ascertained for each path point that contains its set point value for each position-controlled axis. Those values are output to the axes, moving the end effector. The degrees of freedom are fewer than the position-controlled axes. The control signal groups are ascertained so that the end effector approaches the path points at least approximately. The control signal groups are ascertained gradually during the activation of the axes. The set point values are ascertained by minimizing an objective function. The objective function that is minimized includes at least the set point values for a path point only to be approached in the future. The sequence between the currently approached point and the point approached in the future has at least one further path point.

Abstract translation: 公开了一种用于确定要由末端执行器接近的路径点的数字控制装置的程序。 确定每个路径点的控制信号组，该路径点包含每个位置控制轴的设定值。 这些值输出到轴，移动末端执行器。 自由度小于位置控制轴。 确定控制信号组，使得末端效应器至少近似接近路径点。 在激活轴期间逐渐确定控制信号组。 通过最小化目标函数确定设定值。 最小化的目标函数至少包括仅在将来接近的路径点的设定点值。 当前接近点与将来接近的点之间的序列至少有一个路径点。

公开(公告)号：US09327401B2

公开(公告)日：2016-05-03

申请号：US14021051

申请日：2013-09-09

Applicant: Fanuc America Corporation

Inventor： Di Xiao ,  Sai-Kai Cheng ,  Randy A. Graca ,  Matthew R. Sikowski ,  Jason Tsai

IPC: B25J9/16

CPC classification number: B25J9/163 ,  B25J9/1643 ,  G05B2219/40333 ,  G05B2219/40367 ,  Y10S901/03 ,  Y10S901/16 ,  Y10S901/28 ,  Y10S901/43

Abstract: A method for controlling a redundant robot arm includes the steps of selecting an application for performing a robotic process on a workpiece with the arm and defining at least one constraint on motion of the arm. Then an instruction set is generated based upon the selected application representing a path for a robot tool attached to the arm by operating the arm in one of a teaching mode and a programmed mode to perform the robotic process on the workpiece and movement of the arm is controlled during the robotic process. A constraint algorithm is generated to maintain a predetermined point on the arm to at least one of be on, be near and avoid a specified constraint in a robot envelope during movement of the arm, and a singularity algorithm is generated to avoid a singularity encountered during the movement of the arm.

Abstract translation: 一种用于控制冗余机器人手臂的方法包括以下步骤：使用臂选择用于在工件上执行机器人处理的应用，并且对臂的运动限定至少一个约束。 然后基于所选择的应用程序生成指令集，该应用程序表示通过以示教模式和编程模式之一操作臂来执行附接到臂的机器人工具的路径，以对工件执行机器人处理，并且臂的移动是 在机器人过程中控制。 生成约束算法以将臂上的预定点维持在臂的移动期间的至少一个，接近并且避免在机器人包络中的指定约束，并且生成奇异性算法以避免在 手臂的运动。

公开(公告)号：US09122272B2

公开(公告)日：2015-09-01

申请号：US11881089

申请日：2007-07-25

Applicant: Lutz Rebstock

Inventor： Lutz Rebstock

IPC: G05B19/418 ,  H01L21/677

CPC classification number: B25J9/043 ,  B25J9/0084 ,  B25J11/0095 ,  B25J19/0066 ,  G05B19/4189 ,  G05B2219/40367 ,  H01L21/67742 ,  H01L21/67745 ,  Y02P90/14 ,  Y02P90/265 ,  Y02P90/28

Abstract: A redundantable robotic mechanism is disclosed for improving reliability of transport equipment. The redundantable robot assembly typically comprises independent robots with separate controls, motors, linkage arms, or power, thus providing the capability of operation even if parts of the assembly are not operational or when parts of the assembly are removed for repair. The redundantable robot assembly can be also designed to allow in-situ servicing, e.g. servicing one robot when the other is running. The disclosed redundantable robot assembly provides virtual uninterrupted process flow, and thus greatly increases the yield for the manufacturing facility.

Abstract translation: 公开了一种用于提高运输设备可靠性的可重复机器人机构。 可复用机器人组件通常包括具有单独的控制，马达，联动臂或动力的独立机器人，从而即使组件的部件不可操作或者组件的部件被移除以进行维修也能提供操作的能力。 可冗余的机器人组件也可以设计成允许原位维修，例如。 在另一台机器人运行时维护一台机器人。 所公开的可复原机器人组件提供虚拟的不间断工艺流程，从而大大提高了制造设备的产量。

公开(公告)号：US20150094855A1

公开(公告)日：2015-04-02

申请号：US14398928

申请日：2013-05-03

Applicant: Leoni CIA Cable Systems SAS

Inventor： Jérôme Chemouny ,  Stéphane Clerambault ,  Samuel Pinault

IPC: B25J9/16 ,  B25J9/06 ,  B25J9/02

CPC classification number: B25J9/163 ,  B25J9/023 ,  B25J9/06 ,  G05B19/423 ,  G05B2219/36184 ,  G05B2219/40367 ,  Y10S901/03 ,  Y10S901/09 ,  Y10S901/47

Abstract: The present invention concerns an imitation learning method for a multi-axis manipulator (7,7′). This method comprises the steps of capturing, at a set of successive waypoints (10,11) in a teach-in trajectory (4) of a user-operated training tool, spatial data comprising position and orientation of the training tool (3) in a Cartesian space; selecting, from among said set of successive waypoints (10,11), a subset of waypoints (11) starting from a first waypoint (11) of said set of successive waypoints (10,11), wherein for each subsequent waypoint (11) to be selected a difference in position and/or orientation with respect to a last previously selected waypoint (11) exceeds a predetermined threshold; fitting a set trajectory (4′) in said Cartesian space to said selected subset of waypoints (11); and converting said set trajectory into motion commands in a joint space of said multi-axis manipulator (7,7′).

Abstract translation: 本发明涉及一种用于多轴机械手（7,7'）的仿制学习方法。 该方法包括以下步骤：在用户操作的训练工具的教导轨迹（4）中的一组连续航路点（10,11）捕获包括训练工具（3）的位置和姿态的空间数据 笛卡尔空间; 从所述一组连续航路点（10,11）中选择从所述一组连续航路点（10,11）的第一航点（11）开始的航点（11）的子集，其中对于每个随后的航点（11）， 要选择相对于最后的先前选择的航点（11）的位置和/或方向的差超过预定阈值; 将所述笛卡尔空间中的设定轨迹（4'）拟合到所述所选择的航点（11）子集; 以及将所述设定轨迹转换成所述多轴操纵器（7,7'）的关节空间中的运动命令。

公开(公告)号：US20140379126A1

公开(公告)日：2014-12-25

申请号：US14309241

申请日：2014-06-19

Applicant: KUKA Laboratories GmbH

Inventor： Marc-Walter Ueberle

IPC: G01L3/00 ,  B25J9/16

CPC classification number: B25J9/1674 ,  B25J9/1643 ,  B25J9/1676 ,  G05B2219/37624 ,  G05B2219/39319 ,  G05B2219/40367 ,  Y10S901/28

Abstract: A method for monitoring a kinematically redundant robot includes detecting joint forces acting in the joints of the robot, determining an external work force between a robot-permanent reference point and an environment based on the detected joint forces, determining a further monitoring variable that is at least substantially independent of an external force acting on the robot-permanent reference point based on the detected joint forces, and monitoring the determined external work force and the determined further monitoring variable.

Abstract translation: 一种用于监测运动学冗余机器人的方法，包括检测作用在机器人的关节中的联合力，基于检测到的关节力确定机器人永久参考点和环境之间的外部作用力，确定另一个监视变量 基于检测到的关节力，至少基本上独立于作用在机器人永久参考点上的外力，以及监测确定的外部作用力和所确定的进一步的监测变量。