公开(公告)号：US08650868B2

公开(公告)日：2014-02-18

申请号：US13613221

申请日：2012-09-13

申请人： Mayumi Komatsu ,  Yasunao Okazaki

发明人： Mayumi Komatsu ,  Yasunao Okazaki

IPC分类号： B25J19/06

CPC分类号： B25J9/1615 ,  B25J9/142 ,  B25J9/1674 ,  F15B11/16 ,  F15B2211/7052 ,  F15B2211/7107 ,  G05B23/0243 ,  G05B2219/39454 ,  G05B2219/39462

摘要： There is provided an abnormality determination unit that determines whether or not an output measurement unit is abnormal, in order to determine abnormality of the output measurement unit. When the output measurement unit is abnormal, the operation of an elastic actuator is controlled not in accordance with a measurement result of the output measurement unit but in accordance with an internal state model.

摘要翻译： 提供了一种异常确定单元，其确定输出测量单元是否异常，以便确定输出测量单元的异常。 当输出测量单元异常时，弹性致动器的操作不是根据输出测量单元的测量结果而是根据内部状态模型进行控制的。

公开(公告)号：US08253367B2

公开(公告)日：2012-08-28

申请号：US13366638

申请日：2012-02-06

申请人： Mayumi Komatsu ,  Yasunao Okazaki

发明人： Mayumi Komatsu ,  Yasunao Okazaki

IPC分类号： G05B11/01

CPC分类号： B25J9/1075 ,  B25J9/142 ,  G05B2219/39454 ,  G05B2219/42293 ,  G05B2219/42306

摘要： An abnormality determination unit that determines whether or not an output measurement unit is abnormal is provided, and whether or not the output measurement unit is abnormal is determined. When the output measurement unit is abnormal, an elastic actuator is controlled based on a desired internal state decision unit and an internal state error compensation unit. Accordingly, it becomes possible to control the elastic actuator to continuously operate to a predetermined position without instantaneously stopping even when the output measurement unit is abnormal.

摘要翻译： 确定输出测量单元是否异常的异常确定单元被确定，并且确定输出测量单元是否异常。 当输出测量单元异常时，基于期望的内部状态判定单元和内部状态误差补偿单元来控制弹性致动器。 因此，即使输出测量单元异常，也可以使弹性致动器不间断地连续地操作到预定位置。

公开(公告)号：US20120133318A1

公开(公告)日：2012-05-31

申请号：US13366638

申请日：2012-02-06

申请人： Mayumi Komatsu ,  Yasunao Okazaki

发明人： Mayumi Komatsu ,  Yasunao Okazaki

IPC分类号： G05B9/02

CPC分类号： B25J9/1075 ,  B25J9/142 ,  G05B2219/39454 ,  G05B2219/42293 ,  G05B2219/42306

摘要： An abnormality determination unit that determines whether or not an output measurement unit is abnormal is provided, and whether or not the output measurement unit is abnormal is determined. When the output measurement unit is abnormal, an elastic actuator is controlled based on a desired internal state decision unit and an internal state error compensation unit. Accordingly, it becomes possible to control the elastic actuator to continuously operate to a predetermined position without instantaneously stopping even when the output measurement unit is abnormal.

摘要翻译： 确定输出测量单元是否异常的异常确定单元被确定，并且确定输出测量单元是否异常。 当输出测量单元异常时，基于期望的内部状态判定单元和内部状态误差补偿单元来控制弹性致动器。 因此，即使输出测量单元异常，也可以使弹性致动器不间断地连续地操作到预定位置。

公开(公告)号：US07466906B2

公开(公告)日：2008-12-16

申请号：US11594609

申请日：2006-11-08

申请人： Hiroshi Ueno ,  Mayumi Komatsu

发明人： Hiroshi Ueno ,  Mayumi Komatsu

IPC分类号： G05F1/101

CPC分类号： B62D5/046 ,  B62D5/0463 ,  H02P2201/09 ,  H02P2205/01

摘要： A motor control apparatus includes a target value computation device which computes a target value of a current to be passed through a motor, a current detection device which detects a current passed through the motor, a command value computation device which computes a command value to the motor based on a deviation between the target value and the current value, a motor drive circuit which drives the motor based on the command value, a boosting circuit which boosts a voltage supplied to the motor, a judgment device which judges whether the command value exceeds a predetermined threshold, a rate-of-charge computation device which computes a rate of change of the command value to time, and a boosting control device which controls an boosting operation of the boosting circuit based on a result of the judgment device and the rate of change of the command value.

摘要翻译： 一种电动机控制装置，包括：计算要通过电动机的电流的目标值的目标值计算装置;检测通过电动机的电流的电流检测装置;计算指令值的指令值计算装置; 基于目标值和当前值之间的偏差的电动机，基于指令值驱动电动机的电动机驱动电路，升压提供给电动机的电压的升压电路，判断指令值是否超过的判定装置 预定阈值，计算指令值对时间的变化率的费率计算装置，以及基于判断装置的结果控制升压电路的升压操作的升压控制装置，以及速率 的命令值的变化。

公开(公告)号：US08024071B2

公开(公告)日：2011-09-20

申请号：US12712441

申请日：2010-02-25

申请人： Mayumi Komatsu ,  Yasunao Okazaki

发明人： Mayumi Komatsu ,  Yasunao Okazaki

IPC分类号： G05B15/00

CPC分类号： B25J9/0003 ,  B25J9/1633 ,  B25J9/1682 ,  B25J13/085 ,  G05B2219/36433

摘要： Based upon a force in a vertical direction exerted between an object and a hand and an angle made by the hand relative to a horizontal face, a transporting force estimation unit estimates a transporting force applied in the vertical direction by a person, and based upon the estimated force, a force controlling operation is carried out so as to set a force in the vertical direction of the robot arm of a robot system to a predetermined force.

摘要翻译： 基于施加在物体和手之间的垂直方向的力和由手相对于水平面形成的角度，传送力估计单元估计由人在垂直方向上施加的传送力，并且基于 估计力，执行力控制操作，以将机器人系统的机器人臂的垂直方向的力设定为预定的力。

公开(公告)号：US20110078508A1

公开(公告)日：2011-03-31

申请号：US12994309

申请日：2010-01-05

申请人： Mayumi Komatsu ,  Yasunao Okazaki

发明人： Mayumi Komatsu ,  Yasunao Okazaki

IPC分类号： G06F11/27

CPC分类号： B25J9/1075 ,  B25J9/142 ,  F15B15/103 ,  F15B21/087

摘要： An inner pressure of an actuator is measured by a pressure measuring unit, and an amount of displacement of a movable mechanism is measured so that a position error compensation unit to which a desired value for the displacement and the measured value are inputted is allowed to compensate for a position error, and a desired value for a pressure difference of actuators that are competitively driven from the desired value is calculated by a desired pressure difference calculation unit, and an adjusted correcting value of the desired value for the pressure difference, obtained from the desired value of displacement and the measured value, is adjustably outputted from an adjustable desired inner-state correction unit, and thus, the outputs of these unit are inputted to a pressure difference error compensation unit so that a pressure difference error is compensated therewith.

摘要翻译： 通过压力测量单元测量致动器的内部压力，并且测量可移动机构的位移量，使得允许输入期望值的位移和测量值的位置误差补偿单元被补偿 对于位置误差，通过期望的压力差计算单元计算从期望值竞争驱动的致动器的压力差的期望值，以及从压力差获得的压力差的期望值的调整校正值 期望的位移值和测量值可调节地从可调节的所需内部状态校正单元输出，因此，这些单元的输出被输入到压力差误差补偿单元，从而补偿压力差误差。

公开(公告)号：US20130006422A1

公开(公告)日：2013-01-03

申请号：US13611686

申请日：2012-09-12

申请人： Mayumi KOMATSU

发明人： Mayumi KOMATSU

IPC分类号： B25J9/16 ,  B25J13/08

CPC分类号： B25J9/1674 ,  B25J9/1638

摘要： There are included a desired joint torque output limiting unit for limiting operations of a desired joint torque output unit and a limit cancellation unit for canceling the limitation by the output limiting unit. An actuator of a joint of a robot is controlled in accordance with modified desired joint torque outputted from the output limiting unit, so that the robot can be controlled to be kept stopped even upon switching between dynamics parameters.

摘要翻译： 包括期望的关节转矩输出限制单元，用于限制期望的关节转矩输出单元的操作和用于消除输出限制单元的限制的限制消除单元。 根据从输出限制单元输出的改变的期望的关节扭矩来控制机器人的关节的致动器，使得即使在动力学参数之间切换的情况下也可以控制机器人保持停止。

公开(公告)号：US20130000480A1

公开(公告)日：2013-01-03

申请号：US13613221

申请日：2012-09-13

申请人： Mayumi KOMATSU ,  Yasunao Okazaki

发明人： Mayumi KOMATSU ,  Yasunao Okazaki

IPC分类号： F01B19/04

CPC分类号： B25J9/1615 ,  B25J9/142 ,  B25J9/1674 ,  F15B11/16 ,  F15B2211/7052 ,  F15B2211/7107 ,  G05B23/0243 ,  G05B2219/39454 ,  G05B2219/39462

摘要： There is provided an abnormality determination unit that determines whether or not an output measurement unit is abnormal, in order to determine abnormality of the output measurement unit. When the output measurement unit is abnormal, the operation of an elastic actuator is controlled not in accordance with a measurement result of the output measurement unit but in accordance with an internal state model.

摘要翻译： 提供了一种异常确定单元，其确定输出测量单元是否异常，以便确定输出测量单元的异常。 当输出测量单元异常时，弹性致动器的操作不是根据输出测量单元的测量结果而是根据内部状态模型进行控制的。

公开(公告)号：US07974751B2

公开(公告)日：2011-07-05

申请号：US11786087

申请日：2007-04-10

申请人： Hideaki Ito ,  Fuminori Ozaki ,  Yumi Tsutsumi ,  Mayumi Komatsu ,  Shinichi Kuratani

发明人： Hideaki Ito ,  Fuminori Ozaki ,  Yumi Tsutsumi ,  Mayumi Komatsu ,  Shinichi Kuratani

IPC分类号： B62D6/00

CPC分类号： B62D6/008 ,  B62D5/0463 ,  B62D6/007

摘要： A sensitivity identifying device has an operating object device configured to operate when an operation member is moved according to a force applied by a user, an assist force applying device for applying an assist force to movement of the operation member, an operation force parameter detecting device for detecting a value of an operation force parameter, an operation response parameter detecting device for detecting a value of an operation response parameter, a sensitivity identifying information storage section for storing sensitivity identifying information associating a sensitivity index, with a combination of the value of the operation force parameter and the operation response parameter, and a sensitivity determining unit for specifying the sensitivity index based on the combination of the value of the operation force parameter and the operation response parameter, and the sensitivity identifying information, and outputting the sensitivity index.

摘要翻译： 灵敏度识别装置具有操作对象装置，其被配置为在操作构件根据用户施加的力而移动时进行操作;辅助力施加装置，用于向操作构件的移动施加辅助力;操作力参数检测装置 用于检测操作力参数的值，用于检测操作响应参数的值的操作响应参数检测装置，用于存储与灵敏度指标相关联的灵敏度识别信息的灵敏度识别信息存储部分， 操作力参数和操作响应参数，以及灵敏度确定单元，用于基于操作力参数的值和操作响应参数的组合以及灵敏度识别信息来指定灵敏度指数，并输出灵敏度指数。

公开(公告)号：US20070250234A1

公开(公告)日：2007-10-25

申请号：US11786087

申请日：2007-04-10

申请人： Hideaki Ito ,  Fuminori Ozaki ,  Yumi Tsutsumi ,  Mayumi Komatsu ,  Shinichi Kuratani

发明人： Hideaki Ito ,  Fuminori Ozaki ,  Yumi Tsutsumi ,  Mayumi Komatsu ,  Shinichi Kuratani

IPC分类号： G05D1/00 ,  G05D3/00 ,  B62D6/00

CPC分类号： B62D6/008 ,  B62D5/0463 ,  B62D6/007

摘要： A sensitivity identifying device has an operating object device configured to operate when an operation member is moved according to a force applied by a user, an assist force applying device for applying an assist force to movement of the operation member, an operation force parameter detecting device for detecting a value of an operation force parameter, an operation response parameter detecting device for detecting a value of an operation response parameter, a sensitivity identifying information storage section for storing sensitivity identifying information associating a sensitivity index, with a combination of the value of the operation force parameter and the operation response parameter, and a sensitivity determining unit for specifying the sensitivity index based on the combination of the value of the operation force parameter and the operation response parameter, and the sensitivity identifying information, and outputting the sensitivity index.

摘要翻译： 灵敏度识别装置具有操作对象装置，其被配置为在操作构件根据用户施加的力而移动时进行操作;辅助力施加装置，用于向操作构件的移动施加辅助力;操作力参数检测装置 用于检测操作力参数的值，用于检测操作响应参数的值的操作响应参数检测装置，用于存储与灵敏度指标相关联的灵敏度识别信息的灵敏度识别信息存储部分， 操作力参数和操作响应参数，以及灵敏度确定单元，用于基于操作力参数的值和操作响应参数的组合以及灵敏度识别信息来指定灵敏度指数，并输出灵敏度指数。