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    Method and system for automatically preventing deadlock in multi-robot systems
    1.
    发明授权
    Method and system for automatically preventing deadlock in multi-robot systems 有权
    自动防止多机器人系统中的死锁的方法和系统

    公开(公告)号：US09144904B2

    公开(公告)日：2015-09-29

    申请号：US13462234

    申请日：2012-05-02

    申请人： H. Dean McGee ,  Tien L. Chang ,  Peter Swanson ,  Jianming Tao ,  Di Xiao ,  Ho Cheung Wong ,  Sai-Kai Cheng ,  Jason Tsai

    发明人： H. Dean McGee ,  Tien L. Chang ,  Peter Swanson ,  Jianming Tao ,  Di Xiao ,  Ho Cheung Wong ,  Sai-Kai Cheng ,  Jason Tsai

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1666 ,  B25J9/1676 ,  G05B2219/39135 ,  G05B2219/40442 ,  G05B2219/40477 ,  G05B2219/40492

    摘要： A system and method for controlling avoiding collisions and deadlocks in a workcell containing multiple robots automatically determines the potential deadlock conditions and identifies a way to avoid these conditions. Deadlock conditions are eliminated by determining the deadlock-free motion statements prior to execution of the motions that have potential deadlock conditions. This determination of deadlock-free motion statements can be done offline, outside normal execution, or it can be done during normal production execution. If there is sufficient CPU processing time available, the determination during normal production execution provides the most flexibility to respond to dynamic conditions such as changes in I/O timing or the timing of external events or sequences. For minimal CPU impact the determination is done offline where many permutations of programming sequences can be analyzed and an optimized sequence of execution may be found.

    摘要翻译： 用于控制避免包含多个机器人的工作单元中的碰撞和死锁的系统和方法自动确定潜在的死锁状况并且识别避免这些条件的方式。 通过在执行具有潜在的死锁条件的运动之前确定无死锁动作语句来消除死锁条件。 这种无死锁运动语句的确定可以在正常执行之外脱机完成，也可以在正常的生产执行期间完成。 如果有足够的CPU处理时间可用，则在正常生产执行期间的确定提供了响应动态条件（例如I / O定时改变或外部事件或序列的定时）的最大灵活性。 为了最小的CPU影响，离线执行确定，可以分析编程序列的多个排列，并且可以找到优化的执行顺序。

    METHOD AND SYSTEM FOR AUTOMATICALLY PREVENTING DEADLOCK IN MULTI-ROBOT SYSTEMS
    2.
    发明申请
    METHOD AND SYSTEM FOR AUTOMATICALLY PREVENTING DEADLOCK IN MULTI-ROBOT SYSTEMS 有权
    用于自动防止多机器人系统中死机的方法和系统

    公开(公告)号：US20120215351A1

    公开(公告)日：2012-08-23

    申请号：US13462234

    申请日：2012-05-02

    申请人： H. Dean McGee ,  Tien L. Chang ,  Peter Swanson ,  Jianming Tao ,  Di Xiao ,  Ho Cheung Wong ,  Sai-Kai Cheng ,  Jason Tsai

    发明人： H. Dean McGee ,  Tien L. Chang ,  Peter Swanson ,  Jianming Tao ,  Di Xiao ,  Ho Cheung Wong ,  Sai-Kai Cheng ,  Jason Tsai

    IPC分类号： G05B19/418

    CPC分类号： B25J9/1666 ,  B25J9/1676 ,  G05B2219/39135 ,  G05B2219/40442 ,  G05B2219/40477 ,  G05B2219/40492

    摘要： A system and method for controlling avoiding collisions and deadlocks in a workcell containing multiple robots automatically determines the potential deadlock conditions and identifies a way to avoid these conditions. Deadlock conditions are eliminated by determining the deadlock-free motion statements prior to execution of the motions that have potential deadlock conditions. This determination of deadlock-free motion statements can be done offline, outside normal execution, or it can be done during normal production execution. If there is sufficient CPU processing time available, the determination during normal production execution provides the most flexibility to respond to dynamic conditions such as changes in I/O timing or the timing of external events or sequences. For minimal CPU impact the determination is done offline where many permutations of programming sequences can be analyzed and an optimized sequence of execution may be found.

    摘要翻译： 用于控制避免包含多个机器人的工作单元中的碰撞和死锁的系统和方法自动确定潜在的死锁状况并且识别避免这些条件的方式。 通过在执行具有潜在的死锁条件的运动之前确定无死锁动作语句来消除死锁条件。 这种无死锁运动语句的确定可以在正常执行之外脱机完成，也可以在正常的生产执行期间完成。 如果有足够的CPU处理时间可用，则在正常生产执行期间的确定提供了响应动态条件（例如I / O定时改变或外部事件或序列的定时）的最大灵活性。 为了最小的CPU影响，离线执行确定，可以分析编程序列的多个排列，并且可以找到优化的执行顺序。

    Multiple robot arm tracking and mirror jog
    3.
    发明授权
    Multiple robot arm tracking and mirror jog 有权
    多机器人手臂跟踪和镜面点动

    公开(公告)号：US07211978B2

    公开(公告)日：2007-05-01

    申请号：US10872270

    申请日：2004-06-18

    申请人： Tien L. Chang ,  H. Dean McGee ,  Eric Wong ,  Sai-Kai Cheng ,  Jason Tsai

    发明人： Tien L. Chang ,  H. Dean McGee ,  Eric Wong ,  Sai-Kai Cheng ,  Jason Tsai

    IPC分类号： B25J3/00 ,  B25J9/00 ,  G05B19/423 ,  G05B19/18 ,  G06F9/46

    CPC分类号： G05B19/427 ,  B25J9/1669 ,  G05B2219/36454 ,  G05B2219/37572 ,  G05B2219/39083 ,  G05B2219/39122 ,  G05B2219/39135 ,  G05B2219/39136 ,  G05B2219/39445

    摘要： A system for performing the method of this invention includes a leader having a robot arm able to articulate about first axes and supporting an end effector. A follower includes a robot arm able to articulate about respective second axes. Servo motors articulate the leader arm about the first axes and the follower arm about the second axes. A user interface allows a user to jog the arm of the leader and to program movement of the arms for automatic execution such that the end effector reaches predetermined positions. A controller, operatively connected to the servo motors and the user interface, controls operation of the servo motors, moves the arm of the leader in accordance with the programmed movement, and moves the arm of the follower such that it tracks or mirrors movement of the leader.

    摘要翻译： 用于执行本发明的方法的系统包括具有能够围绕第一轴线铰接并支撑端部执行器的机器人臂的引导件。 跟随器包括能够关于相应的第二轴线铰接的机器人手臂。 伺服电动机围绕第一轴线和从动臂围绕第二轴线连接引导臂。 用户界面允许用户对所述引导件的臂进行点动，并且编程所述臂的移动以进行自动执行，使得所述末端执行器到达预定位置。 控制器可操作地连接到伺服电动机和用户接口，控制伺服电机的操作，根据编程的运动移动引导器的臂，并移动跟随器的臂，使其跟踪或反映 领导。

    Multi-arm robot system interference check via three dimensional automatic zones
    4.
    发明授权
    Multi-arm robot system interference check via three dimensional automatic zones 有权
    多臂机器人系统通过三维自动区域进行干扰检查

    公开(公告)号：US08315738B2

    公开(公告)日：2012-11-20

    申请号：US12124430

    申请日：2008-05-21

    申请人： Tien L. Chang ,  H. Dean McGee ,  Ho Cheung Wong ,  Jianming Tao ,  Jason Tsai

    发明人： Tien L. Chang ,  H. Dean McGee ,  Ho Cheung Wong ,  Jianming Tao ,  Jason Tsai

    IPC分类号： G05B15/00

    CPC分类号： B25J9/1666 ,  G05B2219/39135 ,  G05B2219/40442 ,  G05B2219/40492

    摘要： A system and method for controlling avoiding collisions in a workcell containing multiple robots is provided. The system includes a sequence of instructions residing on a controller for execution thereon to perform an interference check automatic zone method. The interference check automatic zone method includes the steps of: determining a first portion of a common space that is occupied during a movement of a first robot along a first programmed path; determining a second portion of the common space that is occupied during a movement of a second robot along a second programmed path; comparing the first portion and the second portion to determine if an overlap exists therebetween; and moving the first robot and the second robot in response to whether or not the overlap exists.

    摘要翻译： 提供一种用于控制避免包含多个机器人的工作单元中的冲突的系统和方法。 该系统包括驻留在控制器上用于执行其上的指令序列以执行干扰检查自动区域方法。 干涉检查自动区域方法包括以下步骤：确定在第一机器人沿着第一编程路径移动期间被占用的公共空间的第一部分; 确定在第二机器人沿着第二编程路径移动期间被占用的公共空间的第二部分; 比较第一部分和第二部分以确定它们之间是否存在重叠; 并且响应于是否存在重叠来移动第一机器人和第二机器人。

    MULTI-ARM ROBOT SYSTEM INTERFERENCE CHECK VIA THREE DIMENSIONAL AUTOMATIC ZONES
    6.
    发明申请
    MULTI-ARM ROBOT SYSTEM INTERFERENCE CHECK VIA THREE DIMENSIONAL AUTOMATIC ZONES 有权
    多臂机器人系统干扰通过三维自动区域检测

    公开(公告)号：US20090326711A1

    公开(公告)日：2009-12-31

    申请号：US12124430

    申请日：2008-05-21

    申请人： Tien L. Chang ,  H. Dean McGee ,  Ho Cheung Wong ,  Jianming Tao ,  Jason Tsai

    发明人： Tien L. Chang ,  H. Dean McGee ,  Ho Cheung Wong ,  Jianming Tao ,  Jason Tsai

    IPC分类号： G05B19/418 ,  G05B19/04 ,  G05B15/00

    CPC分类号： B25J9/1666 ,  G05B2219/39135 ,  G05B2219/40442 ,  G05B2219/40492

    摘要： A system and method for controlling avoiding collisions in a workcell containing multiple robots is provided. The system includes a sequence of instructions residing on a controller for execution thereon to perform an interference check automatic zone method. The interference check automatic zone method includes the steps of: determining a first portion of a common space that is occupied during a movement of a first robot along a first programmed path; determining a second portion of the common space that is occupied during a movement of a second robot along a second programmed path; comparing the first portion and the second portion to determine if an overlap exists therebetween; and moving the first robot and the second robot in response to whether or not the overlap exists.

    摘要翻译： 提供一种用于控制避免包含多个机器人的工作单元中的冲突的系统和方法。 该系统包括驻留在控制器上用于执行其上的指令序列以执行干扰检查自动区域方法。 干涉检查自动区域方法包括以下步骤：确定在第一机器人沿着第一编程路径移动期间被占用的公共空间的第一部分; 确定在第二机器人沿着第二编程路径移动期间被占用的公共空间的第二部分; 比较第一部分和第二部分以确定它们之间是否存在重叠; 并且响应于是否存在重叠来移动第一机器人和第二机器人。