公开(公告)号：US07002585B1

公开(公告)日：2006-02-21

申请号：US09688042

申请日：2000-10-12

申请人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Yoshiharu Nagatsuka

发明人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Yoshiharu Nagatsuka

IPC分类号： G06T13/00 ,  G06T15/70

CPC分类号： B25J9/1671 ,  G05B2219/35314 ,  G05B2219/36071 ,  G05B2219/36315

摘要： 3-D models of various types of objects such as a robot body, and a peripheral equipment, a machine, a part (workpiece), of the robot, are stored in an object library in advance. Dimension line data of an edge line of which dimension can be changed, and constraint condition for constraining coordinate positions of apexes which can be changed are also stored in the object library. A model having the shape corresponding to the shape of the object to be used is selected from the object library, and the dimension of the shape is set. The dimension of the selected model is modified so that the shape of the model corresponds to the shape of the actual object. Using the model of which dimension was adjusted, animation motion of the robot is formed on a display screen. With the above arrangement, it is possible to easily set and change object 3-D models relating to a robot motion.

摘要翻译： 机器人的各种物体（例如机器人主体，周边设备，机器，部件（工件））的3-D型号预先存储在对象库中。 尺寸可以改变的边线的尺寸线数据，以及用于约束可以改变的顶点的坐标位置的约束条件也存储在对象库中。 从对象库中选择具有与要使用的对象的形状对应的形状的模型，并且设置形状的尺寸。 所选模型的尺寸被修改，使得模型的形状对应于实际对象的形状。 使用调整尺寸的模型，在显示屏上形成机器人的动画运动。 利用上述结构，可以容易地设置和改变与机器人运动相关的对象3-D模型。

公开(公告)号：US06928337B2

公开(公告)日：2005-08-09

申请号：US10269992

申请日：2002-10-15

申请人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Yoshiharu Nagatsuka

发明人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Yoshiharu Nagatsuka

IPC分类号： B25J9/16 ,  B25J9/22 ,  G05B19/4068 ,  G06F19/00

CPC分类号： B25J9/1671 ,  G05B2219/32351 ,  G05B2219/40314 ,  Y02P90/26

摘要： A computer is connected to a system formed by combining a robot with a peripheral device (such as a welder). The computer receives robot mechanical unit motion position information supplied from a robot controller and command information to be outputted to the peripheral device, and displays motions of the robot mechanical unit and the peripheral device on its display screen in an animation form.

摘要翻译： 计算机连接到通过将机器人与外围设备（例如焊工）组合而形成的系统。 计算机接收从机器人控制器提供的机器人机械单元运动位置信息和要输出到外围设备的命令信息，并以动画形式在其显示屏上显示机器人机械单元和外围设备的运动。

公开(公告)号：US07512459B2

公开(公告)日：2009-03-31

申请号：US10882240

申请日：2004-07-02

申请人： Atsushi Watanabe ,  Yoshiharu Nagatsuka ,  Tetsuya Kosaka

发明人： Atsushi Watanabe ,  Yoshiharu Nagatsuka ,  Tetsuya Kosaka

IPC分类号： G06F19/00

CPC分类号： B25J9/1671 ,  B25J9/1664 ,  G05B2219/40317 ,  G05B2219/40465 ,  G05B2219/40515 ,  G05B2219/40629

摘要： A robot off-line simulation apparatus that allows a person to know an optimum placement for a robot, an operation margin index, etc. before going to an actual working site. Provisional robot placing positions are selected using data about a given sequence of task points (operation path), etc. The conditions for selection are (i) that solution to the inverse kinematics should be found regarding the entire sequence of task points, (ii) that the robot should not interfere with a peripheral device, and (iii) that regarding all the axes of the robot, the operation margin index should satisfy a criterion value. Simulation is performed according to operation programs under the condition that the robot is placed at each of the provisional placing positions, where data about cycle time, duty, energy value, change in acceleration/speed, etc. is collected. Using the collected data, evaluation of operation is performed regarding each of the provisional placing positions, and those provisional placing positions which allow good operation are identified as placing positions ensuring the robot operation. Further, using an evaluation function in which each aspect is given a weighting, the placing positions ensuring the robot operation are reduced to optimum placing positions ensuring the robot operation.

摘要翻译： 一种机器人离线模拟装置，其允许人在进入实际工作现场之前知道机器人的最佳布置，操作余量指数等。 使用关于给定的任务点（操作路径）等的数据来选择临时机器人放置位置。选择的条件是（i）应该找到关于任务点的整个序列的反向运动学的解，（ii） 机器人不应该干扰外围设备，并且（iii）对于机器人的所有轴，操作余量指数应满足标准值。 在机器人放置在每个临时放置位置的条件下，根据操作程序进行仿真，其中收集关于循环时间，占空比，能量值，加速度/速度变化等的数据。 使用收集的数据，对每个临时放置位置执行操作评估，并且将允许良好操作的那些临时放置位置识别为确保机器人操作的放置位置。 此外，使用其中每个方面被赋予加权的评估功能，将确保机器人操作的放置位置减少到确保机器人操作的最佳放置位置。

公开(公告)号：US06853881B2

公开(公告)日：2005-02-08

申请号：US10112866

申请日：2002-04-02

申请人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Yoshiharu Nagatsuka

发明人： Atsushi Watanabe ,  Tetsuya Kosaka ,  Yoshiharu Nagatsuka

IPC分类号： B25J9/16 ,  B25J9/18 ,  B25J9/22 ,  G05B19/4069 ,  G05B19/414 ,  G05B19/425 ,  G05B15/00 ,  G05B19/00

CPC分类号： G05B19/425 ,  B25J9/1671 ,  G05B2219/32126 ,  G05B2219/36163 ,  G05B2219/36169 ,  G05B2219/39448

摘要： A robot controller executes an operating program, calculates a position and posture of a robot, and sends the position and posture information to a personal computer (PC). At the PC side, on the basis of this position and posture information, animation display information of a work cell including the position and posture of the robot is created and then sent to a teaching pendant. In the teaching pendant, the animation display information is received, and an animation image is displayed on a display section. Until the operating program is terminated, this operation is performed so that an operating animation of the robot is displayed on the display section of the teaching pendant.

摘要翻译： 机器人控制器执行操作程序，计算机器人的位置和姿势，并将位置和姿势信息发送到个人计算机（PC）。 在PC侧，基于该位置和姿势信息，创建包括机器人的位置和姿势的工作单元的动画显示信息，然后发送到教学用吊坠。 在教学用吊坠中，接收动画显示信息，在显示部显示动画图像。 在操作程序终止之前，执行该操作，使得机器人的操作动画显示在示教器的显示部分上。

公开(公告)号：US20050004709A1

公开(公告)日：2005-01-06

申请号：US10882240

申请日：2004-07-02

申请人： Atsushi Watanabe ,  Yoshiharu Nagatsuka ,  Tetsuya Kosaka

发明人： Atsushi Watanabe ,  Yoshiharu Nagatsuka ,  Tetsuya Kosaka

IPC分类号： B25J9/22 ,  B25J9/16 ,  G05B19/4069 ,  G06F19/00

CPC分类号： B25J9/1671 ,  B25J9/1664 ,  G05B2219/40317 ,  G05B2219/40465 ,  G05B2219/40515 ,  G05B2219/40629

摘要： A robot off-line simulation apparatus that allows a person to know an optimum placement for a robot, an operation margin index, etc. before going to an actual working site. Provisional robot placing positions are selected using data about a given sequence of task points (operation path), etc. The conditions for selection are (i) that solution to the inverse kinematics should be found regarding the entire sequence of task points, (ii) that the robot should not interfere with a peripheral device, and (iii) that regarding all the axes of the robot, the operation margin index should satisfy a criterion value. Simulation is performed according to operation programs under the condition that the robot is placed at each of the provisional placing positions, where data about cycle time, duty, energy value, change in acceleration/speed, etc. is collected. Using the collected data, evaluation of operation is performed regarding each of the provisional placing positions, and those provisional placing positions which allow good operation are identified as placing positions ensuring the robot operation. Further, using an evaluation function in which each aspect is given a weighting, the placing positions ensuring the robot operation are reduced to optimum placing positions ensuring the robot operation.

摘要翻译： 一种机器人离线模拟装置，其允许人在进入实际工作现场之前知道机器人的最佳布置，操作余量指数等。 使用关于给定的任务点（操作路径）等的数据来选择临时机器人放置位置。选择的条件是（i）应该找到关于任务点的整个序列的逆运动学的解决方案，（ii） 机器人不应该干扰外围设备，并且（iii）对于机器人的所有轴，操作余量指数应满足标准值。 在机器人放置在每个临时放置位置的条件下，根据操作程序进行仿真，其中收集关于循环时间，占空比，能量值，加速度/速度变化等的数据。 使用收集的数据，对每个临时放置位置执行操作评估，并且将允许良好操作的那些临时放置位置识别为确保机器人操作的放置位置。 此外，使用其中每个方面被赋予加权的评估功能，将确保机器人操作的放置位置减少到确保机器人操作的最佳放置位置。

公开(公告)号：US07613545B2

公开(公告)日：2009-11-03

申请号：US11099504

申请日：2005-04-06

申请人： Atsushi Watanabe ,  Hirohiko Kobayashi ,  Yoshiharu Nagatsuka

发明人： Atsushi Watanabe ,  Hirohiko Kobayashi ,  Yoshiharu Nagatsuka

IPC分类号： G06F19/00

CPC分类号： G05B19/4061 ,  B25J9/1666 ,  G05B2219/40317 ,  G05B2219/40515 ,  Y02P90/265

摘要： An offline programming device in which a path for preventing interference may be automatically inserted such that a welding robot does not interfere with a jig clamping a workpiece to be welded. The models of the robot, the workpiece and the clamp jig are indicated on a display for determining the path for preventing interference. A simulation is carried out to judge that interference with the jig may occur. When it is judged that interference will occur, data of the preventing path suitable for a straight path passing through the jig are read out from a library including registered preventing paths corresponding to shapes of various jigs. The data of the preventing path includes the three-dimensional data of each point of the path as the incremental value in relation to a reference point of the path. Also, the orientation of a welding torch is registered. The corrected welding program may be downloaded to the actual robot so as to correct the uploaded offline program by using a test result in the actual robot.

摘要翻译： 可以自动插入用于防止干扰的路径的离线编程装置，使得焊接机器人不干涉夹具待焊接的工件的夹具。 在显示器上指示机器人，工件和夹具的型号，以确定用于防止干扰的路径。 进行模拟以判断可能发生对夹具的干扰。 当判断出会发生干扰时，从包括对应于各种夹具的形状的登记防止路径的库中读出适合于穿过夹具的直线路径的防止路径的数据。 防止路径的数据包括路径的每个点的三维数据作为与路径的参考点相关的增量值。 另外，记录了焊炬的取向。 校正焊接程序可以下载到实际的机器人中，以便通过在实际机器人中使用测试结果来校正上传的脱机程序。

公开(公告)号：US20050224479A1

公开(公告)日：2005-10-13

申请号：US11099504

申请日：2005-04-06

申请人： Atsushi Watanabe ,  Hirohiko Kobayashi ,  Yoshiharu Nagatsuka

发明人： Atsushi Watanabe ,  Hirohiko Kobayashi ,  Yoshiharu Nagatsuka

IPC分类号： B25J9/22 ,  B25J9/16 ,  G05B19/4061 ,  G05B19/4069 ,  G05B19/4093 ,  G05B19/42 ,  B23K9/12

CPC分类号： G05B19/4061 ,  B25J9/1666 ,  G05B2219/40317 ,  G05B2219/40515 ,  Y02P90/265

摘要： An offline programming device in which a path for preventing interference may be automatically inserted such that a welding robot does not interfere with a jig clamping a workpiece to be welded. The models of the robot, the workpiece and the clamp jig are indicated on a display for determining the path for preventing interference. A simulation is carried out to judge that interference with the jig may occur. When it is judged that interference will occur, data of the preventing path suitable for a straight path passing through the jig are read out from a library including registered preventing paths corresponding to shapes of various jigs. The data of the preventing path includes the three-dimensional data of each point of the path as the incremental value in relation to a reference point of the path. Also, the orientation of a welding torch is registered. The corrected welding program may be downloaded to the actual robot so as to correct the uploaded offline program by using a test result in the actual robot.

摘要翻译： 可以自动插入用于防止干扰的路径的离线编程装置，使得焊接机器人不干涉夹具待焊接的工件的夹具。 在显示器上指示机器人，工件和夹具的型号，以确定用于防止干扰的路径。 进行模拟以判断可能发生对夹具的干扰。 当判断出会发生干扰时，从包括对应于各种夹具的形状的登记防止路径的库中读出适合于穿过夹具的直线路径的防止路径的数据。 防止路径的数据包括路径的每个点的三维数据作为与路径的参考点相关的增量值。 另外，记录了焊炬的取向。 校正焊接程序可以下载到实际的机器人中，以便通过在实际机器人中使用测试结果来校正上传的脱机程序。

公开(公告)号：US07643905B2

公开(公告)日：2010-01-05

申请号：US11279348

申请日：2006-04-11

申请人： Atsushi Watanabe ,  Yoshiharu Nagatsuka

发明人： Atsushi Watanabe ,  Yoshiharu Nagatsuka

IPC分类号： G05B19/04

CPC分类号： G05B19/4207 ,  B25J9/1656 ,  G05B19/4083 ,  G05B2219/36416 ,  G05B2219/37079 ,  G05B2219/39012 ,  Y02P90/265

摘要： A robot program correcting apparatus, which displays three-dimensional models of a robot and a workpiece simultaneously on the screen of a display apparatus, and corrects an operation program for the robot, includes: a unit retrieving a robot operation program and a working position based on at least either a line or a surface computed from touchup points and on a touchup position or points representing a working position specified on the screen; a difference computing unit computing a difference between at least either the line or surface computed from the touchup points and at least either a line or a surface computed from the plurality of points as position information representing the retrieved working position; and a correcting unit correcting the robot operation program by computing the amount of correction based on the difference, thereby reducing the number of steps required when correcting the robot operation program.

摘要翻译： 一种机器人程序校正装置，其在显示装置的屏幕上同时显示机器人和工件的三维模型，并且修正机器人的操作程序，包括：检索机器人操作程序和基于工作位置的单元 在从触摸点和触摸位置计算的行或表面中的至少一个或表示在屏幕上指定的工作位置的点上; 差分计算单元计算从所述触摸点计算的行或表面中的至少一个和从所述多个点计算的行或表面中的至少一个作为表示检索到的工作位置的位置信息之间的差; 以及校正单元，通过基于差异计算校正量来校正机器人操作程序，由此减少在校正机器人操作程序时所需的步骤数量。

公开(公告)号：US07447615B2

公开(公告)日：2008-11-04

申请号：US10972675

申请日：2004-10-26

申请人： Atsushi Watanabe ,  Yoshiharu Nagatsuka

发明人： Atsushi Watanabe ,  Yoshiharu Nagatsuka

IPC分类号： G06G7/48

CPC分类号： G05B19/4069 ,  B25J9/1671 ,  G05B2219/32351 ,  G05B2219/39031 ,  G05B2219/40003 ,  G05B2219/40121 ,  G05B2219/40131 ,  G05B2219/40314 ,  G05B2219/40323 ,  Y02P90/26 ,  Y02P90/265

摘要： A work cell is defined on the simulation apparatus and a robot mounting an image capturing device, a workpiece, etc. are arranged in it; a separately set visual volume model is introduced into it, a tool coordinate system (tool tip point) is defined at a view point, and a detection reference point (detection reference coordinate system) is set relating to the workpiece; a graphic jog is performed to make the robot move so that the tool coordinate system matches with the detection reference coordinate system; and a simulated correction amount by the visual sensor is designated and the display of the visual volume model is switched on and off in accordance with output/nonoutput of the image capturing command at the time of simulation of the operation program.

摘要翻译： 在模拟装置上定义工作单元，并且在其中布置安装图像捕获装置，工件等的机器人; 在其中引入单独设置的视觉体积模型，在视点定义工具坐标系（工具尖端点），并且设置与工件有关的检测参考点（检测参考坐标系）; 执行图形点动以使机器人移动，使得工具坐标系与检测基准坐标系匹配; 并且指定视觉传感器的模拟校正量，并且在模拟操作程序时根据图像捕获命令的输出/非输出来打开和关闭视觉体积模型的显示。

公开(公告)号：US20070299557A1

公开(公告)日：2007-12-27

申请号：US11279348

申请日：2007-04-23

申请人： Atsushi Watanabe ,  Yoshiharu Nagatsuka

发明人： Atsushi Watanabe ,  Yoshiharu Nagatsuka

IPC分类号： G05B19/00

CPC分类号： G05B19/4207 ,  B25J9/1656 ,  G05B19/4083 ,  G05B2219/36416 ,  G05B2219/37079 ,  G05B2219/39012 ,  Y02P90/265

摘要： A robot program correcting apparatus, which displays three-dimensional models of a robot (16) and a workpiece (17) simultaneously on the screen of a display apparatus (12), and corrects an operation program for said robot, comprises: a unit (25, 32) retrieving a robot operation program and a working position based on at least either a line or a surface computed from touchup points and on a touchup position or points representing a working position specified on the screen; a difference computing unit (26, 33) computing a difference between at least either the line or surface computed from the touchup points and at least either a line or a surface computed from the plurality of points as position information representing the retrieved working position; and a correcting unit correcting the robot operation program by computing the amount of correction based on the difference, thereby reducing the number of steps required when correcting the robot operation program.

摘要翻译： 一种机器人程序校正装置，其在显示装置（12）的屏幕上同时显示机器人（16）和工件（17）的三维模型，并且校正所述机器人的操作程序，包括：单元（ 基于从触摸点计算的行或表面，以及表示在屏幕上指定的工作位置的触摸位置或点，至少检索机器人操作程序和工作位置; 计算从所述触摸点计算的行或表面中的至少一个或从所述多个点计算的行或表面中的至少一个作为表示检索到的工作位置的位置信息之间的差异的差分计算单元（26,33） 以及校正单元，通过基于差异计算校正量来校正机器人操作程序，由此减少在校正机器人操作程序时所需的步骤数量。