公开(公告)号：US20160257003A1

公开(公告)日：2016-09-08

申请号：US15056301

申请日：2016-02-29

Applicant: FANUC CORPORATION

Inventor： Takumi OYAMA ,  Tomoyuki YAMAMOTO

IPC: B25J9/16 ,  B25J19/06

CPC classification number: B25J9/1676 ,  B25J9/1674 ,  G05B2219/40201 ,  G05B2219/40218 ,  G05B2219/40223 ,  G05B2219/40582

Abstract: A robot control apparatus includes a stop command unit which stops a robot. A first external force judgement value smaller than a stop judgement value and a second external force judgement value smaller than the first external force judgement value are previously determined. The stop command unit inhibits a restart of execution of an operation program when, in a state where the execution of the operation program is temporarily stopped, an external force is continuously equal to or less than the first external force judgement value during a period of a first time length, and additionally, the external force continuously exceeds the second external force judgement value during a period of a second time length.

Abstract translation: 机器人控制装置包括停止机器人的停止命令单元。 预先确定小于停止判定值的第一外力判定值和小于第一外力判定值的第二外力判定值。 停止命令单元禁止重新启动操作程序的执行，在执行操作程序暂时停止的状态下，外力在第一外力判断值期间连续地等于或小于第一外力判定值 另外，在第二时间长度的周期内，外力连续地超过第二外力判定值。

公开(公告)号：US20190160668A1

公开(公告)日：2019-05-30

申请号：US16178601

申请日：2018-11-02

Applicant: FANUC CORPORATION

Inventor： Takumi OYAMA

IPC: B25J9/16

Abstract: A control device includes a stop command unit for stopping an operation of a robot when a person comes in contact with the robot, and a speed limit unit for limiting the operation speed of the robot. A distance determination value relating to an accident caused by sandwiching a person is predetermined. The speed limit unit includes a model generation unit for generating three-dimensional models of two objects among the component of the robot, a hand, and object arranged around the robot, and a distance calculation unit for calculating the shortest distance between the models of the two objects. When the shortest distance is less than the distance determination value, the speed limit unit controls the operation speed of the robot so that the operation speed is equal to or lower than a predetermined limit speed.

公开(公告)号：US20190105774A1

公开(公告)日：2019-04-11

申请号：US16131030

申请日：2018-09-14

Applicant: FANUC CORPORATION

Inventor： Takumi OYAMA ,  Tomoyuki YAMAMOTO

IPC: B25J9/16 ,  G05B19/4061 ,  G05B19/416

Abstract: A controller includes a storage unit that stores a configuration file in which a tool coordinate system including a coordinate axis extending in the restriction direction of a movement of a hand is set. The controller includes a determination unit that determines whether or not the origin of the tool coordinate system moves in the direction of the coordinate axis extending in the restriction direction. The controller includes a speed limiting unit that limits the motion speed of the robot. The speed limiting unit performs a speed reduction control for reducing the movement speed of the hand or a stop control for stopping the robot if the origin of the tool coordinate system moves in the direction of the coordinate axis extending in the restriction direction.

公开(公告)号：US20180207801A1

公开(公告)日：2018-07-26

申请号：US15856315

申请日：2017-12-28

Applicant: FANUC CORPORATION

Inventor： Takumi OYAMA

IPC: B25J9/16 ,  B25J19/06

Abstract: A robot program modification device including a program storage unit that stores an operation program for a robot, a program execution unit that executes the stored operation program, a stop position estimation unit that estimates, at each operation position of the robot during execution of the operation program, a stop position of the robot in a case of cutoff of power, based on a movement speed of the robot, a stop position determination unit that determines whether the estimated stop position is in a predetermined region or not, and a speed modification unit that modifies, in a case where the stop position is determined to be outside the region, a set speed in the operation program such that a movement speed at the operation position corresponding to the stop position is reduced.

公开(公告)号：US20230321837A1

公开(公告)日：2023-10-12

申请号：US18209477

申请日：2023-06-14

Applicant: FANUC CORPORATION ,  Preferred Networks, Inc.

Inventor： Takashi YAMAZAKI ,  Takumi OYAMA ,  Shun SUYAMA ,  Kazutaka NAKAYAMA ,  Hidetoshi KUMIYA ,  Hiroshi NAKAGAWA ,  Daisuke OKANOHARA ,  Ryosuke OKUTA ,  Eiichi MATSUMOTO ,  Keigo KAWAAI

IPC: B25J9/16

CPC classification number: B25J9/1697 ,  B25J9/163 ,  B25J9/1612 ,  G05B2219/33056 ,  G05B2219/37567 ,  G05B2219/39476 ,  G05B2219/40053

Abstract: A machine learning device that learns an operation of a robot for picking up, by a hand unit, any of a plurality of workpieces placed in a random fashion, including a bulk-loaded state, includes a state variable observation unit that observes a state variable representing a state of the robot, including data output from a three-dimensional measuring device that obtains a three-dimensional map for each workpiece, an operation result obtaining unit that obtains a result of a picking operation of the robot for picking up the workpiece by the hand unit, and a learning unit that learns a manipulated variable including command data for commanding the robot to perform the picking operation of the workpiece, in association with the state variable of the robot and the result of the picking operation, upon receiving output from the state variable observation unit and output from the operation result obtaining unit.

公开(公告)号：US20200254622A1

公开(公告)日：2020-08-13

申请号：US16860071

申请日：2020-04-28

Applicant: FANUC CORPORATION ,  Preferred Networks, Inc.

Inventor： Takashi YAMAZAKI ,  Takumi OYAMA ,  Shun SUYAMA ,  Kazutaka NAKAYAMA ,  Hidetoshi KUMIYA ,  Hiroshi NAKAGAWA ,  Daisuke OKANOHARA ,  Ryosuke OKUTA ,  Eiichi MATSUMOTO ,  Keigo KAWAAI

IPC: B25J9/16

Abstract: A machine learning device that learns an operation of a robot for picking up, by a hand unit, any of a plurality of workpieces placed in a random fashion, including a bulk-loaded state, includes a state variable observation unit that observes a state variable representing a state of the robot, including data output from a three-dimensional measuring device that obtains a three-dimensional map for each workpiece, an operation result obtaining unit that obtains a result of a picking operation of the robot for picking up the workpiece by the hand unit, and a learning unit that learns a manipulated variable including command data for commanding the robot to perform the picking operation of the workpiece, in association with the state variable of the robot and the result of the picking operation, upon receiving output from the state variable observation unit and output from the operation result obtaining unit.

公开(公告)号：US20190105775A1

公开(公告)日：2019-04-11

申请号：US16133704

申请日：2018-09-18

Applicant: FANUC CORPORATION

Inventor： Takumi OYAMA ,  Tomoyuki YAMAMOTO

IPC: B25J9/16

Abstract: A controller includes a stop command unit for stopping the motion of the robot when a person comes into contact with the robot, and a speed limiting unit for limiting the operation speed of the component driven on the drive axis. A variable calculated from the position of the component on the drive axis and the range of the variable in a state where the person is caught by the robot are determined in advance. The speed limiting unit acquires the variable from the output of a position detector and controls the operation speed of the component to a predetermined speed limit or lower if the variable is within the range.

公开(公告)号：US20170028562A1

公开(公告)日：2017-02-02

申请号：US15223141

申请日：2016-07-29

Applicant: FANUC CORPORATION ,  Preferred Networks, Inc.

Inventor： Takashi YAMAZAKI ,  Takumi OYAMA ,  Shun SUYAMA ,  Kazutaka NAKAYAMA ,  Hidetoshi KUMIYA ,  Hiroshi NAKAGAWA ,  Daisuke OKANOHARA ,  Ryosuke OKUTA ,  Eiichi MATSUMOTO ,  Keigo KAWAAI

IPC: B25J9/16

CPC classification number: B25J9/1697 ,  B25J9/1612 ,  B25J9/163 ,  G05B2219/33056 ,  G05B2219/37567 ,  G05B2219/39476 ,  G05B2219/40053

Abstract: A machine learning device that learns an operation of a robot for picking up, by a hand unit, any of a plurality of workpieces placed in a random fashion, including a bulk-loaded state, includes a state variable observation unit that observes a state variable representing a state of the robot, including data output from a three-dimensional measuring device that obtains a three-dimensional map for each workpiece, an operation result obtaining unit that obtains a result of a picking operation of the robot for picking up the workpiece by the hand unit, and a learning unit that learns a manipulated variable including command data for commanding the robot to perform the picking operation of the workpiece, in association with the state variable of the robot and the result of the picking operation, upon receiving output from the state variable observation unit and output from the operation result obtaining unit.

Abstract translation: 一种学习机器人的操作的机器学习装置，其包括：状态变量观察单元，其观察状态变量观察单元，所述机器学习装置通过手单元拾取以随机方式放置的多个工件中的任何一个， 表示机器人的状态，包括从获取每个工件的三维图的三维测量装置输出的数据，操作结果获取单元，其获得用于拾取工件的机器人的拾取操作的结果， 手单元，以及学习单元，其在从机器人的状态变量和拣选操作的结果相关联时学习包括用于命令机器人执行工件的拾取操作的命令数据的操作变量， 状态变量观察单元，并从运算结果获取单元输出。

公开(公告)号：US20160016313A1

公开(公告)日：2016-01-21

申请号：US14800804

申请日：2015-07-16

Applicant: FANUC Corporation

Inventor： Takumi OYAMA ,  Tomoyuki YAMAMOTO

IPC: B25J9/16 ,  B25J19/00

CPC classification number: B25J9/1674 ,  B25J19/0004 ,  G05B19/4063 ,  G05B2219/42309 ,  G05B2219/42314 ,  Y10S901/09

Abstract: A robot control system includes an operation command output unit which outputs an operation command of a motor, a position detection unit which is provided on the motor to detect the position of a control shaft, a stop signal output unit which outputs a stop signal to stop the robot when the speed of the control shaft acquired from the position detection unit exceeds a speed threshold value, and an operation command interruption unit which interrupts the operation command outputted from the operation command output unit when the stop signal is outputted.

Abstract translation: 机器人控制系统包括：输出电动机的动作指令的动作指令输出部;设置在电动机上的位置检测部，检测控制轴的位置;停止信号输出部，其输出停止信号 当从位置检测单元获取的控制轴的速度超过速度阈值时，机器人以及当输出停止信号时中断从操作指令输出单元输出的操作命令的操作命令中断单元。