公开(公告)号：US20190160672A1

公开(公告)日：2019-05-30

申请号：US16197358

申请日：2018-11-21

Applicant: FANUC CORPORATION

Inventor： Tomoyuki YAMAMOTO ,  Nao OOSHIMA

IPC: B25J9/16 ,  G05B19/42

Abstract: A robot teaching system includes a hand guide unit including a stick for use in a teaching operation of a robot, and a wireless communication unit configured to communicate by radio with a teach pendant; a relative position setting unit configured to set relative position information between the hand guide unit and the robot; and a coordinate calculation unit configured to calculate, based on the relative position information, coordinates having as an origin a flange surface of the robot or a distal end point of a tool attached to the robot, in such a manner as to correspond to an operation direction of the stick.

公开(公告)号：US20180281180A1

公开(公告)日：2018-10-04

申请号：US15935456

申请日：2018-03-26

Applicant: FANUC CORPORATION

Inventor： Tomoyuki YAMAMOTO ,  Yuusuke KURIHARA

IPC: B25J9/16

Abstract: To provide an action information learning device, robot control system and action information learning method for facilitating the performing of cooperative work by an operator with a robot. An action information learning device includes: a state information acquisition unit that acquires a state of a robot; an action information output unit for outputting an action, which is adjustment information for the state; a reward calculation section for acquiring determination information, which is information about a handover time related to handover of a workpiece, and calculating a value of reward in reinforcement learning based on the determination information thus acquired; and a value function update section for updating a value function by way of performing the reinforcement learning based on the value of reward calculated by the reward calculation section, the state and the action.

公开(公告)号：US20170274528A1

公开(公告)日：2017-09-28

申请号：US15466378

申请日：2017-03-22

Applicant: FANUC CORPORATION

Inventor： Gou INABA ,  Tomoyuki YAMAMOTO

IPC: B25J9/16

CPC classification number: B25J9/163 ,  B25J9/1674 ,  G05B2219/39082 ,  G05B2219/40492

Abstract: A robot system is provided with a robot including a combination of mechanical units serving as multiple modules, a robot control device that controls the robot, and a memory provided in each of the mechanical units. In the memory, a shape model and a parameter for estimating the coasting distance of the robot are stored beforehand, the shape model indicating the shape of the mechanical unit.

公开(公告)号：US20210016389A1

公开(公告)日：2021-01-21

申请号：US16921054

申请日：2020-07-06

Applicant: FANUC CORPORATION

Inventor： Masanobu HATADA ,  Tomoyuki YAMAMOTO ,  Shigeo YOSHIDA ,  Takahiro TANAKA

IPC: B23K26/03 ,  B23K26/21 ,  B23K26/082

Abstract: An adjustment assistance device is attached to a galvanometer scanner at a laser output side of the galvanometer scanner and used to adjust a tool coordinate system of the galvanometer scanner. The adjustment assistance device includes a light-receiving member having a light-receiving surface, which is at least one flat surface; and a connecting member that connects the light-receiving member to the galvanometer scanner and that enables the light-receiving surface to face a laser output port of the galvanometer scanner with a predetermined distance therebetween. The light-receiving member includes a light-receiving mark portion on the light-receiving surface, the light-receiving mark portion being a mark used to quantify a relative positional difference between a reference light-receiving position for light output from the laser output port and an actual light-receiving position at which the light output from the laser output port is received.

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：US20160176052A1

公开(公告)日：2016-06-23

申请号：US14943608

申请日：2015-11-17

Applicant: FANUC Corporation

Inventor： Tomoyuki YAMAMOTO

IPC: B25J9/16

CPC classification number: B25J9/1676 ,  G05B2219/40201 ,  G05B2219/40202 ,  Y10S901/02 ,  Y10S901/46 ,  Y10S901/49

Abstract: A robot control device comprises a mass parameter setting unit which sets a mass parameter, and a stop command unit which sends a stop command of a robot. A first upper limit value regarding external force and a second upper limit value smaller than the first upper limit value have been set. The stop command unit stops the robot when estimated external force exceeds the first upper limit value. Furthermore, the stop command unit makes the robot to be in a stop state when an average value of the external force exceeds the second upper limit value.

Abstract translation: 机器人控制装置包括设置质量参数的质量参数设定单元和发送机器人的停止命令的停止命令单元。 已经设定了关于外力的第一上限值和小于第一上限值的第二上限值。 当估计的外力超过第一上限值时，停止命令单元停止机器人。 此外，当外力的平均值超过第二上限值时，停止命令单元使机器人处于停止状态。

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。

公开(公告)号：US20240123623A1

公开(公告)日：2024-04-18

申请号：US18278096

申请日：2022-03-22

Applicant: FANUC CORPORATION

Inventor： Kouichirou HAYASHI ,  Tomoyuki YAMAMOTO ,  Hajime SUZUKI

IPC: B25J9/16 ,  B25J19/02

CPC classification number: B25J9/1694 ,  B25J9/1674 ,  B25J19/02

Abstract: A control device controls a robot in which a sensor is disposed, the control device comprising: a sensor coordinate storage unit for storing coordinate system information of a sensor coordinate system; a sensor setting storage unit for storing setting information; a sensor data receiving unit for receiving sensor data; an axis angle detection unit for detecting an angle of each of a plurality of axes included in the robot; a sensor value estimation unit for estimating a sensor value to be detected; and an anomalous sensor value determination unit for comparing the value of the sensor data and the sensor value estimated by the sensor value estimation unit and determining that the sensor data receiving unit is receiving sensor data from a sensor of another robot if the difference between the value of the sensor data and the estimated sensor value exceeds a preset threshold value.

公开(公告)号：US20230211496A1

公开(公告)日：2023-07-06

申请号：US18000983

申请日：2021-06-18

Applicant: FANUC CORPORATION

Inventor： Yasuhiro NAITOU ,  Tomoyuki YAMAMOTO

IPC: B25J9/16

CPC classification number: B25J9/1651 ,  B25J9/161 ,  B25J9/1653

Abstract: Provided is a robot control device capable of easily setting a robot operation speed which is safe for an operator. The robot control device is equipped with: a selection unit for selecting a location of a human body; an allowed speed storage unit for associating and storing the location of the human body and the allowed speed for the robot at said location; and a robot control unit for retrieving the allowed speed associated with the location selected by the selection unit from the allowed speed storage unit, and setting the smallest value for the retrieved allowed speed as the maximum speed for the robot.

公开(公告)号：US20200156262A1

公开(公告)日：2020-05-21

申请号：US16683675

申请日：2019-11-14

Applicant: FANUC CORPORATION

Inventor： Tomoyuki YAMAMOTO ,  Nobuhiro YOSHIDA

IPC: B25J15/04 ,  B25J9/16

Abstract: The robot controller includes: a memory configured to store a first value representing a position of a first movable member detected by a first position detector when a first tool including the first movable member and the first position detector is detached from a robot or when the first movable member moves to a predetermined position; and a processor configured to execute a predetermined process in accordance with a difference between the first value stored in the memory and a second value representing a position of a second movable member detected by a second position detector when a second tool including the second movable member and the second position detector is attached to the robot or when the second movable member moves to the predetermined position after the second tool is attached to the robot.