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    Robot arm control device and robot arm operation method
    2.
    发明授权
    Robot arm control device and robot arm operation method 有权

    公开(公告)号：US10556353B2

    公开(公告)日：2020-02-11

    申请号：US15393602

    申请日：2016-12-29

    Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

    Inventor： Jui-Yiao Su ,  Yan-Chen Liu ,  Chang-Yi Chen ,  Ching-Shun Chen ,  Wen-Ching Ko ,  Hung-Hsiu Yu ,  Jwu-Sheng Hu

    IPC: B25J19/06 ,  B25J13/08 ,  B25J9/16 ,  B25J9/12

    Abstract: A robot arm control device includes a pressure sensing module, a workspace defining module and a control module. The pressure sensing module, arranged on a robot arm, detects whether an object hits or touches the robot arm to switch the operating mode of the robot arm. The workspace defining module includes a sensing region arranged on a peripheral area around the robot arm. The workspace defining module determines whether the object enters an operating space according to the position of the object in the sensing region, and sets the working range and the working mode of the robot arm according to which operating space the object has entered. The control module, connected to the robot arm, the pressure sensing module and the workspace defining module, switches the operating mode and outputs a motor driving signal to the robot arm according to the working mode of the robot arm.

    Control device of robot arm and teaching system and method using the same
    3.
    发明授权
    Control device of robot arm and teaching system and method using the same 有权

    公开(公告)号：US10144125B2

    公开(公告)日：2018-12-04

    申请号：US15392251

    申请日：2016-12-28

    Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

    Inventor： Jui-Yiao Su ,  Yan-Chen Liu ,  Ching-Shun Chen ,  Chang-Yi Chen ,  Cheng-Li Wu ,  Hung-Hsiu Yu

    IPC: G05B15/00 ,  G05B19/00 ,  B25J9/00 ,  B25J13/08 ,  G05B19/423 ,  G05B19/425

    Abstract: A control device of robot arm including a pressure sensing module and a control module is provided. The pressure sensing module, disposed on an operating portion of a robot arm, has a touch-sensing surface for detecting an operation command applied to the touch-sensing surface. The control module receives at least a pressure sensing signal outputted by the pressure sensing module and outputs a motor driving signal to the robot arm in response to the operation command. The touch-sensing surface includes a first touch-sensing region and a second touch-sensing region. The first touch-sensing region is for defining a first reference coordinate system satisfying a translational motion mode. The second touch-sensing region is for defining a second reference coordinate system satisfying a rotational motion mode. The control module controls the robot arm according to the operation command.

    Belt grinder
    5.
    发明授权
    Belt grinder 有权

    公开(公告)号：US11161216B2

    公开(公告)日：2021-11-02

    申请号：US16191224

    申请日：2018-11-14

    Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

    Inventor： Hsiang-Nien Chung ,  Hung-Hsiu Yu ,  Kuo-Feng Hung

    IPC: B24B21/06 ,  B24B21/14 ,  B24B21/16 ,  B24B21/22 ,  B24B21/00

    Abstract: This disclosure relates to a belt grinder includes frame and first grinding assembly. The first grinding assembly includes transmission roller set, grinding belt and adjusting assembly. The transmission roller set includes driving roller and driven roller. Both the driving roller and the driven roller are rotatably disposed on the frame. The grinding belt is installed over the driving roller and the driven roller. The adjusting assembly includes rotatable component and contact rollers. The rotatable component is rotatably disposed on the frame. Rotation axis of the rotatable component is parallel to rotation axis of the driving roller. The contact rollers are rotatably disposed on the rotatable component. Contact rollers are different in shape. The rotatable component is rotatable with respect to the frame so as to force one of the contact rollers to contact or to be separated from the grinding belt.

    Robot arm calibration device and method thereof
    6.
    发明授权
    Robot arm calibration device and method thereof 有权

    公开(公告)号：US10737387B2

    公开(公告)日：2020-08-11

    申请号：US15936103

    申请日：2018-03-26

    Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

    Inventor： Yan-Yi Du ,  Cheng-Chuan Chao ,  Shu Huang ,  Hung-Hsiu Yu

    IPC: B25J9/16 ,  B25J9/00

    Abstract: A robot arm calibration device is provided, which includes a light emitter, a light sensing module, a cooperative motion controller and a processing module. The light emitter is disposed on at least one robot arm to emit a light beam. The light sensing module is disposed on at least another robot arm to receive the light beam and the light beam is converted into a plurality of image data. The cooperative motion controller is configured to drive the light emitter and light sensing module on at least two robot arms to a corrected position and a position to be corrected, respectively. The processing module receives the image data and the motion parameters of the at least two robot arms to calculate an error value between the corrected position and the position to be corrected, and analyzes the image data to output a corrected motion parameter for modifying motion command.

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