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公开(公告)号：US20220072702A1
公开(公告)日：2022-03-10
申请号：US17531267
申请日：2021-11-19
Inventor： HIROYOSHI UEDA , HIROYUKI NAKATA , ATSUMI HASHIMOTO , RYOSUKE YAMAMOTO , MASAYOSHI IWATANI
Abstract: A determination value calculated based on a distance from a work point of a tip of robot arm (10) to virtual straight line (30) passing through an axis of second joint (J2) and an axis of third joint (J3) is compared with a predetermined threshold. A method of calculating deflection compensation amounts for second joint (J2) and third joint (J3) is changed depending on whether the determination value is larger or smaller than the threshold. Second joint (J2) and third joint (J3) are caused to pivot based on the calculated deflection compensation amounts.
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公开(公告)号：US20190275674A1
公开(公告)日：2019-09-12
申请号：US16426571
申请日：2019-05-30
Inventor： RYOSUKE YAMAMOTO , HIROYUKI NAKATA , ATSUMI HASHIMOTO , YASUYOSHI HONUCHI
IPC: B25J9/16
Abstract: In a robot having a first rotary shaft and a second rotary shaft driven by respective motors and extending in the same direction, the second rotary shaft is rotated while vibrating the first rotary shaft that is holding a load directly or indirectly, thereby rotating the first rotary shaft relative to a load. This enables calculating the gravitational torque of the load applied to the first rotary shaft.
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公开(公告)号：US20190339666A1
公开(公告)日：2019-11-07
申请号：US16310494
申请日：2017-04-07
Inventor： ATSUMI HASHIMOTO , HIROYUKI NAKATA , YASUYOSHI HONUCHI , RYOSUKE YAMAMOTO
Abstract: A motor control device includes a movement command generation unit, a movement command processing unit, and a control unit. The movement command generation unit outputs a movement command of a motor. The movement command processing unit includes a buffer, a filter, and a processing unit. The buffer holds the movement command. The filter performs filter processing of a constant and generates a new constant. The processing unit performs arithmetic processing based on the movement command held in the buffer and the new constant generated by the filter, and generates and outputs a new movement command proportional to the new constant. The control unit controls the motor based on the new movement command,
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公开(公告)号：US20150112480A1
公开(公告)日：2015-04-23
申请号：US14583297
申请日：2014-12-26
Inventor： HIROYUKI NAKATA , ATSUMI HASHIMOTO , MASARU KOWA , YASUYOSHI HONUCHI
CPC classification number: B25J9/1674 , B25J9/1676 , B25J19/06 , G05B2219/37622 , G05B2219/37624 , G06F17/11 , Y10S901/49
Abstract: In sensor-less collision detection of a robot, a conventional method for displaying abnormality of the robot makes an abnormality display of “collision detected” when a collision is erroneously detected, and does not clarify the situations under which the collision has been erroneously detected. In a method for displaying abnormality of a robot, when a collision of the robot is detected and the collision detection is displayed, at least one abnormality display is selected from a plurality of abnormality detection items different from collision detection. This can offer information useful for the user to understand the situations at occurrence of the erroneous collision detection.
Abstract translation: 在机器人的无传感器碰撞检测中，用于显示机器人异常的常规方法在错误检测到碰撞时发生“检测到碰撞”的异常显示，并且不清楚已经错误地检测到碰撞的情况。 在用于显示机器人的异常的方法中，当检测到机器人的碰撞并且显示碰撞检测时，从与碰撞检测不同的多个异常检测项目中选择至少一个异常显示。 这可以提供有用的用户了解错误碰撞检测发生时的情况的信息。
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Patent Agency Ranking
公开(公告)号：US20220168891A1
公开(公告)日：2022-06-02
申请号：US17674902
申请日：2022-02-18
Inventor： MASAYOSHI IWATANI , HIROYUKI NAKATA , HIROYOSHI UEDA , ATSUMI HASHIMOTO , YASUYOSHI HONUCHI , RYOSUKE YAMAMOTO
IPC: B25J9/16
Abstract: When workpiece (W) is brought into a non-gripping state after deflection compensation of robot arm (10) is performed in a gripping state of workpiece (W), the deflection compensation of robot arm (10) is performed in a non-gripping state of workpiece (W). Here, the deflection compensation of robot arm (10) in the non-gripping state of workpiece (W) is performed while a compensation amount is changed to gradually decrease, while hand (18) is moved from a first teaching point to a second teaching point.
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公开(公告)号：US20190260313A1
公开(公告)日：2019-08-22
申请号：US16071113
申请日：2017-03-27
Inventor： RYOSUKE YAMAMOTO , HIROYUKI NAKATA , ATSUMI HASHIMOTO , YASUYOSHI HONUCHI
Abstract: A disclosed motor control device includes: a PI controller which controls a velocity of a motor; an input unit which receives specification information including information of a weight and a center of mass of a tool; a calculation unit which calculates a gravitational torque based on the specification information; a storage which stores the gravitational torque output from the calculation unit and an integral value output from the PI controller, and outputs the gravitational torque and the integral value in response to a break signal; and a selection unit which sets, to the PI controller, the integral value output from the storage, according to a collision sensitivity input from the input unit.
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公开(公告)号：US20200009726A1
公开(公告)日：2020-01-09
申请号：US16316041
申请日：2017-05-09
Inventor： HIROYUKI NAKATA , ATSUMI HASHIMOTO , YASUYOSHI HONUCHI , RYOSUKE YAMAMOTO
IPC: B25J9/16 , B23K9/12 , G05B19/404 , B25J9/10
Abstract: A robot controlling method for operating an arm using a motor includes: performing, before the arm stops, addition to add a backlash compensation value to a position command which is input to the motor; and performing, in a period during which the robot arm is not in motion, subtraction to reduce the backlash compensation value added to the position command.
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公开(公告)号：US20190022865A1
公开(公告)日：2019-01-24
申请号：US16069900
申请日：2017-03-17
Inventor： YASUYOSHI HONUCHI , HIROYUKI NAKATA , ATSUMI HASHIMOTO , RYOSUKE YAMAMOTO
Abstract: A first acquisition unit acquires first data on first malfunction of a robot. A second acquisition unit acquires second data on second malfunction of the robot. A first determination unit determines whether or not to store the first data in accordance with the first data. A second determination unit determines whether or not to store the second data in accordance with the second data. A memory stores the first data and the second data. A controller stores the first data in the memory at a first period when the first determination unit determines to store the first data. The controller further stores the second data in the memory at a second period longer than the first period, when the first determination unit determines not to store the first data and the second determination unit determines to store the second data.
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公开(公告)号：US20180275627A1
公开(公告)日：2018-09-27
申请号：US15574004
申请日：2016-06-29
Inventor： ATSUMI HASHIMOTO , HIROYUKI NAKATA , YASUYOSHI HONUCHI , RYOSUKE YAMAMOTO
Abstract: A motor control device includes a movement command generator that outputs a movement command of a motor, a filter that performs filter processing of the movement command and outputs the filtered movement command, and a position controller that performs a position control of the motor. The filter is an infinite impulse response digital filter that is represented by a transfer function H(z): H(z)=(b0+b1·z−1+b2·z−2)/{1−(a1·z−1+a2·z−2)} with filter coefficients a1, a2, b0, b1, and b2. The filter is configured to change the filter coefficient b0 in a first sample period, to change the filter coefficients a1 and b1 in a second sample period which follows the first sample period, and to change the filter coefficients a2 and b2 in a third sample period which follows the second sample period.
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