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公开(公告)号：US08553842B2
公开(公告)日：2013-10-08
申请号：US13137634
申请日：2011-08-30
申请人： Kyung Won Moon , San Lim , Kwang Kyu Lee , Kyung Shik Roh
发明人： Kyung Won Moon , San Lim , Kwang Kyu Lee , Kyung Shik Roh
CPC分类号： A61B6/4452 , A61B6/0407 , A61B6/4464 , A61B6/467 , A61B6/547 , A61B6/587
摘要： An X-ray apparatus includes guide rails arranged along different axes, an X-ray tube movably mounted on at least one of the guide rails and adapted to be moved upon user force, motors provided at the guide rails to move the X-ray tube, a force detection unit to detect the user force, and a control unit to determine a direction of force and drive the motor provided at the guide rail on an axis corresponding to the determined direction. The X-ray apparatus may be easily moved based on force detection and velocity control of the motor, thereby achieving more precise and safe movement in a desired direction. Accordingly, the X-ray apparatus may provide rapid and efficient medical examination and treatment in hospitals.
摘要翻译： X射线设备包括沿着不同轴线布置的导轨，X射线管可移动地安装在至少一个导轨上并且适于在用户力下移动，设置在导轨上的电动机以移动X射线管 检测用户力的力检测单元，以及确定力方向的控制单元，并且在与所确定的方向对应的轴上驱动设置在导轨上的马达。 可以基于马达的力检测和速度控制容易地移动X射线装置，从而在期望的方向上实现更精确和安全的运动。 因此，X射线设备可以在医院中提供快速有效的体检。
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公开(公告)号：US20120168397A1
公开(公告)日：2012-07-05
申请号：US13298812
申请日：2011-11-17
申请人： San Lim , Kwang Kyu Lee , Kyung Won Moon , Kyung Shik Roh
发明人： San Lim , Kwang Kyu Lee , Kyung Won Moon , Kyung Shik Roh
CPC分类号： B66C13/063 , B66D3/18
摘要： A hoist apparatus including a hoist and control method are provided. The hoist includes a cable to which an object is connected, a motor, a drum to wind or unwind the cable in linkage with rotation of the motor, a pulley connected to the drum via the cable to guide the cable to the drum, and an angle detection assembly to detect an angle of the cable between the pulley and the object. A control unit detects whether the object shakes based on the angle of the cable and controls shaking restriction if shaking of the object is detected. User force and angle of the cable are detected and movement of the object is controlled, the object is easily moved by the user, auxiliary force is applied to the object, and vibration of the object is minimized.
摘要翻译： 提供了一种包括起重机和控制方法的起重设备。 起重机包括连接物体的电缆，马达，与电动机的旋转相关联地卷绕或退绕电缆的滚筒，经由电缆连接到滚筒以将电缆引导到滚筒的滑轮，以及 角度检测组件，以检测皮带轮和物体之间的电缆的角度。 控制单元基于电缆的角度来检测物体是否摇动，并且如果检测到物体的晃动则控制抖动限制。 检测用户力和角度，并控制物体的移动，使用者容易移动物体，对物体施加辅助力，物体的振动最小化。
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公开(公告)号：US09298194B2
公开(公告)日：2016-03-29
申请号：US13317999
申请日：2011-11-02
申请人： Kwang Kyu Lee , San Lim , Kyung Won Moon , Kyung Shik Roh
发明人： Kwang Kyu Lee , San Lim , Kyung Won Moon , Kyung Shik Roh
CPC分类号： G05D15/01 , A61B6/102 , A61B6/107 , A61B6/4441 , A61B6/4447 , A61B6/4452
摘要： A method to control medical equipment that moves along at least one axis or performs joint movement is provided. While the medical equipment is passively moved as operated by the operator, the operation intention of the operator is determined using a force sensor, a torque sensor, or the like, and motor control is performed taking into consideration the determined operation intention to reduce load (or drive power) of the operator. To accomplish this, the method determines a direction and magnitude of force that an operator applies to the medical equipment to move the medical equipment and generates auxiliary force having a magnitude proportional to the force applied by the operator and having the same direction as the direction of the force applied by the operator such that the medical equipment may be moved.
摘要翻译： 提供了一种控制沿着至少一个轴线移动或执行关节运动的医疗设备的方法。 当医疗设备由操作者操作被动地移动时，使用力传感器，扭矩传感器等来确定操作者的操作意图，并且考虑所确定的操作意图来执行电动机控制以减轻负载（ 或驱动功率）。 为了实现这一点，该方法确定了操作者施加到医疗设备以移动医疗设备的力的方向和大小，并产生具有与操作者施加的力成比例的大小的辅助力，并且具有与方向相同的方向 由操作者施加的力使得医疗设备可以移动。
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公开(公告)号：US20120087479A1
公开(公告)日：2012-04-12
申请号：US13137634
申请日：2011-08-30
申请人： Kyung Won Moon , San Lim , Kwang Kyu Lee , Kyung Shik Roh
发明人： Kyung Won Moon , San Lim , Kwang Kyu Lee , Kyung Shik Roh
IPC分类号： H05G1/02
CPC分类号： A61B6/4452 , A61B6/0407 , A61B6/4464 , A61B6/467 , A61B6/547 , A61B6/587
摘要： An X-ray apparatus includes guide rails arranged along different axes, an X-ray tube movably mounted on at least one of the guide rails and adapted to be moved upon user force, motors provided at the guide rails to move the X-ray tube, a force detection unit to detect the user force, and a control unit to determine a direction of force and drive the motor provided at the guide rail on an axis corresponding to the determined direction. The X-ray apparatus may be easily moved based on force detection and velocity control of the motor, thereby achieving more precise and safe movement in a desired direction. Accordingly, the X-ray apparatus may provide rapid and efficient medical examination and treatment in hospitals.
摘要翻译： X射线设备包括沿着不同轴线布置的导轨，X射线管可移动地安装在至少一个导轨上并且适于在用户力下移动，设置在导轨上的电动机以移动X射线管 检测用户力的力检测单元，以及确定力方向的控制单元，并且在与所确定的方向对应的轴上驱动设置在导轨上的马达。 可以基于马达的力检测和速度控制容易地移动X射线装置，从而在期望的方向上实现更精确和安全的运动。 因此，X射线设备可以在医院中提供快速有效的体检。
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公开(公告)号：US20120136480A1
公开(公告)日：2012-05-31
申请号：US13317999
申请日：2011-11-02
申请人： Kwang Kyu Lee , San Lim , Kyung Won Moon , Kyung Shik Roh
发明人： Kwang Kyu Lee , San Lim , Kyung Won Moon , Kyung Shik Roh
CPC分类号： G05D15/01 , A61B6/102 , A61B6/107 , A61B6/4441 , A61B6/4447 , A61B6/4452
摘要： A method to control medical equipment that moves along at least one axis or performs joint movement is provided. While the medical equipment is passively moved as operated by the operator, the operation intention of the operator is determined using a force sensor, a torque sensor, or the like, and motor control is performed taking into consideration the determined operation intention to reduce load (or drive power) of the operator. To accomplish this, the method determines a direction and magnitude of force that an operator applies to the medical equipment to move the medical equipment and generates auxiliary force having a magnitude proportional to the force applied by the operator and having the same direction as the direction of the force applied by the operator such that the medical equipment is easily moved.
摘要翻译： 提供了一种控制沿着至少一个轴线移动或执行关节运动的医疗设备的方法。 当医疗设备由操作者操作被动地移动时，使用力传感器，扭矩传感器等来确定操作者的操作意图，并且考虑所确定的操作意图来执行电动机控制以减轻负载（ 或驱动功率）。 为了实现这一点，该方法确定了操作者施加到医疗设备以移动医疗设备的力的方向和大小，并产生具有与操作者施加的力成比例的大小的辅助力，并且具有与方向相同的方向 由操作者施加的力使得医疗设备容易移动。
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公开(公告)号：US08825209B2
公开(公告)日：2014-09-02
申请号：US12805271
申请日：2010-07-21
申请人： Myung Hee Kim , Kyung Shik Roh , San Lim , Bok Man Lim , Guo Chunxu
发明人： Myung Hee Kim , Kyung Shik Roh , San Lim , Bok Man Lim , Guo Chunxu
IPC分类号： B25J9/16
CPC分类号： B25J9/1666 , G05B2219/40264 , G05D1/0214 , G05D2201/0217
摘要： If a manipulator of a robot falls in local minima when expanding a node to generate a path, the manipulator may efficiently escape from local minima by any one of a random escaping method and a goal function changing method or a combination thereof to generate the path. When the solution of inverse kinematics is not obtained due to local minima or when the solution of inverse kinematics is not obtained due to an inaccurate goal function, an optimal motion path to avoid an obstacle may be efficiently searched for. The speed to obtain the solution may be increased and thus the time consumed to search for the optimal motion path may be shortened.
摘要翻译： 如果在扩展节点以生成路径时机器人的操纵器落入局部最小值中，则操纵器可以通过随机转义方法和目标函数改变方法或其组合中的任何一种来有效地从本地最小值逃逸以生成路径。 当由于局部最小值而不能获得反向运动学的解时，或者由于不准确的目标函数而不能获得反向运动学的解，可以有效地搜索避免障碍物的最佳运动路径。 获得解决方案的速度可能会增加，从而可以缩短搜索最佳运动路径所消耗的时间。
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公开(公告)号：US20110040407A1
公开(公告)日：2011-02-17
申请号：US12850085
申请日：2010-08-04
申请人： Bok Man LIM , Kyung Shik Roh , San Lim , Myung Hee Kim , Guo Chun Xu
发明人： Bok Man LIM , Kyung Shik Roh , San Lim , Myung Hee Kim , Guo Chun Xu
CPC分类号： B25J9/162 , B25J9/1638 , G05B2219/39215 , G05B2219/39325 , G05B2219/40264
摘要： Disclosed is a humanoid robot apparatus, method and computer-readable medium thereof related to lifting and holding a heavy object having a weight unknown to the robot, by measuring an external force acting on the robot. Linear momentum and rotational momentum are compensated for stepwise according to the degree of stability of the robot which is determined based on the measured external force. Accordingly, the robot stably lifts and holds the object without losing its balance.
摘要翻译： 公开了一种人形机器人装置，方法和计算机可读介质，其涉及通过测量作用在机器人上的外力来提升和保持具有机器人未知的重量的重物体。 根据基于测量的外力确定的机器人的稳定度，逐步补偿线性动量和旋转动量。 因此，机器人稳定地提升并保持物体而不失去平衡。
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公开(公告)号：US09193072B2
公开(公告)日：2015-11-24
申请号：US13232374
申请日：2011-09-14
申请人： Myung Hee Kim , Kyung Shik Roh , Young Bo Shim , San Lim
发明人： Myung Hee Kim , Kyung Shik Roh , Young Bo Shim , San Lim
IPC分类号： B25J9/16
CPC分类号： B25J9/1679 , B25J9/1612 , B25J9/1666 , G05B2219/39113 , G05B2219/39473 , G05B2219/39474 , G05B2219/39542
摘要： A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes calculating in advance and storing a plurality of grasp poses to generate grasp routes, sensing respective orientations of an object, the robot arms, and an obstacle, selecting one grasp pose from among the plurality of grasp poses by judging a movable angle range of the at least one joint unit, whether or not the object collides with the obstacle, and self-collision between the robot hands based on the sensed respective orientations, and generating grasp routes using the selected grasp pose. In the control method, the plurality of feasible grasp poses is calculated in advance and then stored, thereby rapidly and stably performing grasping of the object.
摘要翻译： 机器人及其控制方法。 机器人具有多个机械手臂，每个具有至少一个关节单元和手，并且该控制方法包括预先计算并存储多个抓握姿势以产生抓握路线，感测物体的各个取向，机器人手臂和 障碍物，通过判断所述至少一个关节单元的可移动角度范围，所述物体是否与障碍物碰撞，以及基于所感测到的机器人手之间的自身碰撞，从所述多个抓握姿态中选择一个抓握姿态 各个取向，并使用所选择的抓握姿势产生抓握路线。 在该控制方法中，预先计算出多个可能抓握姿势，然后存储，由此快速且稳定地执行对象的抓握。
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公开(公告)号：US09044862B2
公开(公告)日：2015-06-02
申请号：US12805514
申请日：2010-08-03
申请人： Myung Hee Kim , Kyung Shik Roh , San Lim , Bok Man Lim , Guo Chunxu
发明人： Myung Hee Kim , Kyung Shik Roh , San Lim , Bok Man Lim , Guo Chunxu
CPC分类号： B25J9/1666 , G05B2219/40264
摘要： Disclosed herein are a path planning apparatus and a method for a robot to plan an optimal path along which a manipulator of a robot moves to a goal point from a start point. An obstacle within a prescribed angle on a straight line connecting a start point and a goal point is recognized as a middle point in a configuration space and arbitrary points separated from the middle point by a prescribed distance are selected. Among the selected points, arbitrary points which can directly connect the start point and the goal point without passing the obstacle are selected as waypoints to map a new middle node. A path is extended via the middle node and extension of a tree in a wrong direction is minimized so that the manipulator is not struck at local minima without depending greatly on a goal score, thereby improving the performance of path planning and rapidly searching for a path.
摘要翻译： 这里公开了一种路径规划装置和机器人方法，用于规划机器人的操纵器从起始点移动到目标点的最佳路径。 在连接起点和目标点的直线上的规定角度内的障碍物被识别为配置空间中的中点，并且选择与中点分开规定距离的任意点。 在所选点中，选择可以直接连接起点和目标点而不通过障碍物的任意点作为路点，以映射新的中间节点。 通过中间节点扩展路径，将错误方向的树的扩展最小化，使得操纵器不会受到局部最小值的攻击，而不依赖于目标分数，从而提高路径规划的性能并快速搜索路径 。
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10.发明授权Path planning apparatus of robot and method and computer-readable medium thereof 有权机器人路径规划设备及其计算机可读介质公开(公告)号：US08818555B2
公开(公告)日：2014-08-26
申请号：US12909340
申请日：2010-10-21
申请人： Myung Hee Kim , Bok Man Lim , Kyung Shik Roh , San Lim
发明人： Myung Hee Kim , Bok Man Lim , Kyung Shik Roh , San Lim
CPC分类号： B25J9/1666 , G05B2219/40264 , G05B2219/40517 , G05D1/0214 , G05D2201/0217
摘要： An apparatus, method and computer-readable medium planning a path of a robot by planning an optimal path while satisfying a dynamic constraint. In a process of searching for a motion path from a start point to a goal point while extending a tree from a start point of a configuration space to generate a path, along which a manipulator of the robot is moved in order to perform a task, an optimal path is generated responsive to the dynamic constraint of the manipulator of the robot to generate stable motion satisfying momentum and Zero Moment Position (ZMP) constraint. Accordingly, path planning performance is improved and a path satisfying a kinematic constraint and a dynamic constraint is rapidly obtained.
摘要翻译： 一种通过在满足动态约束的同时规划最佳路径来规划机器人的路径的装置，方法和计算机可读介质。 在从起始点到目标点搜索运动路径的过程中，同时从配置空间的起始点延伸树以生成路径，为此执行机器人的操纵器以便执行任务， 响应于机器人的操纵器的动态约束产生最佳路径以产生满足动量和零矩位置（ZMP）约束的稳定运动。 因此，提高了路径规划性能，并且快速获得满足运动约束和动态约束的路径。
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