-
1.发明授权Method and apparatus for automatic and efficient location generation for cooperative motion 有权用于协调运动的自动高效位置生成的方法和装置公开(公告)号：US09457469B2
公开(公告)日：2016-10-04
申请号：US14459800
申请日：2014-08-14
发明人： Moshe Hazan , Lisandro Embon , Rahav Madvil
CPC分类号： B25J9/1671 , B25J3/00 , B25J9/1664 , B25J9/1666 , B25J9/1682 , G05B2219/39139 , G05B2219/39141
摘要： Methods for automatic and efficient location generation for cooperative motion. A method includes receiving a cooperative operation comprising a master operation and the slave operation, simulating the slave operation to obtain a slave duration between consecutive slave locations and a trajectory time to perform the slave operation, populating a plurality of potential locations along the master trajectory, generating a plurality of candidate operations in a population, for each of the plurality of candidate operations in the population, simulating a candidate operation with the slave operation to calculate an efficiency factor to perform the candidate operation and removing the candidate operation from the population when the efficiency factor is not better compared to other candidate operations in the population and returning the candidate operation remaining in the population.
摘要翻译： 用于协调运动的自动高效位置生成方法。 一种方法包括接收包括主操作和从动操作的协作操作，模拟从操作以获得连续从站位置之间的从持续时间和执行从操作的轨迹时间，沿着主轨迹填充多个潜在位置， 在群体中为多个候选操作中的每一个生成群体中的多个候选操作，用从操作模拟候选操作，以计算执行候选操作的效率因子，并且当群体中的候选操作从群体中移除时 效率因子与人口中的其他候选人业务相比不会更好，并返回人口中剩余的候选人业务。
-
公开(公告)号：US08909372B2
公开(公告)日：2014-12-09
申请号：US13382398
申请日：2011-01-31
申请人： Kazumasa Yoshima
发明人： Kazumasa Yoshima
IPC分类号： G05B19/418 , B23K9/10 , B23K9/173 , B25J9/16
CPC分类号： B25J9/1682 , B23K9/1062 , B23K9/1735 , B25J9/1669 , G05B2219/39122 , G05B2219/39141 , Y10S901/02
摘要： In a control method of a robot system of the present invention, one of two industrial robots is used as a master robot, and the other is used as a slave robot. Data indicating the relation of the relative position and relative attitude between the master robot and the slave robot in welding conditioning work is stored as one set of information. During teaching work, in a state where the master robot and the slave robot exist at any positions, the slave robot is moved with respect to the position of the master robot so as to reproduce the relation of the relative position and relative attitude indicated by the one set of stored information, or the master robot is moved with respect to the position of the slave robot.
摘要翻译： 在本发明的机器人系统的控制方法中，使用两个工业机器人中的一个作为主机器人，另一个用作从机器人。 表示在焊接调节作业中主机器人与从机器人之间的相对位置与相对姿态之间的关系的数据被存储为一组信息。 在教学工作中，在主机器人和从机器人存在于任何位置的状态下，从机器人相对于主机器人的位置移动，以再现由相对位置和相对姿势 一组存储的信息或主机器人相对于从机器人的位置移动。
-
公开(公告)号：US5254923A
公开(公告)日：1993-10-19
申请号：US916717
申请日：1992-07-22
申请人： Kiyoshi Kanitani
发明人： Kiyoshi Kanitani
CPC分类号： B25J9/009 , B25J9/1682 , G05B2219/34397 , G05B2219/34399 , G05B2219/39132 , G05B2219/39141 , G05B2219/39142 , G05B2219/45074
摘要： In order to synchronize the operations of at least two industrial robots which can operate independently of each other in accordance with their respective operation programs, the time is obtained which is required for one of the robots serving as the master to move from one working position to the next position at which it operates jointly with the remaining robot. The remaining robot serving as the slave is moved from the position where it exists at present to another position corresponding to said next position, thereby synchronizing the operations of all the robots. An apparatus for such synchronous control comprises a program used to compute with a specified moving speed the interpolation movement due to which each robot is moved between the adjacent working positions and a program used to compute the interpolation movement with a specified moving time. In case of the asynchronous control, the robots move independently in accordance with their respective operation programs. On the other hand, in case of the synchronous control, the interpolation movement of the master robot is decided according to the moving speed specified program, while the interpolation movement of the slave robot is decided according to another program with the moving time of the master robot being specified.
摘要翻译： 为了使能够根据各自的操作程序彼此独立地操作的至少两个工业机器人的操作同步，获得作为主人的一个机器人从一个工作位置移动到所需时间 与其余机器人共同操作的下一个位置。 作为从机的剩余机器人从现在存在的位置移动到与所述下一位置相对应的另一位置，从而同步所有机器人的操作。 用于这种同步控制的装置包括用于以指定的移动速度计算每个机器人在相邻工作位置之间移动的插补运动和用于以指定的移动时间计算插值运动的程序的程序。 在异步控制的情况下，机器人根据各自的操作程序独立移动。 另一方面，在同步控制的情况下，根据移动速度指定程序决定主机器人的插补运动，而根据主机的移动时间，根据另一程序来决定从机器人的插补运动 指定机器人
-
公开(公告)号：US20110245971A1
公开(公告)日：2011-10-06
申请号：US12117153
申请日：2008-05-08
IPC分类号： G05B19/418
CPC分类号： B25J9/1682 , B21J15/142 , G05B2219/32285 , G05B2219/39121 , G05B2219/39122 , G05B2219/39141 , G05B2219/45059 , G05B2219/45064 , G05B2219/45126 , Y10T29/49826 , Y10T29/49943 , Y10T29/49948 , Y10T29/49956 , Y10T29/51 , Y10T29/5124 , Y10T29/52 , Y10T29/53
摘要： A fully automated method is performed on a structure having a confined space. The structure has a location that is identifiable from within the confined space and from outside the confined space. A first robotic system moves a first end effector inside the confined space such that the first end effector is positioned over the location. A first vector corresponding to the location is generated. A second robotic system moves a second end effector outside the confined space such that the second end effector is positioned over the location. A second vector corresponding to the location is generated. The first and second vectors are used to move the first and second end effectors to a new location such that the first and second end effectors are in working opposition. The first and second end effectors perform a synchronous operation at the new location.
摘要翻译： 对具有有限空间的结构执行完全自动化的方法。 该结构具有可以从密闭空间内和从密闭空间外部识别的位置。 第一机器人系统使第一端部执行器在限制空间内移动，使得第一端部执行器位于该位置上方。 生成与该位置对应的第一向量。 第二机器人系统将第二端部执行器移动到限制空间外部，使得第二端部执行器位于该位置上方。 生成与该位置对应的第二向量。 第一和第二向量用于将第一和第二末端执行器移动到新位置，使得第一和第二末端执行器处于工作对立状态。 第一和第二末端执行器在新位置执行同步操作。
-
公开(公告)号：US20050055132A1
公开(公告)日：2005-03-10
申请号：US10494583
申请日：2002-11-07
CPC分类号： B25J9/1682 , G05B2219/33097 , G05B2219/39051 , G05B2219/39124 , G05B2219/39141
摘要： The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation. By doing this, the control units are always kept in the synchronized state, thus the operations of the robots can be prevented from variations.
摘要翻译： 本发明具有通信连接装置（21），其连接用于单独控制机器人（Ra，Rb）的操作的可通信控制单元（Ca，Cb）以构成网络，输入装置（37a，37b）分别安装在 机器人的控制单元和输入操作指令，以及定时信号生成装置（69a，69b）。 控制单元被选择性地设置为独立功能执行模式，主功能执行模式和从功能执行模式中的任何一个，并且在控制单元中，执行主操作的控制单元（Ca）被设置为 主功能执行模式，剩余控制单元（Cb）被设定为从功能执行模式，并且通过校正从侧控制单元（Cb）的最小中断周期（Ts（b）），控制时间（ta11 ，ta12，ta13）到主控制单元（Ca）的主机器人（Ra）延迟预定时间（T）以执行协作操作。 通过这样做，控制单元总是保持在同步状态，从而可以防止机器人的操作变化。
-
公开(公告)号：US20170336774A1
公开(公告)日：2017-11-23
申请号：US15158880
申请日：2016-05-19
申请人： The Boeing Company
IPC分类号： G05B19/402 , G05B11/01
CPC分类号： G05B19/402 , B25J9/1682 , G05B11/01 , G05B2219/32085 , G05B2219/32285 , G05B2219/39109 , G05B2219/39122 , G05B2219/39129 , G05B2219/39139 , G05B2219/39141 , G05B2219/39146 , G05B2219/39149 , G05B2219/40032 , G05B2219/40394 , G05B2219/40512 , G05B2219/45064 , G05B2219/45071 , G05B2219/50047 , G05B2219/50049 , Y02P90/24
摘要： A method of coordinating automated systems, the method includes providing a first automated system that is programmed with a set of predetermined operating instructions that correspond with automated system processing requirements, monitoring an operational status of the first automated system with a second automated system, automatically generating a second system action, with the second automated system, that is complimentary to a first system action of the first automated system, where the first system action corresponds to the set of predetermined operating instructions and the second system action depends on the operational status of the first automated system, and performing the second system action with the second automated system so that the second automated system cooperates with the first automated system to perform a predetermined operation.
-
7.发明申请METHOD AND APPARATUS FOR AUTOMATIC AND EFFICIENT LOCATION GENERATION FOR COOPERATIVE MOTION 有权用于合作运动的自动和有效位置生成的方法和装置公开(公告)号：US20160046022A1
公开(公告)日：2016-02-18
申请号：US14459800
申请日：2014-08-14
发明人： Moshe Hazan , Lisandro Embon , Rahav Madvil
CPC分类号： B25J9/1671 , B25J3/00 , B25J9/1664 , B25J9/1666 , B25J9/1682 , G05B2219/39139 , G05B2219/39141
摘要： Methods for automatic and efficient location generation for cooperative motion. A method includes receiving a cooperative operation comprising a master operation and the slave operation, simulating the slave operation to obtain a slave duration between consecutive slave locations and a trajectory time to perform the slave operation, populating a plurality of potential locations along the master trajectory, generating a plurality of candidate operations in a population, for each of the plurality of candidate operations in the population, simulating a candidate operation with the slave operation to calculate an efficiency factor to perform the candidate operation and removing the candidate operation from the population when the efficiency factor is not better compared to other candidate operations in the population and returning the candidate operation remaining in the population.
摘要翻译： 用于协调运动的自动高效位置生成方法。 一种方法包括接收包括主操作和从动操作的协作操作，模拟从操作以获得连续从站位置之间的从持续时间和执行从操作的轨迹时间，沿着主轨迹填充多个潜在位置， 在群体中为多个候选操作中的每一个生成群体中的多个候选操作，用从操作模拟候选操作，以计算执行候选操作的效率因子，并且当群体中的候选操作从群体中移除时 效率因子与人口中的其他候选人业务相比不会更好，并返回人口中剩余的候选人业务。
-
公开(公告)号：US08301302B2
公开(公告)日：2012-10-30
申请号：US12117153
申请日：2008-05-08
IPC分类号： G06F19/00
CPC分类号： B25J9/1682 , B21J15/142 , G05B2219/32285 , G05B2219/39121 , G05B2219/39122 , G05B2219/39141 , G05B2219/45059 , G05B2219/45064 , G05B2219/45126 , Y10T29/49826 , Y10T29/49943 , Y10T29/49948 , Y10T29/49956 , Y10T29/51 , Y10T29/5124 , Y10T29/52 , Y10T29/53
摘要： A fully automated method is performed on a structure having a confined space. The structure has a location that is identifiable from within the confined space and from outside the confined space. A first robotic system moves a first end effector inside the confined space such that the first end effector is positioned over the location. A first vector corresponding to the location is generated. A second robotic system moves a second end effector outside the confined space such that the second end effector is positioned over the location. A second vector corresponding to the location is generated. The first and second vectors are used to move the first and second end effectors to a new location such that the first and second end effectors are in working opposition. The first and second end effectors perform a synchronous operation at the new location.
摘要翻译： 对具有有限空间的结构执行完全自动化的方法。 该结构具有可以从密闭空间内和从密闭空间外部识别的位置。 第一机器人系统使第一端部执行器在限制空间内移动，使得第一端部执行器位于该位置上方。 生成与该位置对应的第一向量。 第二机器人系统将第二端部执行器移动到限制空间外部，使得第二端部执行器位于该位置上方。 生成与该位置对应的第二向量。 第一和第二向量用于将第一和第二末端执行器移动到新位置，使得第一和第二末端执行器处于工作对立状态。 第一和第二末端执行器在新位置执行同步操作。
-
公开(公告)号：US20120116585A1
公开(公告)日：2012-05-10
申请号：US13382398
申请日：2011-01-31
申请人： Kazumasa Yoshima
发明人： Kazumasa Yoshima
IPC分类号： G05B19/418
CPC分类号： B25J9/1682 , B23K9/1062 , B23K9/1735 , B25J9/1669 , G05B2219/39122 , G05B2219/39141 , Y10S901/02
摘要： In a control method of a robot system of the present invention, one of two industrial robots is used as a master robot, and the other is used as a slave robot. Data indicating the relation of the relative position and relative attitude between the master robot and the slave robot in welding conditioning work is stored as one set of information. During teaching work, in a state where the master robot and the slave robot exist at any positions, the slave robot is moved with respect to the position of the master robot so as to reproduce the relation of the relative position and relative attitude indicated by the one set of stored information, or the master robot is moved with respect to the position of the slave robot.
摘要翻译： 在本发明的机器人系统的控制方法中，使用两个工业机器人中的一个作为主机器人，另一个用作从机器人。 表示在焊接调节作业中主机器人与从机器人之间的相对位置与相对姿态之间的关系的数据被存储为一组信息。 在教学工作中，在主机器人和从机器人存在于任何位置的状态下，从机器人相对于主机器人的位置移动，以再现由相对位置和相对姿势 一组存储的信息或主机器人相对于从机器人的位置移动。
-
公开(公告)号：US07558646B2
公开(公告)日：2009-07-07
申请号：US10494583
申请日：2002-11-07
IPC分类号： G05B19/042
CPC分类号： B25J9/1682 , G05B2219/33097 , G05B2219/39051 , G05B2219/39124 , G05B2219/39141
摘要： The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation. By doing this, the control units are always kept in the synchronized state, thus the operations of the robots can be prevented from variations.
摘要翻译： 本发明具有通信连接装置（21），其连接用于单独控制机器人（Ra，Rb）的操作的可通信控制单元（Ca，Cb）以构成网络，输入装置（37a，37b）分别安装在 机器人的控制单元和输入操作指令，以及定时信号生成装置（69a，69b）。 控制单元被选择性地设置为独立功能执行模式，主功能执行模式和从功能执行模式中的任何一个，并且在控制单元中，执行主操作的控制单元（Ca）被设置为 主功能执行模式，剩余控制单元（Cb）被设定为从功能执行模式，并且通过校正从侧控制单元（Cb）的最小中断周期（Ts（b）），控制时间（ta11 ，ta12，ta13）到主控制单元（Ca）的主机器人（Ra）延迟预定时间（T）以执行协作操作。 通过这样做，控制单元总是保持在同步状态，从而可以防止机器人的操作变化。
-
-
-
-
-
-
-
-
-
搜索结果
10 条记录 (耗时 0.014 秒)
