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    System and method for controlling a robot
    2.
    发明授权
    System and method for controlling a robot 有权
    用于控制机器人的系统和方法

    公开(公告)号：US06301525B1

    公开(公告)日：2001-10-09

    申请号：US09486023

    申请日：2000-02-18

    申请人： Karl-Erik Neumann

    发明人： Karl-Erik Neumann

    IPC分类号： G06F1900

    CPC分类号： G05B19/37 ,  G05B2219/39221 ,  Y02P90/265

    摘要： A system and method for controlling a robot (1), includes at least three setting devices (2, 3, 4) which can be extended or shortened in the longitudinal direction. Each setting device being directly or indirectly secured in a fixed frame (6) via a first joint (20, 30, 40) so that each setting device is pivotable in all directions in relation to the frame and that each setting device is attached at one end in a movable position head (8) via a second joint (21, 31, 41). Each sensor is provided with a length sensor (LS1, LS2, LS3), said sensors forming a part of control system (S1) for controlling the location (X, Y, Z), wherein the control system cooperates with a feedback control system (R2) arranged to correct the location (X, Y, Z) and feedback control system (R2) operate in accordance with different coordinate systems.

    摘要翻译： 一种用于控制机器人（1）的系统和方法，包括至少三个可在纵向方向上延伸或缩短的设定装置（2,3,4）。 每个设置装置经由第一接头（20,30,40）直接或间接地固定在固定框架（6）中，使得每个设置装置可相对于框架在所有方向上枢转，并且每个设置装置附接在一个 经由第二接头（21,31,41）终止在可动位置头（8）中。 每个传感器设有长度传感器（LS1，LS2，LS3），所述传感器构成用于控制位置（X，Y，Z）的控制系统（S1）的一部分，其中控制系统与反馈控制系统 R2），用于校正位置（X，Y，Z）和反馈控制系统（R2）根据不同的坐标系进行操作。

    System and Method for Controlling Redundant Actuators with Different Dynamics
    3.
    发明申请
    System and Method for Controlling Redundant Actuators with Different Dynamics 审中-公开

    公开(公告)号：US20180253076A1

    公开(公告)日：2018-09-06

    申请号：US15447448

    申请日：2017-03-02

    申请人： Mitsubishi Electric Research Laboratories, Inc.

    发明人： Uros Kalabic ,  Abraham Goldsmith ,  Stefano Di Cairano

    IPC分类号： G05B19/23

    CPC分类号： G05B19/23 ,  G05B19/19 ,  G05B2219/39221 ,  G05B2219/45041

    摘要： A system includes a first actuator and a second actuator arranged such that joint motions of the first actuator and the second actuator position a controlled parameter. A trajectory generator determines a first trajectory of the first actuator minimizing the motion of the first actuator that positions the second actuator such that each point of the reference trajectory is within a range of the second actuator. The motion of the first actuator is controlled according to the first trajectory. The trajectory generator determines a second trajectory of the second actuator based on a difference between the reference trajectory and the positions the second actuator with respect to the reference trajectory governed by the first trajectory. The motion of the second actuator is controlled according to the second trajectory.

    ACTUATING APPARATUS
    4.
    发明申请
    ACTUATING APPARATUS 有权
    执行装置

    公开(公告)号：US20140062377A1

    公开(公告)日：2014-03-06

    申请号：US14013522

    申请日：2013-08-29

    申请人： HONDA MOTOR CO., LTD.

    发明人： Atsuo Orita

    IPC分类号： G05B11/32

    CPC分类号： G05B11/32 ,  B25J9/1633 ,  G05B2219/39221 ,  G05B2219/39264

    摘要： An actuating apparatus has an actuator including a link having a plurality of joints and a plurality of motors for actuating the joints, and a controller for controlling the actuator. The controller controls the motors with a control torque m_τ_cntrl calculated according to the equation: m_τ—cntrl=M·(I−mEff)−1·(ddθ—cntrl−mEff·ddθ—cntrl—p)+C—cmpn from a target angular acceleration ddθ_cntrl, a preceding target angular acceleration ddθ_cntrl_p, a displaceable member torque response matrix Eff, an inertial matrix M, and a dynamic corrective force C_cmpn.

    摘要翻译： 致动装置具有致动器，该致动器包括具有多个关节的连杆和用于致动关节的多个马达，以及用于控制致动器的控制器。 控制器按照以下公式计算的控制转矩m_tau_cntrl控制电动机：m_tau-cntrl = M·（I-mEff）-1·（ddtata-cntrl-mEff·ddtheta-cntrl-p）+ C-cmpn 角加速度ddtheta_cntrl，前一目标角加速度ddtheta_cntrl_p，可移位构件转矩响应矩阵Eff，惯性矩阵M和动态校正力C_cmpn。

    Actuating apparatus
    6.
    发明授权
    Actuating apparatus 有权
    执行装置

    公开(公告)号：US09046887B2

    公开(公告)日：2015-06-02

    申请号：US14013522

    申请日：2013-08-29

    申请人： HONDA MOTOR CO., LTD.

    发明人： Atsuo Orita

    IPC分类号： G05B11/32 ,  B25J9/16

    CPC分类号： G05B11/32 ,  B25J9/1633 ,  G05B2219/39221 ,  G05B2219/39264

    摘要： An actuating apparatus has an actuator including a link having a plurality of joints and a plurality of motors for actuating the joints, and a controller for controlling the actuator. The controller controls the motors with a control torque m_τ_cntrl calculated according to the equation: m_τ_cntrl=M·(I−mEff)−1·(ddθ_cntrl−mEff·ddθ_cntrl—p)+C_cmpn from a target angular acceleration ddθ_cntrl, a preceding target angular acceleration ddθ_cntrl_p, a displaceable member torque response matrix Eff, an inertial matrix M, and a dynamic corrective force C_cmpn.

    摘要翻译： 致动装置具有致动器，该致动器包括具有多个关节的连杆和用于致动关节的多个马达，以及用于控制致动器的控制器。 控制器按照以下公式计算的控制转矩m_τ_cntrl控制电机：m_τ_cntrl= M·（I-mEff）-1·（dd＆amp; tt; _cntrl-mEff·dd＆thetas; _cntrl-p）+ C_cmpn从目标角加速度dd＆ _cntrl，前一个目标角加速度dd＆amp; tas; _cntrl_p，可移位构件转矩响应矩阵Eff，惯性矩阵M和动态校正力C_cmpn。

    CONTROL DEVICE, CONTROL METHOD, AND PROGRAM
    8.
    发明公开
    CONTROL DEVICE, CONTROL METHOD, AND PROGRAM 审中-公开

    公开(公告)号：US20230191597A1

    公开(公告)日：2023-06-22

    申请号：US16959850

    申请日：2018-11-26

    申请人： SONY CORPORATION

    发明人： Muneyuki HORIGUCHI ,  Hidenori KAMBAYASHI

    IPC分类号： B25J9/16 ,  B62D57/032 ,  B25J13/08 ,  G05B19/4155 ,  H02K7/116

    CPC分类号： B25J9/1633 ,  B62D57/032 ,  B25J13/088 ,  G05B19/4155 ,  H02K7/116 ,  G05B2219/39221

    摘要： There is provided a control device to protect an actuator through a simple configuration in a case where a power transmission mechanism receives external force, the control device including a comparison section and a driving force control section. The comparison section compares a first rotation position and a second rotation position with each other. The first rotation position is a rotation position of an input shaft of a power transmission mechanism, and the second rotation position is a rotation position of an output shaft of the power transmission mechanism. The driving force control section controls driving force of an actuator that drives the input shaft on the basis of a difference between the first rotation position and the second rotation position. This configuration allows the actuator to be protected through a simple configuration in a case where the power transmission mechanism receives external force.

    Hydraulic system with coordinated multiple axis control of a machine member
    10.
    发明授权
    Hydraulic system with coordinated multiple axis control of a machine member 有权
    液压系统，具有机器构件的多轴控制

    公开(公告)号：US07856282B2

    公开(公告)日：2010-12-21

    申请号：US10810377

    申请日：2004-03-26

    申请人： Keith A. Tabor

    发明人： Keith A. Tabor

    IPC分类号： G05B11/01 ,  G05B11/32 ,  G05B19/18 ,  G06F19/00 ,  G06G7/76

    CPC分类号： B25J9/1628 ,  B66F9/0655 ,  B66F9/22 ,  E02F3/433 ,  E02F9/2029 ,  G05B2219/33263 ,  G05B2219/33264 ,  G05B2219/39002 ,  G05B2219/39221 ,  G05B2219/41255 ,  G05B2219/41273 ,  G05B2219/45017 ,  G05B2219/45049

    摘要： A member of a machine, such as a boom on construction equipment for example, is pivoted by a first actuator and has a length that is alterable by a second actuator. A control method allows an operator of the machine to command a point on the member to move along a straight line path. The operator command specifies velocities along two orthogonal axes and those velocities are transformed into an angular velocity and a length velocity for the member. The angular velocity and a length velocity then are converted into individual velocities for the first and second actuators. Each actuator is operated at its respective velocity to achieve the commanded movement of the member.

    摘要翻译： 例如，诸如施工设备上的起重机的机器的构件由第一致动器枢转，并且具有可由第二致动器改变的长度。 控制方法允许机器的操作者命令构件上的点沿着直线路径移动。 操作员命令指定沿着两个正交轴的速度，这些速度被转换成成员的角速度和长度速度。 然后将角速度和长度速度转换为第一和第二致动器的单独速度。 每个致动器以其相应的速度操作以实现构件的指令运动。