公开(公告)号：US20150321351A1

公开(公告)日：2015-11-12

申请号：US14455345

申请日：2014-08-08

申请人： Chetan Kapoor ,  Ratheesh Rajan

发明人： Chetan Kapoor ,  Ratheesh Rajan

IPC分类号： B25J9/16

CPC分类号： G05B19/427 ,  B25J9/161 ,  G05B2219/39445 ,  Y10S901/06 ,  Y10S901/14 ,  Y10S901/28 ,  Y10S901/30

摘要： A method and apparatus for controlling an industrial robot relative to an intuitive motion coordinate system. The current 3D position of a touch-screen teach pendant relative to the robot is sensed, and an operator-centric frame of reference is developed relative to the robot-centric frame of reference. A simulacra of the robot is generated, oriented so as to correspond with an operator view of the robot from the current position of the controller, and displayed on the pendant. A motion-control construction, generated and displayed on the pendant, is adapted to receive jog commands from the operator indicative of a respective incremental movement of the simulacra in the operator-centric frame of reference. Each jog command is transformed from the operator-centric frame of reference to the robot-centric frame of reference, and the robot moved in accordance with the transformed jog command. Movement of the pendant relative to the robot is sensed and, in response, the displayed simulacra is reoriented to correspond to the new position of the pendant relative to the robot as viewed by the operator.

摘要翻译： 一种用于相对于直观运动坐标系来控制工业机器人的方法和装置。 感测到相对于机器人的触摸屏示教器的当前3D位置，并且相对于以机器人为中心的参考系而开发以操作者为中心的参考系。 生成机器人的模拟，以便从控制器的当前位置对应于机器人的操作者视图，并且显示在吊坠上。 生成并显示在吊坠上的运动控制结构适于从操作者接收指示以操作者为中心的参考系的模拟的相应增量移动的点动命令。 每个点动命令从以操作员为中心的参考系变换到以机器人为中心的参考系，并且机器人根据转换的点动命令移动。 感测到吊坠相对于机器人的移动，并且作为响应，显示的仿真被重新定向以对应于由操作者观察的相对于机器人的吊坠的新位置。

公开(公告)号：US20090112362A1

公开(公告)日：2009-04-30

申请号：US12230858

申请日：2008-09-05

申请人： Hiroji Nishi ,  Yoshitaka Ikeda

发明人： Hiroji Nishi ,  Yoshitaka Ikeda

IPC分类号： G05B19/00

CPC分类号： B25J9/1674 ,  G05B19/425 ,  G05B2219/39442 ,  G05B2219/39445 ,  Y02P90/083

摘要： A controller for work piece-conveying robot having: a coordinate system storage section for storing one or more manual jog feed coordinate systems; a working area setting section for setting to a machine tool a working area to which the manual jog feed coordinate system is assigned; a hand position obtaining section for obtaining a current position of the robot hand at each specified sampling period; a determination section for determining whether or not the current position of the robot hand obtained by the hand position obtaining section is within the working area set by the working area setting section; and a coordinate system switching section for switching a present manual jog feed coordinate system to the manual jog feed coordinate system assigned to the working area if it is determined by the determination section that the current position of the robot hand is within the working area.

摘要翻译： 一种用于工件输送机器人的控制器，具有：用于存储一个或多个手动点动进给坐标系的坐标系存储部分; 工作区域设定部，其向机床设定分配了手动点动供给坐标系的工作区域; 指针位置获取部分，用于在每个指定的采样周期获得机器人手的当前位置; 确定部，用于确定由所述手位置取得部获得的所述机器人手的当前位置是否在由所述工作区域设定部设定的工作区域内; 以及坐标系切换部分，用于如果由所述确定部分确定所述机器人手的当前位置在所述工作区域内，则将当前手动送进坐标系切换到分配给所述工作区域的手动点动给送坐标系。

公开(公告)号：US20040257021A1

公开(公告)日：2004-12-23

申请号：US10872270

申请日：2004-06-18

发明人： Tien L. Chang ,  H. Dean McGee ,  Eric Wong ,  Sai-Kai Cheng ,  Jason Tsai

IPC分类号： B25J015/02 ,  G05B019/04

CPC分类号： G05B19/427 ,  B25J9/1669 ,  G05B2219/36454 ,  G05B2219/37572 ,  G05B2219/39083 ,  G05B2219/39122 ,  G05B2219/39135 ,  G05B2219/39136 ,  G05B2219/39445

摘要： A system for performing the method of this invention includes a leader having a robot arm able to articulate about first axes and supporting an end effector. A follower includes a robot arm able to articulate about respective second axes. Servo motors articulate the leader arm about the first axes and the follower arm about the second axes. A user interface allows a user to jog the arm of the leader and to program movement of the arms for automatic execution such that the end effector reaches predetermined positions. A controller, operatively connected to the servo motors and the user interface, controls operation of the servo motors, moves the arm of the leader in accordance with the programmed movement, and moves the arm of the follower such that it tracks or mirrors movement of the leader.

摘要翻译： 用于执行本发明的方法的系统包括具有能够围绕第一轴线铰接并支撑端部执行器的机器人臂的引导件。 跟随器包括能够关于相应的第二轴线铰接的机器人手臂。 伺服电动机围绕第一轴线和从动臂围绕第二轴线连接引导臂。 用户界面允许用户对所述引导件的臂进行点动，并且编程所述臂的移动以进行自动执行，使得所述末端执行器到达预定位置。 控制器可操作地连接到伺服电动机和用户接口，控制伺服电机的操作，根据编程的运动移动引导器的臂，并移动跟随器的臂，使其跟踪或反映 领导。

公开(公告)号：US09561588B2

公开(公告)日：2017-02-07

申请号：US14627107

申请日：2015-02-20

申请人： FANUC Corporation

发明人： Tomoyuki Yamamoto

IPC分类号： B25J9/16 ,  H04L29/08

CPC分类号： B25J9/163 ,  B25J9/1602 ,  G05B2219/39445 ,  H04L67/10

摘要： A robot system including robot control devices, a network, and a mode changing device which switches between an automatic operation mode and teaching mode. In the state where the mode changing device selects the automatic operation mode, drive power is supplied to all of the robots regardless of the state of the enable device. In the state where the mode changing device selects the teaching mode, when the enable device does not permit operation of at least two robots, the drive power of all of the robots is cut.

摘要翻译： 一种机器人系统，包括在自动操作模式和教学模式之间切换的机器人控制装置，网络和模式改变装置。 在模式改变装置选择自动操作模式的状态下，无论启用装置的状态如何，都向所有机器人提供驱动电力。 在模式改变装置选择示教模式的状态下，当使能装置不允许至少两个机器人的操作时，所有机器人的驱动力被切断。

公开(公告)号：US20150239120A1

公开(公告)日：2015-08-27

申请号：US14627107

申请日：2015-02-20

申请人： FANUC Corporation

发明人： Tomoyuki YAMAMOTO

IPC分类号： B25J9/16 ,  H04L29/08

CPC分类号： B25J9/163 ,  B25J9/1602 ,  G05B2219/39445 ,  H04L67/10

摘要： A robot system including robot control devices, a network, and a mode changing device which switches between an automatic operation mode and teaching mode. In the state where the mode changing device selects the automatic operation mode, drive power is supplied to all of the robots regardless of the state of the enable device. In the state where the mode changing device selects the teaching mode, when the enable device does not permit operation of at least two robots, the drive power of all of the robots is cut.

摘要翻译： 一种机器人系统，包括在自动操作模式和教学模式之间切换的机器人控制装置，网络和模式改变装置。 在模式改变装置选择自动操作模式的状态下，无论启用装置的状态如何，都向所有机器人提供驱动电力。 在模式改变装置选择示教模式的状态下，当使能装置不允许至少两个机器人的操作时，所有机器人的驱动力被切断。

公开(公告)号：US07848851B2

公开(公告)日：2010-12-07

申请号：US12230858

申请日：2008-09-05

申请人： Hiroji Nishi ,  Yoshitaka Ikeda

发明人： Hiroji Nishi ,  Yoshitaka Ikeda

IPC分类号： G05B15/00

CPC分类号： B25J9/1674 ,  G05B19/425 ,  G05B2219/39442 ,  G05B2219/39445 ,  Y02P90/083

摘要： A controller for work piece-conveying robot having: a coordinate system storage section for storing one or more manual jog feed coordinate systems; a working area setting section for setting to a machine tool a working area to which the manual jog feed coordinate system is assigned; a hand position obtaining section for obtaining a current position of the robot hand at each specified sampling period; a determination section for determining whether or not the current position of the robot hand obtained by the hand position obtaining section is within the working area set by the working area setting section; and a coordinate system switching section for switching a present manual jog feed coordinate system to the manual jog feed coordinate system assigned to the working area if it is determined by the determination section that the current position of the robot hand is within the working area.

摘要翻译： 一种用于工件输送机器人的控制器，具有：用于存储一个或多个手动点动进给坐标系的坐标系存储部分; 工作区域设定部，其向机床设定分配了手动点动供给坐标系的工作区域; 指针位置获取部分，用于在每个指定的采样周期获得机器人手的当前位置; 确定部，用于确定由所述手位置取得部获得的所述机器人手的当前位置是否在由所述工作区域设定部设定的工作区域内; 以及坐标系切换部分，用于如果由所述确定部分确定所述机器人手的当前位置在所述工作区域内，则将当前手动点动供给坐标系切换到分配给所述工作区域的手动点动给送坐标系。

公开(公告)号：US07211978B2

公开(公告)日：2007-05-01

申请号：US10872270

申请日：2004-06-18

申请人： Tien L. Chang ,  H. Dean McGee ,  Eric Wong ,  Sai-Kai Cheng ,  Jason Tsai

发明人： Tien L. Chang ,  H. Dean McGee ,  Eric Wong ,  Sai-Kai Cheng ,  Jason Tsai

IPC分类号： B25J3/00 ,  B25J9/00 ,  G05B19/423 ,  G05B19/18 ,  G06F9/46

CPC分类号： G05B19/427 ,  B25J9/1669 ,  G05B2219/36454 ,  G05B2219/37572 ,  G05B2219/39083 ,  G05B2219/39122 ,  G05B2219/39135 ,  G05B2219/39136 ,  G05B2219/39445

摘要： A system for performing the method of this invention includes a leader having a robot arm able to articulate about first axes and supporting an end effector. A follower includes a robot arm able to articulate about respective second axes. Servo motors articulate the leader arm about the first axes and the follower arm about the second axes. A user interface allows a user to jog the arm of the leader and to program movement of the arms for automatic execution such that the end effector reaches predetermined positions. A controller, operatively connected to the servo motors and the user interface, controls operation of the servo motors, moves the arm of the leader in accordance with the programmed movement, and moves the arm of the follower such that it tracks or mirrors movement of the leader.

摘要翻译： 用于执行本发明的方法的系统包括具有能够围绕第一轴线铰接并支撑端部执行器的机器人臂的引导件。 跟随器包括能够关于相应的第二轴线铰接的机器人手臂。 伺服电动机围绕第一轴线和从动臂围绕第二轴线连接引导臂。 用户界面允许用户对所述引导件的臂进行点动，并且编程所述臂的移动以进行自动执行，使得所述末端执行器到达预定位置。 控制器可操作地连接到伺服电动机和用户接口，控制伺服电机的操作，根据编程的运动移动引导器的臂，并移动跟随器的臂，使其跟踪或反映 领导。

公开(公告)号：US12096998B2

公开(公告)日：2024-09-24

申请号：US17598186

申请日：2020-03-27

申请人： Intuitive Surgical Operations, Inc.

发明人： Gabriel Brisson

IPC分类号： A61B34/30 ,  B25J9/16 ,  A61B90/00

CPC分类号： A61B34/30 ,  B25J9/163 ,  B25J9/1633 ,  A61B2090/066 ,  G05B2219/39445 ,  G05B2219/45118

摘要： A computer-assisted medical system includes a manipulator arm and a controller. The controller includes a computer processor. The controller is configured to servo at least one joint associated with at least one manipulator arm segment of the manipulator arm, the servoing including executing a servo loop. Executing the servo loop includes obtaining an actual state of the manipulator arm, computing a difference between a commanded state and the actual state, where the commanded state is used for the servoing the at least one joint, and determining whether the difference exceeds an error threshold. Based on determining that the difference does exceed the error threshold, the commanded state is updated using an offset to reduce the difference, and. Based on determining that the difference does not exceed the error threshold, the commanded state is not updated. The controller is further configured to apply the commanded state to control the actual state.

公开(公告)号：US09958862B2

公开(公告)日：2018-05-01

申请号：US14455345

申请日：2014-08-08

申请人： Chetan Kapoor ,  Ratheesh Rajan

发明人： Chetan Kapoor ,  Ratheesh Rajan

IPC分类号： G06F19/00 ,  G05B19/427 ,  B25J9/16

CPC分类号： G05B19/427 ,  B25J9/161 ,  G05B2219/39445 ,  Y10S901/06 ,  Y10S901/14 ,  Y10S901/28 ,  Y10S901/30

摘要： A method and apparatus for controlling an industrial robot relative to an intuitive motion coordinate system. The current 3D position of a touch-screen teach pendant relative to the robot is sensed, and an operator-centric frame of reference is developed relative to the robot-centric frame of reference. A simulacra of the robot is generated, oriented so as to correspond with an operator view of the robot from the current position of the controller, and displayed on the pendant. A motion-control construction, generated and displayed on the pendant, is adapted to receive jog commands from the operator indicative of a respective incremental movement of the simulacra in the operator-centric frame of reference. Each jog command is transformed from the operator-centric frame of reference to the robot-centric frame of reference, and the robot moved in accordance with the transformed jog command. Movement of the pendant relative to the robot is sensed and, in response, the displayed simulacra is reoriented to correspond to the new position of the pendant relative to the robot as viewed by the operator.

公开(公告)号：US20160346921A1

公开(公告)日：2016-12-01

申请号：US15235719

申请日：2016-08-12

申请人： ABB Schwelz AG

发明人： Maciej Orman ,  Wanli Jiang ,  Carlos Martinez ,  Jacek Plesnar

IPC分类号： B25J9/16 ,  G06F3/01 ,  B25J13/08 ,  G06F3/0346

CPC分类号： B25J9/161 ,  B25J9/1689 ,  B25J13/088 ,  G05B2219/39445 ,  G05B2219/39449 ,  G06F3/016 ,  G06F3/0346 ,  G06F3/04883

摘要： A portable apparatus for controlling a robot and a method therefor. The portable apparatus includes: an orientation sensor adapted for measuring orientation of the portable apparatus; an HMI device adapted for detecting two-dimensional manual motion relative to the HMI device; and a processing unit adapted for receiving a first signal representing the measured orientation of the portable apparatus and a second signal representing the detected two-dimensional manual motion relative to the HMI device and controlling a part of the robot to move in a direction in consideration of the measured orientation of the portable apparatus and the detected two-dimensional manual motion relative to the HMI device. By having the portable apparatus and the method therefor as explained herein, the two-dimensional manual movement on touch panel is integrated with orientation of the portable apparatus and an integration of these is mapped by the robot, which makes it possible to define a path in three dimensional space for jogging/teaching robot's movements in three dimension.

摘要翻译： 一种用于控制机器人的便携式设备及其方法。 便携式设备包括：适于测量便携式设备的取向的定向传感器; 适于检测相对于所述HMI设备的二维手动运动的HMI设备; 以及处理单元，适于接收表示所述便携式设备的测量方向的第一信号和表示相对于所述HMI设备检测到的二维手动运动的第二信号，并且控制所述机器人的一部分在考虑 便携式设备的测量方向和相对于HMI设备的检测到的二维手动运动。 通过具有如本文所述的便携式设备及其方法，触摸面板上的二维手动移动与便携式设备的方向集成，并且这些移动体的集成由机器人映射，这使得可以在 三维空间用于慢跑/教学机器人的三维运动。