公开(公告)号：US12103183B2

公开(公告)日：2024-10-01

申请号：US16613867

申请日：2018-05-07

申请人： KUKA Deutschland GmbH

发明人： Ewald Lutscher

IPC分类号： B25J9/16 ,  G05B19/423

CPC分类号： B25J9/1633 ,  B25J9/1643 ,  B25J9/1676 ,  G05B19/423 ,  G05B2219/40344 ,  G05B2219/40365 ,  G05B2219/40371

摘要： A method for controlling a robot includes detecting current positions of joints of the robot and actuating the joints using drives of the robot based on the detected current joint positions such that at least one drive supports a manual guidance-induced movement of the joint actuated by the drive if a distance between the detected or target joint position and a specified first boundary has a first value. The drive supports the manual guidance-induced movement to a lesser degree if the distance has a second value which is lower than the first value. Additionally, the manual guidance-induced movement is oriented towards the first boundary.

公开(公告)号：US09120223B2

公开(公告)日：2015-09-01

申请号：US13977272

申请日：2011-12-21

申请人： Hideki Tanaka ,  Takamasa Ogata ,  Tetsuya Kubota

发明人： Hideki Tanaka ,  Takamasa Ogata ,  Tetsuya Kubota

IPC分类号： G06F19/00 ,  B25J9/06 ,  B25J9/04 ,  B25J9/16

CPC分类号： B25J9/06 ,  B25J9/046 ,  B25J9/1607 ,  B25J9/1643 ,  G05B2219/39018 ,  G05B2219/39414 ,  G05B2219/40344

摘要： Provided is a method of controlling a seven-axis articulated robot including seven joints sequentially arranged from a proximal end of the robot to a distal end of the robot, the seven joints including rotational axes each causing a next joint to turn and rotational axes each causing a next joint to pivot, such that the rotational axes causing turning and the rotational axes causing pivoting are arranged alternately, the seven-axis articulated robot being configured such that rotational axes of three proximal end side joints of the robot do not intersect with each other at one point. The method includes performing inverse transformation using, as a constraint condition, such a joint angle of a middle joint among the three joints as to cause an assumed elbow angle to be constant in a case where a rotational axis of the middle joint is assumed as a shoulder.

摘要翻译： 提供了一种控制七轴铰接机器人的方法，其包括从机器人的近端顺序地排列到机器人的远端的七个接头，所述七个接头包括各自引起下一个接头转动的旋转轴和各自引起的旋转轴 下一个枢转枢转，使得旋转的旋转轴和引起枢转的旋转轴交替布置，所述七轴铰接机器人构造成使得机器人的三个近端侧接头的旋转轴线彼此不相交 在一个点上。 该方法包括使用三个关节之间的中间关节的这种关节角度作为约束条件来执行逆变换，以便在将中间关节的旋转轴假设为假定的情况下使假设的肘角恒定 肩。

公开(公告)号：US20170007336A1

公开(公告)日：2017-01-12

申请号：US15120616

申请日：2015-02-13

申请人： SONY CORPORATION

发明人： Toshimitsu TSUBOI ,  Takara KASAI ,  Yasuhisa KAMIKAWA ,  Yohei KURODA ,  Wataru KOKUBO ,  Tetsuharu FUKUSHIMA ,  Yasuhiro MATSUDA ,  Atsushi MIYAMOTO

IPC分类号： A61B34/30 ,  B25J9/06 ,  B25J9/16

CPC分类号： A61B34/30 ,  A61B90/361 ,  A61B90/50 ,  A61B2034/301 ,  A61B2090/031 ,  A61B2090/035 ,  A61B2090/5025 ,  B25J9/06 ,  B25J9/1633 ,  B25J9/1674 ,  G05B2219/40344 ,  G05B2219/41114 ,  Y10S901/09

摘要： A medical support arm apparatus including: an arm unit including a plurality of links joined to each other by one or a plurality of a joint unit; and a driving control unit that drives the arm unit by controlling driving of the joint unit. If a malfunction is detected in at least one of the joint unit, the driving control unit controls the driving of the joint unit in a state in which a certain restriction is imposed on motion of the arm unit, and drives the arm unit to avoid the malfunction.

摘要翻译： 一种医疗支撑臂装置，包括：臂单元，包括通过一个或多个接头单元彼此连接的多个连杆; 以及驱动控制单元，其通过控制所述接合单元的驱动来驱动所述臂单元。 如果在至少一个关节单元中检测到故障，则驱动控制单元在对臂单元的运动施加某种限制的状态下控制接合单元的驱动，并且驱动臂单元以避免 故障。

公开(公告)号：US20130310973A1

公开(公告)日：2013-11-21

申请号：US13977272

申请日：2011-12-21

申请人： Hidenori Tanaka ,  Takamasa Ogata ,  Tetsuya Kubota

发明人： Hidenori Tanaka ,  Takamasa Ogata ,  Tetsuya Kubota

IPC分类号： B25J9/06

CPC分类号： B25J9/06 ,  B25J9/046 ,  B25J9/1607 ,  B25J9/1643 ,  G05B2219/39018 ,  G05B2219/39414 ,  G05B2219/40344

摘要： Provided is a method of controlling a seven-axis articulated robot including seven joints sequentially arranged from a proximal end of the robot to a distal end of the robot, the seven joints including rotational axes each causing a next joint to turn and rotational axes each causing a next joint to pivot, such that the rotational axes causing turning and the rotational axes causing pivoting are arranged alternately, the seven-axis articulated robot being configured such that rotational axes of three proximal end side joints of the robot do not intersect with each other at one point. The method includes performing inverse transformation using, as a constraint condition, such a joint angle of a middle joint among the three joints as to cause an assumed elbow angle to be constant in a case where a rotational axis of the middle joint is assumed as a shoulder.

摘要翻译： 提供了一种控制七轴铰接机器人的方法，其包括从机器人的近端顺序地排列到机器人的远端的七个接头，所述七个接头包括各自引起下一个接头转动的旋转轴和各自引起的旋转轴 下一个枢转枢转，使得旋转的旋转轴和引起枢转的旋转轴交替布置，所述七轴铰接机器人构造成使得机器人的三个近端侧接头的旋转轴线彼此不相交 在一个点上。 该方法包括使用三个关节之间的中间关节的这种关节角度作为约束条件来执行逆变换，以便在将中间关节的旋转轴假设为假定的情况下使假设的肘角恒定 肩。