公开(公告)号：US09651932B2

公开(公告)日：2017-05-16

申请号：US14324355

申请日：2014-07-07

申请人： FANUC Corporation

发明人： Hiroki Murakami

IPC分类号： G06F19/00 ,  G05B19/25 ,  G05B19/19 ,  G05B19/408

CPC分类号： G05B19/19 ,  G05B19/4083 ,  G05B2219/36265 ,  G05B2219/40477 ,  Y02P90/265

摘要： A numerical control device for controlling a five-axis processing machine includes a tool-direction instruction correction unit, and corrects a tool-direction vector so that a tool direction of a processing program smoothly changes. The tool-direction instruction correction unit refers to a tool-direction correction tolerance set in advance by a tool-direction correction tolerance setting unit.

公开(公告)号：US08055383B2

公开(公告)日：2011-11-08

申请号：US11815111

申请日：2006-05-01

申请人： Shintaro Yoshizawa

发明人： Shintaro Yoshizawa

IPC分类号： G05B19/19 ,  G05B19/41 ,  G05B19/04

CPC分类号： B25J9/1664 ,  G05B2219/39414 ,  G05B2219/40073 ,  G05B2219/40359 ,  G05B2219/40429 ,  G05B2219/40448 ,  G05B2219/40476 ,  G05B2219/40477 ,  G05B2219/40517

摘要： A path generating device 1 has a constraint mid-configuration generator 10. The constraint mid-configuration generator 10 defines a constraint surface in a joint angle space. The path generating device 1 probabilistically generates a mid-configuration in the joint angle space. The constraint mid-configuration generator 10 projects the probabilistically generated mid-configuration onto the constraint surface to generate a projected mid-configuration. Projected mid-configurations generated in this manner are joined to generate a path that does not interfere with any obstacle (environmental object) in a work space.

摘要翻译： 路径产生装置1具有约束中间配置生成器10.约束中间配置生成器10在关节角度空间中限定约束表面。 路径产生装置1概率地生成关节角度空间中的中间构造。 约束中间配置生成器10将概率产生的中间配置投影到约束表面上以产生预计的中间配置。 以这种方式产生的投影中间配置被连接以产生不干扰工作空间中的任何障碍物（环境对象）的路径。

公开(公告)号：US20150012127A1

公开(公告)日：2015-01-08

申请号：US14324355

申请日：2014-07-07

申请人： FANUC Corporation

发明人： Hiroki MURAKAMI

IPC分类号： G05B19/19

CPC分类号： G05B19/19 ,  G05B19/4083 ,  G05B2219/36265 ,  G05B2219/40477 ,  Y02P90/265

摘要： A numerical control device for controlling a five-axis processing machine includes a tool-direction instruction correction unit, and corrects a tool-direction vector so that a tool direction of a processing program smoothly changes. The tool-direction instruction correction unit refers to a tool-direction correction tolerance set in advance by a tool-direction correction tolerance setting unit.

摘要翻译： 用于控制五轴加工机的数控装置包括刀具方向指令校正单元，并且校正刀具方向矢量，使得处理程序的刀具方向平滑地改变。 刀具方向指示校正单元是指通过刀具方向校正容差设定单元预先设定的刀具方向校正容限。

公开(公告)号：US20090019410A1

公开(公告)日：2009-01-15

申请号：US11815111

申请日：2006-05-01

申请人： Shintaro Yoshizawa

发明人： Shintaro Yoshizawa

IPC分类号： G06F17/50

CPC分类号： B25J9/1664 ,  G05B2219/39414 ,  G05B2219/40073 ,  G05B2219/40359 ,  G05B2219/40429 ,  G05B2219/40448 ,  G05B2219/40476 ,  G05B2219/40477 ,  G05B2219/40517

摘要： A path generating device 1 has a constraint mid-configuration generator 10. The constraint mid-configuration generator 10 defines a constraint surface in a joint angle space. The path generating device 1 probabilistically generates a mid-configuration in the joint angle space. The constraint mid-configuration generator 10 projects the probabilistically generated mid-configuration onto the constraint surface to generate a projected mid-configuration. Projected mid-configurations generated in this manner are joined to generate a path that does not interfere with any obstacle (environmental object) in a work space.

摘要翻译： 路径产生装置1具有约束中间配置生成器10.约束中间配置生成器10在关节角度空间中限定约束表面。 路径产生装置1概率地生成关节角度空间中的中间构造。 约束中间配置生成器10将概率产生的中间配置投影到约束表面上以产生预计的中间配置。 以这种方式产生的投影中间配置被连接以产生不干扰工作空间中的任何障碍物（环境对象）的路径。

公开(公告)号：US07130716B2

公开(公告)日：2006-10-31

申请号：US10830974

申请日：2004-04-22

申请人： John Rogers ,  Prasad Padmanabhan ,  Paul Sagues

发明人： John Rogers ,  Prasad Padmanabhan ,  Paul Sagues

IPC分类号： G06F7/00

CPC分类号： G05B19/4103 ,  B25J9/1664 ,  G05B2219/34121 ,  G05B2219/34123 ,  G05B2219/34149 ,  G05B2219/34175 ,  G05B2219/40454 ,  G05B2219/40463 ,  G05B2219/40477 ,  G05B2219/45031

摘要： A system for wafer handling employing a complex numerical method for calculating a path of wafer travel that controls wafer acceleration and jerk, and results in maximum safe speed of wafer movement from a first point to a second point. Motion is begun along a straight line segment while accelerating to a first path velocity. During this acceleration, the system computer calculates a series of straight line segments and interconnecting sinusiodally shaped paths over which the wafer is to be guided to the second point. The straight line segments and sinusiodally shaped paths are calculated so as to minimize total path length and the time required to move the wafer from the first point to the second point. The system computes the point of entrance and exit to and from each straight and sinusoidal path.

摘要翻译： 一种用于晶片处理的系统，其采用复数数值方法来计算晶片加速度和加加速度的晶片行进路径，并且导致晶片从第一点到第二点的最大安全速度。 沿着直线段开始运动，同时加速到第一路径速度。 在该加速期间，系统计算机计算一系列直线段和互连正弦形路径，晶片将被引导到第二点。 计算直线段和正弦形路径，以使总路径长度和将晶片从第一点移动到第二点所需的时间最小化。 该系统计算出每个直线和正弦曲线路径的入口点和出口点。

公开(公告)号：US20040249509A1

公开(公告)日：2004-12-09

申请号：US10830974

申请日：2004-04-22

发明人： John Rogers ,  Prasad Padmanabhan ,  Paul Sagues

IPC分类号： G06F019/00

CPC分类号： G05B19/4103 ,  B25J9/1664 ,  G05B2219/34121 ,  G05B2219/34123 ,  G05B2219/34149 ,  G05B2219/34175 ,  G05B2219/40454 ,  G05B2219/40463 ,  G05B2219/40477 ,  G05B2219/45031

摘要： A system for wafer handling employing a complex numerical method for calculating a path of wafer travel that controls wafer acceleration and jerk, and results in maximum safe speed of wafer movement from a first point to a second point. Motion is begun along a straight line segment while accelerating to a first path velocity. During this acceleration, the system computer calculates a series of straight line segments and interconnecting sinusiodally shaped paths over which the wafer is to be guided to the second point. The straight line segments and sinusiodally shaped paths are calculated so as to minimize total path length and the time required to move the wafer from the first point to the second point. The system computes the point of entrance and exit to and from each straight and sinusoidal path.

摘要翻译： 一种用于晶片处理的系统，其采用复数数值方法来计算晶片加速度和加加速度的晶片行进路径，并且导致晶片从第一点到第二点的最大安全速度。 沿着直线段开始运动，同时加速到第一路径速度。 在该加速期间，系统计算机计算一系列直线段和互连正弦形路径，晶片将被引导到第二点。 计算直线段和正弦形路径，以使总路径长度和将晶片从第一点移动到第二点所需的时间最小化。 该系统计算出每个直线和正弦曲线路径的入口点和出口点。

公开(公告)号：US09915937B2

公开(公告)日：2018-03-13

申请号：US15384273

申请日：2016-12-19

申请人： X Development LLC

发明人： Jeffrey Linnell ,  Kendra Byrne

IPC分类号： G05B19/418 ,  B25J9/16 ,  B25J18/00

CPC分类号： G05B19/41815 ,  B25J9/1656 ,  B25J9/1666 ,  B25J9/1682 ,  G05B2219/39083 ,  G05B2219/39135 ,  G05B2219/40475 ,  G05B2219/40477 ,  Y10S901/02

摘要： Example systems and methods may allow for parallel operation of robotic devices within a workcell, such as industrial robots controlled to manufacture an output product. One example method includes receiving ordered sequences of operations for a plurality of corresponding robotic devices, determining time-based sequences of operations for each of the robotic devices, where a time-based sequence of operations indicates positions within the workcell at corresponding timesteps of a global timeline, determining one or more potential collisions involving the robotic devices that would result from parallel execution of the time-based sequences of operations within the workcell, modifying the time-based sequences of operations in order to prevent the one or more potential collisions, and providing instructions for parallel execution of the modified time-based sequences of operations at timesteps of the global timeline by the robotic devices within the workcell.

公开(公告)号：US09555545B2

公开(公告)日：2017-01-31

申请号：US14333311

申请日：2014-07-16

申请人： Bot & Dolly, LLC

发明人： Jeffrey Linnell ,  Kendra Byrne

IPC分类号： B25J9/16 ,  B25J9/22 ,  B25J9/10 ,  B25J9/06

CPC分类号： G05B19/41815 ,  B25J9/1656 ,  B25J9/1666 ,  B25J9/1682 ,  G05B2219/39083 ,  G05B2219/39135 ,  G05B2219/40475 ,  G05B2219/40477 ,  Y10S901/02

摘要： Example systems and methods may allow for parallel operation of robotic devices within a workcell, such as industrial robots controlled to manufacture an output product. One example method includes receiving ordered sequences of operations for a plurality of corresponding robotic devices, determining time-based sequences of operations for each of the robotic devices, where a time-based sequence of operations indicates positions within the workcell at corresponding timesteps of a global timeline, determining one or more potential collisions involving the robotic devices that would result from parallel execution of the time-based sequences of operations within the workcell, modifying the time-based sequences of operations in order to prevent the one or more potential collisions, and providing instructions for parallel execution of the modified time-based sequences of operations at timesteps of the global timeline by the robotic devices within the workcell.

摘要翻译： 示例系统和方法可以允许工作单元内的机器人设备的并行操作，例如被控制来制造输出产品的工业机器人。 一个示例性方法包括接收多个对应的机器人设备的有序序列的操作，确定每个机器人设备的基于时间的操作序列，其中基于时间的操作序列指示工作单元内的全局对应时间步长 时间线，确定涉及由并行执行工作单元内的基于时间的操作序列而产生的机器人设备的一个或多个潜在的冲突，修改基于时间的操作序列以便防止一个或多个潜在的冲突，以及 提供用于在所述工作单元内的所述机器人设备在所述全局时间轴的时间步长处修改的基于时间的操作序列的并行执行的指令。

公开(公告)号：US20150336269A1

公开(公告)日：2015-11-26

申请号：US14333311

申请日：2014-07-16

申请人： Bot & Dolly, LLC

发明人： Jeffrey Linnell ,  Kendra Byrne

IPC分类号： B25J9/16

CPC分类号： G05B19/41815 ,  B25J9/1656 ,  B25J9/1666 ,  B25J9/1682 ,  G05B2219/39083 ,  G05B2219/39135 ,  G05B2219/40475 ,  G05B2219/40477 ,  Y10S901/02

摘要： Example systems and methods may allow for parallel operation of robotic devices within a workcell, such as industrial robots controlled to manufacture an output product. One example method includes receiving ordered sequences of operations for a plurality of corresponding robotic devices, determining time-based sequences of operations for each of the robotic devices, where a time-based sequence of operations indicates positions within the workcell at corresponding timesteps of a global timeline, determining one or more potential collisions involving the robotic devices that would result from parallel execution of the time-based sequences of operations within the workcell, modifying the time-based sequences of operations in order to prevent the one or more potential collisions, and providing instructions for parallel execution of the modified time-based sequences of operations at timesteps of the global timeline by the robotic devices within the workcell.

摘要翻译： 示例系统和方法可以允许工作单元内的机器人设备的并行操作，例如被控制来制造输出产品的工业机器人。 一个示例性方法包括接收多个对应的机器人设备的有序序列的操作，确定每个机器人设备的基于时间的操作序列，其中基于时间的操作序列指示工作单元内的全局对应时间步长 时间线，确定涉及由并行执行工作单元内的基于时间的操作序列而产生的机器人设备的一个或多个潜在的冲突，修改基于时间的操作序列以便防止一个或多个潜在的冲突，以及 提供用于在所述工作单元内的所述机器人设备在所述全局时间轴的时间步长处修改的基于时间的操作序列的并行执行的指令。

公开(公告)号：US20120165982A1

公开(公告)日：2012-06-28

申请号：US13328125

申请日：2011-12-16

申请人： Myung Hee KIM ,  Kyung Shik ROH ,  Young Bo SHIM

发明人： Myung Hee KIM ,  Kyung Shik ROH ,  Young Bo SHIM

IPC分类号： G06F7/00

CPC分类号： B25J9/162 ,  B25J9/1664 ,  G05B2219/40244 ,  G05B2219/40476 ,  G05B2219/40477 ,  Y10T74/20329

摘要： A method for planning the robot path includes forming a shape space that includes a start point, a goal point, and obstacle information so as to generate a moving path of the robot, generating one or more moving paths of the robot within the shape space, and storing the generated moving paths in a database, selecting a specific path that has a minimum operation range of the robot and a minimum constraint caused by the obstacle from among the stored moving paths, and planning the selected path, enabling the robot to perform motion along the planned path, and pre-planning a path for a next motion of the robot while the robot performs the motion. The apparatus or method for planning the robot path can reduce a time from an end time of one motion to the start time of the next motion, thereby performing a smooth motion.

摘要翻译： 一种用于规划机器人路径的方法包括形成包括起点，目标点和障碍物信息的形状空间，以便生成机器人的移动路径，在形状空间内生成机器人的一个或多个移动路径， 并且将所生成的移动路径存储在数据库中，从存储的移动路径中选择具有机器人的最小操作范围的特定路径和由障碍物引起的最小约束，并且规划所选择的路径，使机器人能够执行运动 沿着计划的路径，并且在机器人执行运动时预先规划机器人的下一个运动的路径。 用于规划机器人路径的装置或方法可以减少从一个运动的结束时间到下一个运动的开始时间的时间，从而执行平滑运动。