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1.发明授权
公开(公告)号：EP1181627B1
公开(公告)日：2005-11-16
申请号：EP00925883.1
申请日：2000-03-29
IPC分类号： G05B1/00 , G05B19/401
CPC分类号： A61B1/00149 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B2018/00982 , A61B2034/102 , A61B2034/305 , A61B2090/506 , B25J3/04 , B25J9/1689 , B25J9/1692 , B25J19/023 , G05B19/401 , G05B2219/39014 , G05B2219/39057 , G05B2219/39062 , G05B2219/39253 , G05B2219/39387 , G05B2219/39389 , G05B2219/39391 , G05B2219/39394 , G05B2219/39437 , G05B2219/39439 , G05B2219/39483 , G05B2219/40144 , G05B2219/40354 , G05B2219/40552 , G05B2219/41441 , G05B2219/45118 , H04N13/239 , H04N13/246 , H04N13/327 , H04N2005/2255
摘要： This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the desired corresponding orientation. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part of the master control and the end effector of the associated slave., as viewed in the displayed imaged on the viewer, to be established when operative control between the master control and the slave has been interrupted.
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2.发明授权
公开(公告)号：EP1230080B2
公开(公告)日：2010-04-28
申请号：EP99956335.6
申请日：1999-11-19
申请人： PIRELLI TYRE S.p.A.
CPC分类号： G05B19/402 , B29D30/1628 , B29D30/60 , B29D30/62 , B29D2030/082 , B29D2030/1678 , G05B15/02 , G05B2219/39483
摘要： A robot arm having seven axes of actuation imparts to a toroidal support a circumferential distribution motion about its own geometric axis simultaneously with controlled transverse distribution displacements in front of a dispensing organ of a strip of elastomeric material. The strip thus forms a plurality of turns, the orientation and mutual superposition whereof are controlled in such a way as to control the thickness variations to be conferred to a component of a tire being manufactured, based on a pre-determined laying scheme pre-set on an electronic computer. The rotation of the toroidal support is controlled in such a way as to obtain a peripheral speed of application exceeding the theoretical feeding rate of the strip, able to be increased or decreased as needed to form turns with reduced or, respectively, enlarged cross section.
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3.发明授权
公开(公告)号：EP1230080B1
公开(公告)日：2004-08-04
申请号：EP99956335.6
申请日：1999-11-19
CPC分类号： G05B19/402 , B29D30/1628 , B29D30/60 , B29D30/62 , B29D2030/082 , B29D2030/1678 , G05B15/02 , G05B2219/39483
摘要： A robot arm having seven axes of actuation imparts to a toroidal support a circumferential distribution motion about its own geometric axis simultaneously with controlled transverse distribution displacements in front of a dispensing organ of a strip of elastomeric material. The strip thus forms a plurality of turns, the orientation and mutual superposition whereof are controlled in such a way as to control the thickness variations to be conferred to a component of a tire being manufactured, based on a pre-determined laying scheme pre-set on an electronic computer. The rotation of the toroidal support is controlled in such a way as to obtain a peripheral speed of application exceeding the theoretical feeding rate of the strip, able to be increased or decreased as needed to form turns with reduced or, respectively, enlarged cross section.
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4.发明公开
公开(公告)号：EP1181627A4
公开(公告)日：2002-10-16
申请号：EP00925883
申请日：2000-03-29
IPC分类号： A61B1/00 , A61B17/00 , A61B18/00 , A61B19/00 , B25J3/04 , B25J9/16 , B25J19/02 , H04N5/225 , H04N13/00 , G05B1/00 , G05B19/401
CPC分类号： A61B1/00149 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B2018/00982 , A61B2034/102 , A61B2034/305 , A61B2090/506 , B25J3/04 , B25J9/1689 , B25J9/1692 , B25J19/023 , G05B19/401 , G05B2219/39014 , G05B2219/39057 , G05B2219/39062 , G05B2219/39253 , G05B2219/39387 , G05B2219/39389 , G05B2219/39391 , G05B2219/39394 , G05B2219/39437 , G05B2219/39439 , G05B2219/39483 , G05B2219/40144 , G05B2219/40354 , G05B2219/40552 , G05B2219/41441 , G05B2219/45118 , H04N13/0239 , H04N13/0246 , H04N13/0425 , H04N2005/2255
摘要： This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the desired corresponding orientation. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part of the master control and the end effector of the associated slave., as viewed in the displayed imaged on the viewer, to be established when operative control between the master control and the slave has been interrupted.
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公开(公告)号：EP2377653B1
公开(公告)日：2017-09-06
申请号：EP10803866.2
申请日：2010-06-23
发明人： ZHOU, Xiang , SHI, Peike , HUANG, Gang , YI, Xiaogang
CPC分类号： E02F3/435 , B66C13/18 , B66C23/54 , E02F9/2221 , E04G21/04 , E04G21/0445 , E04G21/0463 , G05B2219/39483
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公开(公告)号：EP2377653A1
公开(公告)日：2011-10-19
申请号：EP10803866.2
申请日：2010-06-23
发明人： ZHOU, Xiang , SHI, Peike , HUANG, Gang , YI, Xiaogang
IPC分类号： B25J13/00
CPC分类号： E02F3/435 , B66C13/18 , B66C23/54 , E02F9/2221 , E04G21/04 , E04G21/0445 , E04G21/0463 , G05B2219/39483
摘要： Disclosed is a method for controlling a large-scale engineering manipulator including several and frames, each of which is provided with a drive mechanism for driving the corresponding arm frame to rotate in a set angle range. The method involves acquiring a current displacement amount of the drive mechanism (S301), obtaining a control instuction (S302), calculating a needed displacement amount of the drive mechanism according to the current displacement amount and the control instruction (S303), and controlling the drive mechanism according to the needed displacement amount to drive the manipular to move (S304). A system for controlling the large-scale engineering manipulator is also provided. A precise control of the manipulator is achieved according to the current displacement amount, a structural feature of the manipulator and the control instruction.
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7.发明授权
公开(公告)号：EP1650615B1
公开(公告)日：2011-08-24
申请号：EP05024978.8
申请日：2000-03-29
IPC分类号： G05B1/00 , G05B19/401
CPC分类号： A61B1/00149 , A61B17/00234 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/36 , A61B2018/00982 , A61B2034/102 , A61B2034/305 , A61B2090/506 , B25J3/04 , B25J9/1689 , B25J9/1692 , B25J19/023 , G05B19/401 , G05B2219/39014 , G05B2219/39057 , G05B2219/39062 , G05B2219/39253 , G05B2219/39387 , G05B2219/39389 , G05B2219/39391 , G05B2219/39394 , G05B2219/39437 , G05B2219/39439 , G05B2219/39483 , G05B2219/40144 , G05B2219/40354 , G05B2219/40552 , G05B2219/41441 , G05B2219/45118 , H04N13/239 , H04N13/246 , H04N13/327 , H04N2005/2255
摘要： This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the desired corresponding orientation. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part of the master control and the end effector of the associated slave., as viewed in the displayed imaged on the viewer, to be established when operative control between the master control and the slave has been interrupted.
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8.发明公开
公开(公告)号：EP1230080A1
公开(公告)日：2002-08-14
申请号：EP99956335.6
申请日：1999-11-19
CPC分类号： G05B19/402 , B29D30/1628 , B29D30/60 , B29D30/62 , B29D2030/082 , B29D2030/1678 , G05B15/02 , G05B2219/39483
摘要： A robot arm having seven axes of actuation imparts to a toroidal support a circumferential distribution motion about its own geometric axis simultaneously with controlled transverse distribution displacements in front of a dispensing organ of a strip of elastomeric material. The strip thus forms a plurality of turns, the orientation and mutual superposition whereof are controlled in such a way as to control the thickness variations to be conferred to a component of a tire being manufactured, based on a pre-determined laying scheme pre-set on an electronic computer. The rotation of the toroidal support is controlled in such a way as to obtain a peripheral speed of application exceeding the theoretical feeding rate of the strip, able to be increased or decreased as needed to form turns with reduced or, respectively, enlarged cross section.
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9.发明授权PROCÉDÉ DE COMMANDE D'UN SYSTÈME ROBOTISÉ POUR LE REVÊTEMENT D'UNE PIÈCE PAR PROJECTION D'UN MATÉRIAU 有权一种用于控制自动化系统涂层的成分通过喷涂材料
公开(公告)号：EP2788150B1
公开(公告)日：2016-05-18
申请号：EP12797918.5
申请日：2012-12-06
IPC分类号： B25J9/16
CPC分类号： B25J9/1687 , G05B2219/39483
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10.发明公开PROCÉDÉ DE COMMANDE D'UN SYSTÈME ROBOTISÉ POUR LE REVÊTEMENT D'UNE PIÈCE PAR PROJECTION D'UN MATÉRIAU 有权一种用于控制自动化系统涂层的成分通过喷涂材料
公开(公告)号：EP2788150A1
公开(公告)日：2014-10-15
申请号：EP12797918.5
申请日：2012-12-06
IPC分类号： B25J9/16
CPC分类号： B25J9/1687 , G05B2219/39483
摘要： Method for controlling an automated system (S) for applying a coating to a component (Pi), this automated system (S) comprising an articulated robot arm (1) and a spray head (T) provided with a spray nozzle (3), the method involving generating a command such: - that the spray head (T) is moved in a path (C) around a component (Pi) axis (B); and - that, along the entire path the nozzle (3) is oriented toward the component (Pi); and - that over a first portion (C1) of the path (C), a first side (K1) of the head is oriented toward a plane in which the component (Pi) is held; and - that over a second portion (C2) of the path (C1) a second side (K2) of the head (T) is oriented in the direction of said plane (P).
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