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31 条记录 (耗时 0.015 秒)

    Method of controlling robot movements
    1.
    发明公开
    Method of controlling robot movements 失效
    Verfahren zur Steuerung von Roboterbewegungen。

    公开(公告)号：EP0402788A2

    公开(公告)日：1990-12-19

    申请号：EP90110882.9

    申请日：1990-06-08

    申请人： HITACHI, LTD. ,  HITACHI KEIYO ENGINEERING CO., LTD.

    发明人： Miyake, Norihisa ,  Sumita, Masaki ,  Sugimoto, Koichi

    IPC分类号： G05B19/41

    CPC分类号： G05B19/4086

    摘要： A method of controlling the movements of a robot (1) having a plurality of degrees of freedom comprises the expression of attitudes of a hand (2) or a working tool fitted to the arm end of the robot, the expression being effected such that base vectors of a rectangular coordinate system (20) fixed to the hand (2) or the working tool are given as coordinate components related to a rectangular coordinate system (10) which is fixed to the pedestal of the robot and which serves as reference, interpolation and movement control being performed on the basis of the data thus obtained. By thus performing control, it is made possible to reduce the real-time calculation processings involved and realize a highly accurate robot movement which is smooth in terms of both time and space.

    摘要翻译： 控制具有多个自由度的机器人（1）的运动的方法包括表示安装在机器人的臂端上的手（2）或工作工具的态度，表达方式使得基座 作为与固定在手（2）或作业工具上的直角坐标系（20）的向量作为与固定在机器人的基座上并作为基准的直角坐标系（10）相关的坐标， 并且基于由此获得的数据执行移动控制。 通过这样进行控制，可以减少所涉及的实时计算处理，实现在时间和空间方面平滑的高精度机器人运动。

    Method of controlling robot movements
    2.
    发明公开
    Method of controlling robot movements 失效
    控制机器人运动的方法

    公开(公告)号：EP0402788A3

    公开(公告)日：1992-09-23

    申请号：EP90110882.9

    申请日：1990-06-08

    申请人： HITACHI, LTD. ,  HITACHI KEIYO ENGINEERING CO., LTD.

    发明人： Miyake, Norihisa ,  Sumita, Masaki ,  Sugimoto, Koichi

    IPC分类号： G05B19/41

    CPC分类号： G05B19/4086

    摘要： A method of controlling the movements of a robot (1) having a plurality of degrees of freedom comprises the expression of attitudes of a hand (2) or a working tool fitted to the arm end of the robot, the expression being effected such that base vectors of a rectangular coordinate system (20) fixed to the hand (2) or the working tool are given as coordinate components related to a rectangular coordinate system (10) which is fixed to the pedestal of the robot and which serves as reference, interpolation and movement control being performed on the basis of the data thus obtained. By thus performing control, it is made possible to reduce the real-time calculation processings involved and realize a highly accurate robot movement which is smooth in terms of both time and space.

    Method for calibrating transformation matrix of a force sensor
    6.
    发明公开
    Method for calibrating transformation matrix of a force sensor 失效
    校准力传感器的变换矩阵的方法。

    公开(公告)号：EP0177919A2

    公开(公告)日：1986-04-16

    申请号：EP85112676.3

    申请日：1985-10-07

    申请人： HITACHI, LTD.

    发明人： Hirabayashi, Hisaaki ,  Sugimoto, Koichi ,  Arai, Shinichi ,  Masui, Tomoyuki ,  Inaba, Hidetoshi

    IPC分类号： G01L5/22 ,  G01L5/16 ,  G01L25/00 ,  B25J13/08 ,  B25J19/02

    CPC分类号： G01L25/00 ,  B25J9/1692 ,  B25J13/085 ,  G01L5/161 ,  G01L5/226

    摘要： The present invention relates to a method and an apparatus for calibrating a transformation matrix [B] of a force sensor, in which: a force sensor (12) is attached between a wrist portion (10c) and a hand portion (13) of a robot (10); a standard work (weight) (31) whose weight and position of a center of gravity are known is attached or held to the hand portion (13); each driving source (M) of the robot (10) is made operative in response to commands from a control unit (40) and thereby sequentially changing the posture of the force sensor (12) attached to the robot (10); the control unit (40) obtains a force (F) consisting of a force and a moment due to an arithmetic operation from the posture and position information of the force sensor (12) which is detected on the basis of signals from encoders (PE) to detect an operation amount of each operating element of the robot (10) and from the weights and the positions of the centers of gravity of the standard work (31) and the hand portion (13) and the like inputted as data; the control unit (40) receives a strain voltage (V) detected from the force sensor (12); the control unit (40) calculates the transformation matrix [B] of the force sensor (12) from the force (F) consisting of the force and moment derived and from the strain voltage (V) received in accordance with a predetermined arithmetic logic equation and then stores the transformation matrix [B] into memory means (42); and then the transformation matrix [B] of the force sensor (12) is calibrated.

    Method for correcting systems of coordinates in a robot having visual sensor device and apparatus therefor
    7.
    发明公开
    Method for correcting systems of coordinates in a robot having visual sensor device and apparatus therefor 失效
    校正坐标配备有显示装置及其所用的机器人装置的车辆的系统的方法。

    公开(公告)号：EP0151417A1

    公开(公告)日：1985-08-14

    申请号：EP85100512.4

    申请日：1985-01-18

    申请人： HITACHI, LTD.

    发明人： Okada, Takushi ,  Sugimoto, Koichi ,  Sakaue, Shiyuki ,  Hata, Seiji

    IPC分类号： G05B19/18 ,  B25J13/08

    CPC分类号： B25J9/1697 ,  G05B2219/33263 ,  G05B2219/37572 ,  G05B2219/45083

    摘要： The co-ordinates system correction apparatus, incorporated in a robot system having a visual sensor for measuring two or three dimensional position and posture data, corrects a visual sensor co-ordinates system and a robot co-ordinates systems. The apparatus corrects the co-ordinates systems by means of a correction of parameters representing a relationship between the co-ordinates systems. The parameter correction is caused by calculating parameter errors from a deviation between calculated position and posture data and measured position and posture data.

    摘要翻译： 的坐标系统校正装置，在具有用于测量二维或三维位置和姿势的数据的视觉传感器的机器人系统并入，校正的视觉传感器坐标系统和机器人坐标系统。 所述装置通过的代表坐标系统之间的关系的参数的校正装置校正的坐标系统。 参数校正是通过从计算的位置和姿势的数据和测量的位置和姿势的数据之间的偏差计算参数错误引起的。