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公开(公告)号：EP3623115A1
公开(公告)日：2020-03-18
申请号：EP19161245.6
申请日：2019-03-07
发明人： Ogawa, Akihito , Oaki, Junji , Masuda, Tetsuya
IPC分类号： B25J9/16
摘要： A hand control device according to an embodiment includes a plan generator and an operation controller. The plan generator is configured to generate an operation plan of a hand that grasps an object. The operation controller is configured to control operation of the hand by switching between a first control mode and a control mode different from the first control mode. The first control mode is a mode in which the hand is controlled to operate through force or moment acting on the hand.
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公开(公告)号：EP2835227A1
公开(公告)日：2015-02-11
申请号：EP14178734.1
申请日：2014-07-28
发明人： Oaki, Junji
IPC分类号： B25J9/16
CPC分类号： B25J9/1651 , B25J9/1638 , B25J9/1641 , B25J9/1653 , G05B2219/41392 , G05B2219/41398
摘要： A robot control device according to an embodiment includes: an observer receiving the angular velocity of the motor and the current command value, and estimating an angular acceleration of the link, and angular velocities of the link and the motor from a simulation model of an angular velocity control system of the motor; a first feedback unit calculating an axis torsion angular velocity from a difference between the angular velocities of the link and the motor estimated by the observer, and giving feedback to the angular velocity control system; a second feedback unit feeding back the angular acceleration of the link estimated by the observer to the angular velocity control system; and a first feedback constant calculating unit compensating an end effector load mass and increases inertia at the second feedback unit when an end effector load in the nonlinear dynamic model has low inertia.
摘要翻译： 根据实施例的机器人控制装置包括：观察者接收电动机的角速度和当前指令值，并且从角度的模拟模型估计链路的角加速度以及链路和电动机的角速度 电机速度控制系统; 第一反馈单元，从所述链路的角速度与由所述观测者估计的所述电机之间的差计算轴扭转角速度，并且向所述角速度控制系统提供反馈; 第二反馈单元将由观察者估计的链路的角加速度反馈到角速度控制系统; 以及当非线性动力学模型中的末端执行器负载具有低惯性时，第一反馈常数计算单元补偿末端执行器负载质量并增加第二反馈单元处的惯性。
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公开(公告)号：EP4145115A1
公开(公告)日：2023-03-08
申请号：EP22156293.7
申请日：2022-02-11
发明人： Sugiyama, Nobukatsu , Ooga, Junichiro , Ishihara, Yoshiyuki , Oaki, Junji , Ohno, Hiroshi , Okano, Hideaki , Kano, Hiroya , Kamikawa, Takahiro
摘要： According to an approach, a processing device (5) relating to an inspection of an inspection object (D) by a photography unit (2) is provided. A processor of the processing device (5) calculates a plurality of photography points (F) as positions photographing the inspection object (D) based on shape data in which a shape of a surface of the inspection object (D) is indicated by a point group, and information relating to a position and a normal vector (N) on the surface of the inspection object (D) is defined by the point group. The processor executes analysis regarding a path that passes through all of the calculated photography points (F) and minimizes a sum of a movement cost (c) from each of the photography points (F) to a photography point of a next movement destination, and calculates a path corresponding to an analysis result as a path (γ) for moving the photography unit (2).
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公开(公告)号：EP3900890A1
公开(公告)日：2021-10-27
申请号：EP21159224.1
申请日：2021-02-25
IPC分类号： B25J9/16
摘要： A picking apparatus in an embodiment includes: a gripper, an arm, a detector, and a control unit. The gripper picks and grips an object to be conveyed. The arm moves the gripper and causes the gripper to convey the object to be conveyed. The detector is attached to the arm and senses a force applied to the gripper. The control unit controls an operation of the gripper and the arm. The control unit includes a calculator and a subtractor. The calculator calculates a gravitational force and an inertial force applied to the gripper when the gripper grips and moves the object to be conveyed using an arithmetic expression including a coefficient determined in accordance with a mass of the object to be conveyed. The subtractor subtracts the gravitational force and the inertial force calculated by the calculator from a force applied to the gripper sensed by the detector.
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公开(公告)号：EP0280324B1
公开(公告)日：1993-06-23
申请号：EP88102901.1
申请日：1988-02-26
发明人： Oaki, Junji
CPC分类号： B25J9/1641 , G05B2219/37356 , G05B2219/39186 , G05B2219/40599
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6.发明公开Nonlinear control unit for a multi-degree-of freedom manipulator 失效Nichtlineare Steureungseinheitfüreinen Manipulator mit mehreren Freiheitsgraden。
公开(公告)号：EP0280324A1
公开(公告)日：1988-08-31
申请号：EP88102901.1
申请日：1988-02-26
发明人： Oaki, Junji
CPC分类号： B25J9/1641 , G05B2219/37356 , G05B2219/39186 , G05B2219/40599
摘要： A control unit for a multi-degree-of-freedom manipulator comprising a torque sensor (51) for detecting the force exerting on each joint shaft (21) and operational means (71) for adding first and second correction values to the input signals to the motor actuator (32) in accordance with the torque signal produced from the torque sensor (51). With this construction, non-linear and interference forces as well as effects due to the low rigidity of the joints can be removed without identifications of the link or arm parameters and a striking improvement of the control performance can be achieved.
摘要翻译： 一种用于多自由度操纵器的控制单元，包括用于检测在每个关节轴（21）上施加的力的扭矩传感器（51）和用于将第一和第二校正值添加到输入信号的操作装置（71） 根据从转矩传感器（51）产生的扭矩信号，电动机致动器（32）。 通过这种结构，可以消除非线性和干涉力以及由于接头的刚度低而产生的影响，而不需要链接或臂参数的识别，并且可以实现控制性能的显着提高。
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