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    Robot controller, robot system, robot, robot control method, and program
    2.
    发明公开
    Robot controller, robot system, robot, robot control method, and program 审中-公开
    机器人控制器，机器人系统，机器人，机器人控制方法和程序

    公开(公告)号：EP2859999A2

    公开(公告)日：2015-04-15

    申请号：EP14188281.1

    申请日：2014-10-09

    申请人： Seiko Epson Corporation

    发明人： Aiso, Seiji ,  Hasegawa, Hiroshi ,  Inazumi, Mitsuhiro ,  Karito, Nobuhiro

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1697 ,  B25J9/1633 ,  G05B2219/39325 ,  G05B2219/39391 ,  G05B2219/40307 ,  Y10S901/09 ,  Y10S901/47

    摘要： A robot includes a control unit that controls a movable unit of the robot to move an end point of the movable unit closer to a target position, and an image acquisition unit that acquires a target image as an image containing the end point when the end point is in the target position, and a current image as an image containing the end point when the end point is in a current position. The control unit controls movement of the movable unit based on the current image and the target image and output from a force detection unit that detects a force acting on the movable unit.

    摘要翻译： 机器人包括控制单元，该控制单元控制机器人的可移动单元以使可移动单元的端点接近目标位置;以及图像获取单元，当目标图像的终点时，获取目标图像作为包含终点的图像 处于目标位置，并且当前图像作为包含终点处于当前位置时的终点的图像。 控制单元基于当前图像和目标图像来控制可移动单元的移动，并且从检测作用在可移动单元上的力的力检测单元输出。

    ROBOT CONTROL DEVICE, ROBOT, AND ROBOT SYSTEM
    4.
    发明公开
    ROBOT CONTROL DEVICE, ROBOT, AND ROBOT SYSTEM 审中-公开
    机器人控制装置，机器人和机器人系统

    公开(公告)号：EP3299129A1

    公开(公告)日：2018-03-28

    申请号：EP17192602.5

    申请日：2017-09-22

    申请人： Seiko Epson Corporation

    发明人： Takeuchi, Kaoru

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1648 ,  B25J9/1633 ,  G05B2219/39082 ,  G05B2219/39325 ,  G05B2219/39529 ,  G05B2219/49141

    摘要： A robot control device determines that a control target of force control is achieved, based on two conditions made up of a range condition in the case where an output from a force detection unit provided in a robot is within a predetermined range and a continuation condition in the case where a state that satisfies the range condition is continued.

    摘要翻译： 机器人控制装置基于由设置在机器人中的力检测单元的输出处于预定范围内的情况下的范围条件和下列情况下的连续条件构成的两个条件来确定实现了力控制的控制目标： 继续满足范围条件的状态的情况。

    METHOD FOR ESTIMATION OF EXTERNAL FORCES AND TORQUES ON A ROBOT ARM
    5.
    发明公开
    METHOD FOR ESTIMATION OF EXTERNAL FORCES AND TORQUES ON A ROBOT ARM 审中-公开
    机器人臂上外力和力矩的估算方法

    公开(公告)号：EP3242775A1

    公开(公告)日：2017-11-15

    申请号：EP15700190.0

    申请日：2015-01-07

    申请人： ABB Schweiz AG

    发明人： WAHRBURG, Arne ,  MATTHIAS, Björn ,  DING, Hao

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1633 ,  B25J9/1674 ,  G05B2219/37624 ,  G05B2219/39325

    摘要： The invention is related to a method for estimating the externally applied wrench (12, f
    ext ) on the robot arm (46) caused by collision, based on the calculation of the sum of all the torques applied (e.g. joint motor, friction, gravity, dynamic behaviour) and wherein the robot comprises a robot controller (28) which is foreseen to control the movement of the robot arm (46) according to data of a robot program and to continuously provide: the torque vector of the joint motors (τ
    mot ), the dynamic behavior of the robot arm, a torque vector due to gravity effects (τ
    grav (q)) and the current joint angles (q) of the robot arm. The method is characterized by the following steps: moving the robot arm (46) according to the data of a robot program, continuously determining the friction torque vector (τ
    fric ), continuously determining the external torque vector (τ
    ext ) by use of the following equation: (A) providing the Jacobian Matrix (J) of the robot arm and continuously estimating the externally applied wrench (f
    ext ) of the robot arm (46) dependent on the angle vector (q) based on the Jacobian matrix (J) and the external torque vector
    (τ
    ext
    ) .

    NATURAL PITCH AND ROLL
    9.
    发明公开
    NATURAL PITCH AND ROLL 审中-公开
    天然沥青和卷

    公开(公告)号：EP3186041A2

    公开(公告)日：2017-07-05

    申请号：EP15754383.6

    申请日：2015-08-14

    申请人： Google Inc.

    发明人： KHRIPIN, Alex ,  RIZZI, Alfred Anthony

    IPC分类号： B25J9/16 ,  B62D57/032

    CPC分类号： B25J9/1694 ,  B25J9/1664 ,  B62D57/032 ,  G05B2219/39082 ,  G05B2219/39215 ,  G05B2219/39325 ,  G05D2201/0217 ,  Y10S901/01 ,  Y10S901/09 ,  Y10S901/46

    摘要： A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.

    摘要翻译： 控制系统可以接收指示与连接到机器人的多个传感器相对应的各个关节角度的第一多个测量值。 机器人可以包括主体和与相应特性相关联地连接到主体的多个关节肢体。 控制系统还可以接收指示机器人的身体的取向的身体取向测量值。 控制系统可以基于与机器人的关节肢体相关联的属性进一步确定第一多个测量值和身体取向测量值之间的关系。 此外，控制系统可以基于第一多个测量结果，身体方位测量结果和所确定的关系来估计机器人的总体定向。 此外，控制系统可以提供指令以基于机器人的估计的总体方位来控制机器人的至少一个关节肢体。

    MEDICAL MANIPULATOR AND MEDICAL IMAGING SYSTEM WITH THE MEDICAL MANIPULATOR
    10.
    发明公开
    MEDICAL MANIPULATOR AND MEDICAL IMAGING SYSTEM WITH THE MEDICAL MANIPULATOR 审中-公开
    医疗机械手和医疗成像系统与医疗机械手

    公开(公告)号：EP2861178A1

    公开(公告)日：2015-04-22

    申请号：EP13805196.6

    申请日：2013-06-05

    申请人： Canon Kabushiki Kaisha

    发明人： ONUMA, Kazufumi

    IPC分类号： A61B19/00 ,  B25J19/00

    CPC分类号： A61B19/2203 ,  A61B5/0095 ,  A61B34/20 ,  A61B34/30 ,  A61B90/11 ,  A61B2017/00694 ,  A61B2034/2061 ,  A61B2034/2074 ,  A61B2090/064 ,  A61B2090/374 ,  A61B2090/376 ,  A61B2090/378 ,  B25J9/1633 ,  G05B2219/39325 ,  G05B2219/45117

    摘要： The present invention relates to a medical manipulator (30) which includes: a driving unit (6) configured to at least include a vibration-type actuator (10); a manipulator portion (5) configured to at least include an inserting portion (18) and to be connected to the driving unit (6); a support unit (4) configured to support the driving unit (6) and the manipulator portion (5); a driving circuit (9) configured to be connected to the vibration-type actuator (10) and to output a driving signal (42) to the vibration-type actuator (10); and a stress compensation unit (11) configured to reduce stress which occurs in the inserting portion (18) due to a motion of a living body.

    摘要翻译： 本发明涉及一种医疗用机械手（30），该医疗用机械手（30）具备：驱动部（6），其至少具备振动型致动器（10）; （5），其被构造成至少包括插入部分（18）并且将被连接到所述驱动单元（6）;以及控制器部分（5）。 支撑单元（4），所述支撑单元（4）被构造成支撑所述驱动单元（6）和所述操纵器部分（5）; 驱动电路（9），其被构造成连接到所述振动型致动器（10）并且向所述振动型致动器（10）输出驱动信号（42）;以及驱动电路 以及应力补偿单元（11），其被配置为减少由于活体的运动而在插入部分（18）中发生的应力。