公开(公告)号：EP3092533A1

公开(公告)日：2016-11-16

申请号：EP15700425.0

申请日：2015-01-06

申请人： Safran Landing Systems ,  Spring Technologies

发明人： CHEBROUX, Christophe ,  LALLEMENT, Daniel ,  COMA, Olivier ,  BELATON, Olivier ,  GUENEAU, Olivier

IPC分类号： G05B19/4069

CPC分类号： G05B19/27 ,  G05B19/0415 ,  G05B19/402 ,  G05B19/4063 ,  G05B19/4069 ,  G05B19/4147 ,  G05B2219/39439

摘要： Machining system (10) comprising a facility comprising: - a real tool (12);- actuators (14) for displacing the real tool (12); - sensors (15) for generating positioning data (16) for the real tool (12); - a memory (17) for storing correction data in respect of the geometry (20) of the real tool (12); - a physical controller (18) for executing a machining program (19) and commanding the actuators (14), as a function of the data for correction of geometry (20), to displace the real tool (12) with respect to the real blank (13). On the basis of said data (22) representative of the positions of the real tool (12) and of the real blank (13), means for displaying images (24) generate a reconstituted image (25) representative: of the shape of the real blank (13); and of the position of the real tool (12) at a given instant.

公开(公告)号：EP3025631A1

公开(公告)日：2016-06-01

申请号：EP14829078.6

申请日：2014-07-14

申请人： Olympus Corporation

发明人： HATAKEYAMA, Naoya ,  ISODA, Takumi ,  IIDA, Masatoshi ,  WATANABE, Sadahiro

IPC分类号： A61B1/00 ,  A61B90/00 ,  B25J3/00 ,  G02B23/24

CPC分类号： A61B1/00006 ,  A61B1/00045 ,  A61B1/00105 ,  A61B1/0052 ,  A61B1/0055 ,  A61B1/0057 ,  A61B1/008 ,  A61B1/018 ,  A61B1/04 ,  A61B1/06 ,  A61B1/31 ,  A61B34/70 ,  A61B34/71 ,  A61B90/96 ,  A61B90/98 ,  A61B2034/306 ,  A61B2034/715 ,  B25J3/04 ,  B25J9/1689 ,  G05B2219/35417 ,  G05B2219/39439 ,  G05B2219/45118 ,  G05B2219/49253

摘要： The invention has for its object to provide a manipulator and manipulator system in which a dynamic surplus is rapidly removed and a moving part actuates rapidly in association with the operation of an operating part.
The manipulator 1 is characterized by including an operating part 2 operated by an operator, a moving part 3 operated by the operating part 2, a transmitting part 4 for coupling the operating part 2 to the moving part 3 to transmit driving force of the operating part 2 to the moving part 3, a transmission compensating part 6 for making up for a dynamic surplus occurring in the transmitting part 4 in association with the operation of the operating part 2, an input part 8 for acquiring a state of at least one of the operating 3, moving 3 and transmitting part 4, and a control unit 91 for controlling the transmission compensating part 6 depending on the state acquired by the input part 8.

摘要翻译： 本发明的目的是提供一种操纵器和操纵器系统，其中动态剩余被快速移除，并且移动部件与操作部件的操作相关联地快速致动。 操作器1的特征在于包括由操作者操作的操作部分2，由操作部分2操作的移动部分3，用于将操作部分2联接到移动部分3以传递操作部分的驱动力的传送部分4 2到移动部分3，用于与发送部分4中发生的与动作部分2的操作相关的补充动态剩余的发送补偿部分6，用于获取操作部分2中的至少一个的状态的输入部分8 操作3，移动3和发送部分4，以及用于根据由输入部分8获取的状态来控制发送补偿部分6的控制单元91。

公开(公告)号：EP2788151A1

公开(公告)日：2014-10-15

申请号：EP12809665.8

申请日：2012-12-07

申请人： Commissariat à l'Énergie Atomique et aux Énergies Alternatives

发明人： DUMORA, Julie ,  GEFFARD, Franck ,  LAMY, Xavier

IPC分类号： B25J9/16

CPC分类号： B25J9/1633 ,  B25J9/1679 ,  B25J9/1687 ,  B25J17/0208 ,  G05B2219/36429 ,  G05B2219/39439 ,  Y10S901/09 ,  Y10S901/46

摘要： Control method via which an operator can control a robot, using control means that can be positioned as desired at various points on an item that is to be handled, the method comprising at least one step (303) of determining the position and attitude of the control means by measuring forces applied to the control means to define a first load pattern, and corresponding forces for example at the robot gripper member, a step (305) of determining setpoints for controlling the robot (1) in terms of force or in terms of force/position on the basis at least of the measurements of forces on the control means which are applied for moving the item (15) and on the basis of the position and attitude determined during the determining step (303), and a control step (307) during which the determined setpoints are transmitted to the robot (1). Another subject of the invention is a control system employing such a method.

公开(公告)号：EP2614415A1

公开(公告)日：2013-07-17

申请号：EP11764377.5

申请日：2011-09-08

申请人： Gleason Metrology Systems Corporation

发明人： LANKALAPALLI, Kishore ,  TANNER, Mike ,  SHULTZ, Justin ,  LUCOUS, Larry, D. ,  STRONG, Robert, Keith

IPC分类号： G05B19/409 ,  G05B19/427

CPC分类号： G05B19/427 ,  G05B19/409 ,  G05B2219/23043 ,  G05B2219/36163 ,  G05B2219/36167 ,  G05B2219/39439

摘要： A remote pendant (20) for a metrology machine. The pendant comprises a non- configurable user interface which is an extension of the main computer monitor wherein the screens shown on a monitor of the pendant are created by application and/or control software running on the computer control of the machine. The remote pendant further comprises camera and/or webcam (30) features as well as voice recording capabilities. With the remote pendant, the machine operator can view messages appearing on the main computer screen and respond to any prompts via a touch screen (28) on the pendant thereby eliminating the need to return to the machine operator station.

摘要翻译： 用于计量机的遥控器。 吊坠包括不可配置的用户界面，其是主计算机监视器的扩展，其中通过在机器的计算机控制上运行的应用程序和/或控制软件来创建垂悬仪监视器上显示的屏幕。 遥控器还包括相机和/或网络摄像头特征以及语音记录功能。 使用遥控器，机器操作员可以查看出现在主计算机屏幕上的消息，并通过垂饰上的触摸屏响应任何提示，从而无需返回机器操作员站。

公开(公告)号：EP2247415B1

公开(公告)日：2013-04-24

申请号：EP09715812.5

申请日：2009-02-26

申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA ,  National University Corporation Nagoya Institute of Technology

发明人： MURAYAMA, HIDEYUKI ,  TAKESUE, Naoyuki ,  FUJIMOTO, Hideo

IPC分类号： B25J5/02 ,  B25J9/16 ,  B25J13/08 ,  G05B19/402 ,  B66C23/00

CPC分类号： B25J13/085 ,  B25J5/02 ,  B25J9/1687 ,  B66C23/005 ,  G05B19/402 ,  G05B2219/39002 ,  G05B2219/39439 ,  G05B2219/40586 ,  G05B2219/45025

公开(公告)号：EP2247415A1

公开(公告)日：2010-11-10

申请号：EP09715812.5

申请日：2009-02-26

申请人： Toyota Jidosha Kabushiki Kaisha ,  National University Corporation Nagoya Institute of Technology

发明人： MURAYAMA, HIDEYUKI ,  TAKESUE, Naoyuki ,  FUJIMOTO, Hideo

IPC分类号： B25J13/08 ,  B25J9/16

CPC分类号： B25J13/085 ,  B25J5/02 ,  B25J9/1687 ,  B66C23/005 ,  G05B19/402 ,  G05B2219/39002 ,  G05B2219/39439 ,  G05B2219/40586 ,  G05B2219/45025

摘要： A control method for a power assist device (50) provided with an operation handle (6), a force sensor (7) that detects an operation force applied to the operation handle (6) and an orientation (θh) of the operation force, a robot arm (3), and an actuator (11). When the orientation (θh) of the operation force is detected to be within a predetermined angle range with respect to a preset advancing direction of the operation handle, the actuator (11) is controlled so as to move the operation handle (6) along the advancing direction (A) by employing only a component of the operation force along the advancing direction; and when the orientation (θh) of the operation force is detected to be outside the predetermined angle range, the actuator is controlled to move the operation handle (6) by the operation force applied to the operation handle (6) and the orientation of the operation force.

公开(公告)号：EP1650615A1

公开(公告)日：2006-04-26

申请号：EP05024978.8

申请日：2000-03-29

申请人： Intuitive Surgical, Inc.

发明人： Nowlin, William C. ,  Niemeyer, Gunter D. ,  Guthart, Gary S.

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.

摘要翻译： 本发明涉及建立远程操作系统的主机和从机之间的对准或期望的取向关系。 本发明可有利地用于手术装置中。 提供了一种在观察者显示的图像中观察时，在主控制器的手持部分和相关联的从动件的末端执行器之间建立期望的取向关系的方法。 该方法包括使末端执行器保持静止，确定末端执行器相对于与观察者可操作地相关联的图像捕获装置的观察端的当前方向，并且确定主控制器的手持部分的期望的相应取向 相对于观察者，在该方向上，将建立主控制器的手持部分和末端执行器之间的期望取向关系。 该方法还包括使主控制器的手持部分移动到期望的相应取向。 本发明延伸到一个控制系统，该控制系统被布置成在主控制的手持部分和相关联的从动件的末端执行器之间产生期望的取向关系，如在观察者上显示的成像中所观察到的，当操作控制 主控与从机之间已经中断了。

公开(公告)号：EP1181627A2

公开(公告)日：2002-02-27

申请号：EP00925883.1

申请日：2000-03-29

申请人： Intuitive Surgical, Inc.

发明人： NIEMEYER, Gunter, D. ,  NOWLIN, William, C. ,  GUTHART, Gary, S.

IPC分类号： G05B1/00

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.

摘要翻译： 建立遥控机器人系统（200）的主机（700）和从机（10）之间的对准或期望的定向关系。 本发明可以有利地用于手术器械中。 （202）上显示的图像中观察到的在主控制器（700）的手持部分（699）和相关联的从动装置（10）的末端执行器（58）之间建立期望的定向关系的方法， 被提供。 该方法包括使端部执行器58保持静止，确定端部执行器58相对于与观察器202可操作地关联的图像捕捉设备304的观察端的当前定向， （700）的手持部分（699）相对于观察者（202）的相应定向，在该定向处，主控制器（700）的手持部分（699）与 末端执行器58将被建立。 本发明延伸到布置成引起手持部件（699）之间的期望的取向关系的控制系统。

公开(公告)号：EP3359347A1

公开(公告)日：2018-08-15

申请号：EP16775253.4

申请日：2016-10-04

申请人： Kastanienbaum GmbH

发明人： HADDADIN, Sami

IPC分类号： B25J9/16 ,  B25J9/00 ,  G05B19/423 ,  B25J17/02

CPC分类号： B25J9/1656 ,  B25J9/0009 ,  B25J9/0081 ,  B25J9/041 ,  B25J9/163 ,  B25J9/1664 ,  B25J13/088 ,  B25J17/0291 ,  G05B19/423 ,  G05B2219/36433 ,  G05B2219/39439 ,  G05B2219/39529

摘要： The invention relates to a robot arm with a number N of arm elements A
n which can be connected to a robot body via a number N of actuator-drivable joint connections GV
n , where n = 1, 2,..., N; wherein the proximal end of the distal arm element A
N of the robot arm is connected to the arm element A
N-1 via the joint connection GV
N ; the proximal end of the proximal arm element can be connected to the robot body via the joint connection GV
1 ; the joint connection GV
N allows a rotation of the arm element A
N about a rotational axis D
N , the arm element A
N of the robot arm extends along an axis L1, and the axis L1 and the rotational axis D
N form an angle of 50 to 130°; the distal end of the arm element A
N can be connected to an effector E via an actuator-drivable joint connection GV
N+1 ; the joint connection GV
N+1 allows a rotation of the effector E about a rotational axis
N+1 ; the rotational axes D
N and D
N+1 form an angle W1 ranging from 50 to 130°; the rotational axis D
N+1 and the axis L1 form an angle W2 ranging from 50 to 130°; the arm element A
N has a grip-like protrusion F1 which is rigidly connected to the arm element and which extends concentrically to the rotational axis D
N+1 ; a free end FE of the protrusion F1 can be rotated relative to the rest of the protrusion F1 about the rotational axis D
N+1 or can be arranged so as to be rotatable about the rotational axis D
N+1 ; and the free end FE has input elements EE for manually entering data. The proposed robot arm allows an improved ergonomic operation during a learning programming process of a robot comprising such a robot arm.

公开(公告)号：EP3242774A4

公开(公告)日：2018-05-16

申请号：EP16734868

申请日：2016-01-08

申请人： TITAN MED INC

发明人： KRALICKY JOSEPH ,  CAMERON PETER ,  ROBERT RENE

IPC分类号： B25J9/16 ,  A61B34/30 ,  A61B34/37 ,  B25J3/04

CPC分类号： A61B34/37 ,  A61B34/30 ,  A61B34/71 ,  A61B34/74 ,  A61B34/76 ,  A61B34/77 ,  A61B2034/302 ,  A61B2034/742 ,  B25J3/04 ,  B25J9/1689 ,  B25J13/025 ,  B25J13/065 ,  B25J19/06 ,  G05B2219/35419 ,  G05B2219/36422 ,  G05B2219/39439 ,  G05B2219/40144 ,  G05B2219/45117 ,  G05B2219/45118

摘要： A method, a non-transitory computer readable medium, and an apparatus for operating the robotic control system comprising a master apparatus (64) in communication with an input device (58, 60) having a handle (102) and a slave system (54, 74) having a tool (66, 67) having an end effector (73) whose position and orientation is determined in response to a current position and current orientation of the handle. The method involves producing a desired end effector position and orientation in response to a current position and orientation of the handle. The method involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a disablement criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets an enablement criterion.