公开(公告)号：EP0997426A3

公开(公告)日：2003-09-10

申请号：EP99118380.7

申请日：1999-09-16

申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA

发明人： Konosu, Hitoshi ,  Yamada, Yoji

IPC分类号： B66C23/00 ,  B25J9/00 ,  B25J3/04 ,  B25J13/08

CPC分类号： B25J9/0018 ,  B25J5/04 ,  B25J9/046 ,  G05B2219/36429 ,  G05B2219/40119

摘要： The present invention relates to a device (B) for assisting an operator (P) in carrying heavy articles (W). The device (B) is provided with a movable body (2) for supporting the heavy article (W), an actuator for actuating the movable body (2), and a controller for adjusting the output of the actuator. The controller adjusts the actuator such that a force obtained by subtracting a resultant force of force proportional to acceleration of the heavy article, force proportional to speed, and force proportional to position value from force required for moving the heavy article (W) with a same movement as that performed at that point. Further, coefficients proportional to acceleration, speed, and position value are changed during the series of carrying work. Especially, it is useful that the coefficients be changed according to the task process phases. It makes an operator (P) feel as if he were changing assist device to an appropriate one for each task process phase. The operator (P) is able to work under various environments with a feeling which is convenient for performing his work well.

公开(公告)号：EP2105263A3

公开(公告)日：2010-10-13

申请号：EP09464001.8

申请日：2009-03-04

申请人： Institutul de Mecanica Solidelor al Academiei Romane

发明人： Vladareanu, Luige ,  Velea, Lucian Marius ,  Munteanu, Radu Loan ,  Curaj, Adrian ,  Cononovici, Sergiu ,  Sireteanu, Tudor ,  Capitanu, Lucian ,  Munteanu, Mihai Stelian

IPC分类号： B25J9/16

CPC分类号： B25J9/1605 ,  G05B2219/40119 ,  G05B2219/40122 ,  G05B2219/40131 ,  G05B2219/40288

摘要： The method and the device of real time control with robot open architecture are meant to improve the control performance with applications in control systems for nano/micro/macro handlers/robots. The method and the device are comprised of a virtual control interface module (ICV) with the role of achieving the virtual projection of the mechanical structure on the computer graphic terminal (TGC), which has m position and force signals X m P and X m F , a classic mechatronic control system (SCMC) with the role of ensuring the robot's real time control, a number of m charge actuator modules rigidly coupled with the m servo-actuator modules (MS) with the role to ensure the functioning in charge of the servo-actuator modules (MS) and controlled by a charge controller module (MCS), a multi function control interface module (ICMF) which ensures the real time control, the priority control and the management of information exchange between an n number of functions of control interfaces (ICF), connected between them through a field bus (MD), with the role to ensure the implementation of various control methods, making an open architecture system (OAH) in the robot control, a number of n functions of control interfaces (ICF) with the role of allowing the implementation various control methods such as the hybrid force-position control, line tracing functions, the tripod walk of a stepping robot, compliant control, etc. Thus we obtain the design, testing and experimenting control method on a real control system, with online functioning, in the absence of the mechanical structure, through virtual projection, thus allowing the improvement of the performance in the control of robots that already physically exist.

公开(公告)号：EP0997426B1

公开(公告)日：2009-02-11

申请号：EP99118380.7

申请日：1999-09-16

申请人： Toyota Jidosha Kabushiki Kaisha

发明人： Konosu, Hitoshi ,  Yoji, Yamada

IPC分类号： B66C23/00 ,  B25J9/00 ,  B25J3/04 ,  B25J13/08

CPC分类号： B25J9/0018 ,  B25J5/04 ,  B25J9/046 ,  G05B2219/36429 ,  G05B2219/40119

公开(公告)号：EP2223191B1

公开(公告)日：2013-04-10

申请号：EP08865023.9

申请日：2008-12-10

申请人： KUKA Laboratories GmbH

发明人： ZIMMERMANN, Uwe

IPC分类号： G05B19/423 ,  B25J9/16

CPC分类号： G05B19/423 ,  G05B2219/36425 ,  G05B2219/36455 ,  G05B2219/36489 ,  G05B2219/40119 ,  G05B2219/40121 ,  G05B2219/40122

公开(公告)号：EP0997426A2

公开(公告)日：2000-05-03

申请号：EP99118380.7

申请日：1999-09-16

申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA

发明人： Konosu, Hitoshi ,  Yamada, Yoji

IPC分类号： B66C23/00

CPC分类号： B25J9/0018 ,  B25J5/04 ,  B25J9/046 ,  G05B2219/36429 ,  G05B2219/40119

摘要： The present invention relates to a device (B) for assisting an operator (P) in carrying heavy articles (W). The device (B) is provided with a movable body (2) for supporting the heavy article (W), an actuator for actuating the movable body (2), and a controller for adjusting the output of the actuator. The controller adjusts the actuator such that a force obtained by subtracting a resultant force of force proportional to acceleration of the heavy article, force proportional to speed, and force proportional to position value from force required for moving the heavy article (W) with a same movement as that performed at that point. Further, coefficients proportional to acceleration, speed, and position value are changed during the series of carrying work. Especially, it is useful that the coefficients be changed according to the task process phases. It makes an operator (P) feel as if he were changing assist device to an appropriate one for each task process phase. The operator (P) is able to work under various environments with a feeling which is convenient for performing his work well.

摘要翻译： 本发明涉及一种用于辅助操作者（P）承载重物品（W）的装置（B）。 装置（B）设置有用于支撑重物（W）的可移动体（2），用于致动可移动体（2）的致动器和用于调节致动器的输出的控制器。 控制器调节致动器，使得通过减去与重物的加速度成比例的力的合力（力与速度成比例的力）和与重物（W）移动所需的力的位置值成比例的力而获得的力 在那一点上进行的运动。 此外，在一系列携带工作期间改变与加速度，速度和位置值成比例的系数。 特别地，根据任务处理阶段改变系数是有用的。 它使操作员（P）感觉好像他在每个任务进程阶段将辅助装置更改为适当的一个。 操作员（P）能够在各种环境下工作，感觉方便他的工作。

公开(公告)号：EP2223191A1

公开(公告)日：2010-09-01

申请号：EP08865023.9

申请日：2008-12-10

申请人： KUKA Roboter GmbH

发明人： ZIMMERMANN, Uwe

IPC分类号： G05B19/423 ,  B25J9/16

CPC分类号： G05B19/423 ,  G05B2219/36425 ,  G05B2219/36455 ,  G05B2219/36489 ,  G05B2219/40119 ,  G05B2219/40121 ,  G05B2219/40122

摘要： The invention relates to an industrial robot and a method for programming an industrial robot, for which the industrial robot is guided manually to a virtual surface (25) in the room, at which point the industrial robot is selected such that it cannot be guided any further manually. Next, that force (F) and/or torque acting on the industrial robot when an attempt is made to guide the industrial robot further manually is ascertained and stored, despite reaching the virtual surface (25).

公开(公告)号：EP2105263A2

公开(公告)日：2009-09-30

申请号：EP09464001.8

申请日：2009-03-04

申请人： Institutul de Mecanica Solidelor al Academiei Romane

发明人： Vladareanu, Luige ,  Velea, Lucian Marius ,  Munteanu, Radu Loan ,  Curaj, Adrian ,  Cononovici, Sergiu ,  Sireteanu, Tudor ,  Capitanu, Lucian ,  Munteanu, Mihai Stelian

IPC分类号： B25J9/16

CPC分类号： B25J9/1605 ,  G05B2219/40119 ,  G05B2219/40122 ,  G05B2219/40131 ,  G05B2219/40288

摘要： The method and the device of real time control with robot open architecture are meant to improve the control performance with applications in control systems for nano/micro/macro handlers/robots. The method and the device are comprised of a virtual control interface module (ICV) with the role of achieving the virtual projection of the mechanical structure on the computer graphic terminal (TGC), which has m position and force signals X m P and X m F , a classic mechatronic control system (SCMC) with the role of ensuring the robot's real time control, a number of m charge actuator modules rigidly coupled with the m servo-actuator modules (MS) with the role to ensure the functioning in charge of the servo-actuator modules (MS) and controlled by a charge controller module (MCS), a multi function control interface module (ICMF) which ensures the real time control, the priority control and the management of information exchange between an n number of functions of control interfaces (ICF), connected between them through a field bus (MD), with the role to ensure the implementation of various control methods, making an open architecture system (OAH) in the robot control, a number of n functions of control interfaces (ICF) with the role of allowing the implementation various control methods such as the hybrid force-position control, line tracing functions, the tripod walk of a stepping robot, compliant control, etc. Thus we obtain the design, testing and experimenting control method on a real control system, with online functioning, in the absence of the mechanical structure, through virtual projection, thus allowing the improvement of the performance in the control of robots that already physically exist.

摘要翻译： 使用机器人开放式架构实时控制的方法和设备旨在通过在纳米/微/宏/宏处理器/机器人的控制系统中的应用来提高控制性能。 该方法和装置包括虚拟控制接口模块（ICV），其具有在计算机图形终端（TGC）上实现机械结构的虚拟投影，其具有m个位置和力信号X m P和X m F，一种经典的机电一体化控制系统（SCMC），具有确保机器人实时控制的作用，多个m个执行器模块与m个伺服执行器模块（MS）紧密耦合，起到确保功能的作用 伺服执行器模块（MS）并由充电控制器模块（MCS），多功能控制接口模块（ICMF）进行控制，多功能控制接口模块（ICMF）确保实时控制，优先级控制和管理n个功能之间的信息交换 的控制接口（ICF），通过现场总线（MD）连接在一起，具有确保实现各种控制方法的作用，使机器人控制中的开放式架构系统（OAH），多个nf 控制接口（ICF）的功能具有允许执行诸如混合力位置控制，线路跟踪功能，步进机器人的三脚架行走，兼容控制等各种控制方法的作用。因此，我们获得了设计，测试 并通过虚拟投影，在没有机械结构的情况下通过在线功能实现在实际控制系统上的实验控制方法，从而提高了已经实际存在的机器人的控制性能。