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    Method and system for enhancing operating performance of an autonomic mobile robotic device
    1.
    发明公开
    Method and system for enhancing operating performance of an autonomic mobile robotic device 审中-公开
    Verfahren und System zur Verbesserung der Betriebsleistung einer autonomen mobilen Robotervorrichtung

    公开(公告)号：EP2447014A2

    公开(公告)日：2012-05-02

    申请号：EP11183211.9

    申请日：2011-09-29

    申请人： Deere & Company

    发明人： Anderson, Noel W ,  Bodwell, Mark ,  Foessel, Alex ,  Hein, Thomas K.

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1671 ,  A01D34/008 ,  A01D75/185 ,  G05B2219/39254 ,  G05B2219/40515 ,  G05D1/0088 ,  G05D2201/0208

    摘要： A mechanism for optimizing behavior of an autonomous mobile robotic device. A first set of robotic behaviors is created based on a set of work area parameters and a behavior selection. The autonomous mobile robotic device is controlled using the first set of robotic behaviors. Performance data indicative of a performance of the autonomous mobile robotic device when controlled by the first set of robotic behaviors is collected. The performance data is analyzed to create a second set of robotic behaviors having enhanced performance relative to the first set of robotic behaviors. The first set of robotic behaviors is replaced with the second set of robotic behaviors to control the autonomous mobile robotic device using the second set of robotic behaviors.

    摘要翻译： 用于优化自主移动机器人设备的行为的机制。 基于一组工作区参数和行为选择创建第一组机器人行为。 使用第一组机器人行为来控制自主移动机器人装置。 收集指示由第一组机器人行为控制的自主移动机器人装置的性能的性能数据。 分析性能数据以创建相对于第一组机器人行为具有增强的性能的第二组机器人行为。 第一组机器人行为被替换为第二组机器人行为，以使用第二组机器人行为来控制自主移动机器人装置。

    Offline programming device
    3.
    发明公开
    Offline programming device 审中-公开
    离线Programmiergerät

    公开(公告)号：EP1584999A1

    公开(公告)日：2005-10-12

    申请号：EP05007470.7

    申请日：2005-04-05

    申请人： FANUC LTD

    发明人： Watanabe, Atsushi ,  Kobayashi, Hirohiko ,  Nagatsuka, Yoshiharu FANUC Dai3virakaramatsu

    IPC分类号： G05B19/4061 ,  B25J9/16

    CPC分类号： G05B19/4061 ,  B25J9/1666 ,  G05B2219/40317 ,  G05B2219/40515 ,  Y02P90/265

    摘要： An offline programming device in which a path for preventing interference may be automatically inserted such that a welding robot does not interfere with a jig clamping a workpiece to be welded. The models of the robot, the workpiece and the clamp jig are indicated on a display for determining the path for preventing interference. A simulation is carried out to judge that interference with the jig may occur. When it is judged that interference will occur, data of the preventing path suitable for a straight path passing through the jig are read out from a library including registered preventing paths corresponding to shapes of various jigs. The data of the preventing path includes the three-dimensional data of each point of the path as the incremental value in relation to a reference point of the path. Also, the orientation of a welding torch is registered. The corrected welding program may be downloaded to the actual robot so as to correct the uploaded offline program by using a test result in the actual robot.

    摘要翻译： 可以自动插入用于防止干扰的路径的离线编程装置，使得焊接机器人不会夹紧夹持待焊接工件的夹具。 在显示器上指示机器人，工件和夹具的型号，以确定用于防止干扰的路径。 进行模拟以判断可能发生对夹具的干扰。 当判断出会发生干扰时，从包括对应于各种夹具的形状的登记防止路径的库中读出适合于通过夹具的直线路径的防止路径的数据。 防止路径的数据包括路径的每个点的三维数据，作为与路径的参考点相关的增量值。 此外，登记焊炬的取向。 修正的焊接程序可以下载到实际的机器人，以便通过在实际的机器人中使用测试结果来校正上传的脱机程序。

    Apparatus and method for automatic path generation for an industrial robot
    5.
    发明公开
    Apparatus and method for automatic path generation for an industrial robot 有权
    Vorrichtung und Verfahren zur Bahnerzeugungfüreinen Industrieroboter

    公开(公告)号：EP1842631A1

    公开(公告)日：2007-10-10

    申请号：EP06112162.0

    申请日：2006-04-03

    申请人： ABB Research Ltd

    发明人： Lindström, Tore ,  Qi, Levi-LiWei No.31, Fu Te Dong San Rd. ,  Qian, ZhaoPing ,  Liberg, Anna ,  Gan, Zhongxue No. 31, Fu Te Dong San Rd.

    IPC分类号： B25J9/16 ,  G05B19/418

    CPC分类号： B25J9/1671 ,  G05B19/41885 ,  G05B2219/35083 ,  G05B2219/40308 ,  G05B2219/40515 ,  Y02P90/083 ,  Y02P90/087 ,  Y02P90/26

    摘要： An apparatus and method that allows a person who is not a skilled engineer, to quickly and easily generate target points and paths for an industrial robot performing work in a work cell. The apparatus comprises: a memory location (4) for storing a set of predefined workstation types, each workstation type including predefined movement paths including target points, information on how to generate the target points based geometric parameters, and information on how to generate a parameter driven 3D geometric model of the workstation type, a graphical generator (8) generating a graphical user interface, displaying information about the predefined workstation types and allowing a user to select workstations and to enter values for geometric parameters for the selected workstations, a target generating module (10) calculating the positions of the target points of the selected workstations based on the workstation type and geometric parameters, and a path generating module (12) generating paths for the selected workstations based on the workstation type and calculated positions of the target points.

    摘要翻译： 允许不熟练工程师的人快速方便地为在工作单元中执行工作的工业机器人产生目标点和路径的装置和方法。 该设备包括：存储位置（4），用于存储一组预定义的工作站类型，每个工作站类型包括包括目标点的预定移动路径，关于如何生成基于目标点的几何参数的信息以及关于如何生成参数的信息 工作站类型的驱动3D几何模型，生成图形用户界面的图形生成器（8），显示关于预定义工作站类型的信息，并允许用户选择工作站并输入所选择的工作站的几何参数的值，生成目标 模块（10）基于工作站类型和几何参数来计算所选择的工作站的目标点的位置;以及路径生成模块（12），其基于工作站类型和所计算的目标点的位置来生成所选择的工作站的路径 。

    ANIMATION SYSTEM FOR A ROBOT COMPRISING A SET OF MOVABLE PARTS
    7.
    发明公开
    ANIMATION SYSTEM FOR A ROBOT COMPRISING A SET OF MOVABLE PARTS 审中-公开
    系统动画与活动的部件设置一个机器人

    公开(公告)号：EP1501659A1

    公开(公告)日：2005-02-02

    申请号：EP03712592.9

    申请日：2003-04-22

    申请人： Koninklijke Philips Electronics N.V.

    发明人： Morel, Cyrille ,  Planterose, Thierry

    IPC分类号： B25J9/16 ,  G06T15/70

    CPC分类号： B25J9/1671 ,  G05B2219/40515 ,  G05B2219/45176

    摘要： The object of the invention is to make the movable parts of a robot reproduce the movement of the movable parts of an animated object, via the transmission of movement parameters to the robot in a primary signal PS. The primary signal PS comprises sets of parameters associated with the movable parts of the animated object, the sets of parameters being inserted in said primary signal according to a hierarchical graph structure reflecting the structure of the movable parts of said animated object. The movable parts of the robot reproduce the movement characterized by the movement parameters comprised in the sets of parameters which are associated with them. Use: An animation system for a robot.

    Robot off-line simulation apparatus
    8.
    发明公开
    Robot off-line simulation apparatus 有权
    Vorrichtung zur离线模拟冯机器人Arbeitsgängen

    公开(公告)号：EP1498792A2

    公开(公告)日：2005-01-19

    申请号：EP04254016.1

    申请日：2004-07-02

    申请人： FANUC LTD

    发明人： Watanabe, Atsushi, Room 109 Lifepatio Hamadayama ,  Nagatsuka, Yoshiharu, FANUC Dai3virakaramatsu, ,  Kosaka, Tetsuya, Room 11-403 FANUC Manshonharimomi

    IPC分类号： G05B19/4069 ,  B25J9/16

    CPC分类号： B25J9/1671 ,  B25J9/1664 ,  G05B2219/40317 ,  G05B2219/40465 ,  G05B2219/40515 ,  G05B2219/40629

    摘要： A robot off-line simulation apparatus that allows a person to know an optimum placement for a robot (1), and operation margin index, etc. before going to an actual working site. Provisional robot placing positions are selected using data about a given sequence of task points (operation path), etc. the conditions for selection are (i) that solution to the inverse kinematics should be found regarding the entire sequence of task points, (ii) that the robot (1) should not interfere with a peripheral device (37), and (iii) that regarding all the axes of the robot, the operation margin index should satisfy a criterion value. Simulation is performed according to operation programs under the condition that the robot is placed at each of the provisional placing positions, where data about cycle time, duty, energy value, change in acceleration/speed, etc. is collected. Using the collected data, evaluation of operation is performed regarding each of the provisional placing positions, and those provisional placing positions which allow good operation are identified as placing positions ensuring the robot operation. Further, using an evaluation function in which each aspect is given a weighting, the placing positions ensuring the robot operation are reduced to optimum placing positions ensuring the robot operation.

    摘要翻译： 一种机器人离线模拟装置，其允许人在进入实际工作现场之前知道机器人（1）的最佳放置以及操作余量指数等。 使用关于给定的任务点（操作路径）等的数据来选择临时机器人放置位置。用于选择的条件是（i）应当针对任务点的整个序列找到反向运动学的解，（ii） 机器人（1）不应该干扰外围设备（37），并且（iii）关于机器人的所有轴，操作余量指数应满足标准值。 在机器人被放置在每个临时放置位置的条件下根据操作程序进行仿真，其中收集关于循环时间，占空比，能量值，加速度/速度变化等的数据。 使用收集的数据，对每个临时放置位置执行操作评估，并且将允许良好操作的那些临时放置位置识别为确保机器人操作的放置位置。 此外，使用其中每个方面被赋予加权的评估功能，将确保机器人操作的放置位置减小到确保机器人操作的最佳放置位置。

    REDUCING ENERGY CONSUMPTION OF INDUSTRIAL ROBOTS BY USING NEW METHODS FOR MOTION PATH PROGRAMMING
    9.
    发明公开
    REDUCING ENERGY CONSUMPTION OF INDUSTRIAL ROBOTS BY USING NEW METHODS FOR MOTION PATH PROGRAMMING 审中-公开
    还原工业机器人能耗使用一个新程序，移动路径控制

    公开(公告)号：EP2969400A1

    公开(公告)日：2016-01-20

    申请号：EP14715480.1

    申请日：2014-03-07

    申请人： Siemens Aktiengesellschaft ,  Siemens Product Lifecycle Management Software Inc.

    发明人： FRISCHE, Matthias ,  JUNGNICKEL, Frank

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1664 ,  G05B2219/39361 ,  G05B2219/40476 ,  G05B2219/40515

    摘要： Various disclosed embodiments include methods, systems, and computer-readable media for identifying a motion path for an industrial robot. According to one embodiment, a method includes identifying a plurality of points at which at least one component of the industrial robot is positioned during performance of a task. The identified points include at least a starting point and an ending point of the component for performing the task. The method also includes generating one or more motion paths for the industrial robot to perform the task based on the identified points. The method further includes identifying and predicting energy consumption by the industrial robot for the one or more generated motion paths. The method also includes selecting the motion path for the industrial robot based on the identified energy consumption. Additionally, the method includes storing information about the energy consumption by the industrial robot for the selected motion path.

    摘要翻译： 各种游离缺失盘的实施方案包括方法，系统，以及用于在工业机器人识别的运动路径对计算机可读介质。 。根据一个实施例，一种方法包括标识出所述工业机器人的至少一个部件的任务的执行过程中被定位点上的多个。 所确定的点包括至少一个出发点，并在组件的执行任务的点结束。 因此，该方法包括：生成用于工业机器人执行基于所识别的点的任务的一个或多个运动路径。 该方法包括进一步的识别和由工业用机器人的一个或多个生成的运动路径的能量消耗量预测。 因此，该方法包括：选择用于基于所识别的能量消耗的工业用机器人的运动路径。 另外，该方法包括存储关于由工业用机器人进行所选择的运动路径中的能量消耗的信息。

    ROBOT PROGRAM GENERATION FOR ROBOTIC PROCESSES
    10.
    发明公开
    ROBOT PROGRAM GENERATION FOR ROBOTIC PROCESSES 审中-公开
    机器人程序生产机械手进程

    公开(公告)号：EP2928648A1

    公开(公告)日：2015-10-14

    申请号：EP13824547.7

    申请日：2013-12-06

    申请人： ABB Technology AG

    发明人： BOCA, Remus ,  NIDAMARTHI, Srinivas

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1664 ,  B25J9/1671 ,  G05B2219/36248 ,  G05B2219/36504 ,  G05B2219/40425 ,  G05B2219/40515 ,  G05B2219/45065 ,  Y10S901/02 ,  Y10S901/47

    摘要： A system for generating a path to be followed by a robot used to perform a process on a workpiece has a computing device that has program code for operating the robot and obtaining information related to the workpiece and a vision system that scans the workpiece to obtain images thereof that are provided to the computing device. The computing device processes the images to obtain geometric information about the workpiece that the computing device uses in combination with process related reference parameters stored in the computing device to generate program code for a path to be followed by the robot to perform the process on the workpiece. The computing device also includes code configured to verify for quality the generated program code for the path to be followed by the robot to perform the process on the workpiece.