公开(公告)号：JP2012250569A

公开(公告)日：2012-12-20

申请号：JP2011122834

申请日：2011-05-31

Applicant: Toyota Technical Development Corp ,  トヨタテクニカルディベロップメント株式会社 ,  Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： YIN YINGJIE ,  TAKESHIGE MINORU ,  NAKAJIMA YUICHIRO ,  SENBA YOSHIYUKI ,  KAJIMA HIDEKI

IPC: B62K17/00 ,  B60L15/20 ,  B62K3/00 ,  G05D1/08

CPC classification number: Y02T10/7241 ,  Y02T10/7275

Abstract: PROBLEM TO BE SOLVED: To provide a method for using minimum sensors to estimate a centroid angle in both an inverted state and an auxiliary-wheel-ground state (a resultant centroid angle of an occupant or an embarkation and an inverted-wheel-type traveling body), in the inverted-wheel-type traveling body.SOLUTION: The boardable inverted-wheel-type traveling body includes: the inverted state where the auxiliary wheel inverts only using a drive wheel without contacting the ground; and the auxiliary-wheel-ground state where the auxiliary wheel contacts the ground. The method includes steps of: designing state observers on the basis of respective equations of motion between the inverted state and the auxiliary-wheel-ground state; introducing an affine term into a state equation of the state observer in the auxiliary-wheel-ground state; and using the respective state observers between the inverted state and the auxiliary-wheel-ground state to estimate a fluctuation portion and disturbance of the centroid angle in the entire inverted-wheel-type traveling body caused by the occupant or the embarkation in both of the states, and a floor reaction force in the auxiliary-wheel-ground state.

Abstract translation: 要解决的问题：提供一种使用最小传感器来估计反转状态和辅助轮 - 基态的质心角（乘员或登乘和倒车轮的所得重心角度）的方法 型行驶体）。 解决方案：可倒置倒车式行驶体包括：辅助轮仅使用驱动轮而不与地面接触的倒档状态; 辅助轮与地面接触的辅助轮 - 接地状态。 该方法包括以下步骤：基于倒置状态和辅助轮 - 基态之间的各运动方程设计状态观察者; 将仿射项引入辅助轮 - 基态中状态观测器的状态方程; 并且在反转状态和辅助轮 - 基态之间使用各状态观察者来估计由乘员或登乘员在两者中引起的整个倒车式行驶体中的质心角度的波动部分和扰动 状态，以及辅助轮 - 地面状态下的地面反作用力。 版权所有（C）2013，JPO＆INPIT

公开(公告)号：JP2009018380A

公开(公告)日：2009-01-29

申请号：JP2007183043

申请日：2007-07-12

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： NAKAJIMA YUICHIRO

IPC: B25J13/08

Abstract: PROBLEM TO BE SOLVED: To provide a robot capable of smoothly conveying an object while keeping holding the object even a slave arm is behind movements of a master arm, a control method of the robot, and a control system of the robot.
SOLUTION: The robot 1 grips the object 20 with gripping part respectively provided for the two arms and moves the object 20 to a target position and a target attitude. One arm is made to be the master arm and the other arm is made to be the slave arm. The robot is equipped with a master arm control part for controlling the master arm to move along a track toward the target position and the target attitude of the object 20, and a slave arm control part for detecting external force acting on the gripping part 13S of the slave arm via the object 20 and controlling the slave arm to follow the master arm based on the external force.
COPYRIGHT: (C)2009,JPO&INPIT

Abstract translation: 要解决的问题：为了提供一种能够平稳地输送物体的机器人，同时保持物体即使是从动臂也是主臂的运动，机器人的控制方法和机器人的控制系统之后。 解决方案：机器人1将物体20夹在分别为两臂设置的夹持部分上，并将物体20移动到目标位置和目标姿态。 一只手臂成为主臂，另一只手臂成为奴隶手臂。 机器人配备有主控制部，用于控制主臂沿着轨道向目标位置移动，目标物体20的目标姿态，以及用于检测作用在抓握部13S上的外力的从动臂控制部 从动臂经由对象20，并且基于外力来控制从动臂跟随主臂。 版权所有（C）2009，JPO＆INPIT

公开(公告)号：JP2008194760A

公开(公告)日：2008-08-28

申请号：JP2007029135

申请日：2007-02-08

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： NAKAJIMA YUICHIRO

IPC: B25J9/10 ,  G05B19/18 ,  G05B19/416

Abstract: PROBLEM TO BE SOLVED: To provide a robot arm and a control method therefore capable of shortening a driving time to a target position.
SOLUTION: The robot arm drives a plurality of joints to move a robot hand to the target position. The arm includes: a hand track generating unit which generates a hand track; a hand speed computing unit 33 which computes hand speed when a hand moves on the hand track; a driving speed calculating unit 34 which calculates the driving speed of the joints based on the hand speed; a driving speed estimating unit 35 which estimates whether the driving speed of the joints exceeds a limit value of the driving speed or not; a hand speed correcting unit which corrects the hand speed when the driving speed exceeds the limit value; and an actuator 28 which drives the joints corresponding to the driving speed calculated based on the modified hand speed.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：提供一种能够缩短到目标位置的行驶时间的机器人手臂和控制方法。

解决方案：机器人手臂驱动多个关节以将机器人手移动到目标位置。 手臂包括：生成手轨的手轨产生单元; 手速计算单元33，其计算当手在手轨上移动时的手速度; 驱动速度计算单元34，其根据手速计算接头的行驶速度; 推定关节的行驶速度是否超过行驶速度的极限值的驾驶速度推定部35; 手速度校正单元，其在驾驶速度超过限制值时校正手速度; 以及致动器28，其驱动与基于修正的手速度计算的驱动速度对应的接头。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2010172992A

公开(公告)日：2010-08-12

申请号：JP2009016713

申请日：2009-01-28

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： NAKAJIMA YUICHIRO

IPC: B25J13/08

Abstract: PROBLEM TO BE SOLVED: To improve the success rate of grip operation without causing a problem such as cost increase. SOLUTION: A robot control device includes a photographing device 2 mounted on a robot body trunk part and obtaining image information of a working area, an object position recognizing part 3 recognizing a position of the object based on the image information obtained by the photographing device 2, an arm control part 4 operating an arm part based on the object position recognized by the object position recognizing part 3, a hand position determination part 5 recognizing relative position relation of the hand part, the object and the photographing device based on the image information obtained by the photographing device 3 and determining whether the hand part is at the proper position based on the position relation, a hand control part 6 operating the hand part to grip the object when the hand part is determined to be at the proper position, and an arm correction operation part 7 operating the arm part to move the hand part to the proper position when the hand part is determined not to be at the proper position. COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：提高握持操作的成功率，而不会引起诸如成本增加的问题。 解决方案：机器人控制装置包括安装在机器人躯体部分上的拍摄装置2，并获得工作区域的图像信息，对象位置识别部分3基于由对象位置识别部分3获得的图像信息来识别对象的位置 拍摄装置2，基于由对象位置识别部分3识别的对象位置操作手臂部分的手臂控制部分4，识别手部分，对象和拍摄装置的相对位置关系的手位置确定部分5，基于 由拍摄装置3获得的图像信息，并且基于位置关系确定手部位是否处于适当位置;手控制部6，当手部被确定为适当时，操作手部以夹持物体 位置，以及手臂校正操作部7，其操作手臂部，以便在不确定手部时将手部移动到适当位置 在适当的位置。 版权所有（C）2010，JPO＆INPIT

公开(公告)号：JP2008000861A

公开(公告)日：2008-01-10

申请号：JP2006175063

申请日：2006-06-26

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： NAKAJIMA YUICHIRO

IPC: B25J13/00 ,  B25J13/08

CPC classification number: B25J9/1628 ,  G05B2219/37342 ,  G05B2219/40461

Abstract: PROBLEM TO BE SOLVED: To provide an articulated robot capable of controlling its joints so as to continue working as long as possible while moderating an overload state when a load working on the joints is excessive.
SOLUTION: The load working on each of the joints is estimated by a load estimation part 32, and the overload joint the estimated load of which is larger than a threshold value is specified by an overload specification part 34. An order of precedence previously set against a target value vector of a head end link of the robot and elements of the vector is memorized in a memory device 40. A target value element extraction part 42 extracts elements of the same number as non-overload joints from the target value vector in order of the order of precedence in height. Target driving quantity to drive the joints in the same direction as the load is decided against the overload joints by a force control computation part 36. The target driving quantity to realize the extracted target value elements is decided against the non-overload joints by an inverse conversion part. It is possible to control the non-overload joints so as to follow the target vector as much as possible while controlling the overload joints in the direction to moderate the load.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：提供一种能够控制其关节的关节式机器人，以便在加载在关节上的负荷过大时能够在缓和过载状态的同时尽可能长时间地继续工作。 解决方案：通过负载估计部32估计在每个接头上工作的负载，并且其过载规定部分34规定了其估计负载大于阈值的过载接合。优先顺序 预先针对机器人的前端链接的目标值向量设定的矢量的元素被存储在存储器件40中。目标值元素提取部分42从目标值提取与非过载关节相同数量的元素 向量按照先后顺序排列。 目标驱动量通过力控制计算部36与负载相对于负载相对于驱动关节的方向驱动。用于实现提取的目标值要素的目标驱动量是针对非过载关节由反向 转换部分。 可以控制非过载接头，以尽可能地跟随目标矢量，同时控制过载接头在中度负载的方向。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2007216350A

公开(公告)日：2007-08-30

申请号：JP2006041323

申请日：2006-02-17

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： NAKAJIMA YUICHIRO ,  RI KAIKEN ,  NOMURA HIDEKI

IPC: B25J19/04 ,  G01B11/00 ,  G05D1/02 ,  G06T3/00

CPC classification number: G05D1/0251 ,  B25J5/007 ,  G01B11/03 ,  G05D1/0274 ,  G06T2200/32

Abstract: PROBLEM TO BE SOLVED: To provide a technique for ordinarily recognizing all surrounding environmental regions by eliminating an unknown environment generated due to coming into sight of a part of a body such as a connecting portion when a robot is operated by providing a camera separate from a camera provided in a body trunk at the connecting portion connected to the body trunk via a joint. SOLUTION: This robot has the body trunk 103 constituted of head part and the body, at least one connecting portion 104 connected to the body trunk 103 via a driven shoulder joint 203, at least a body trunk side camera 105 provided in the body trunk 103, and at least a connecting portion side camera 106 provided at the connecting portion. The robot is provided with a synthetic image preparation means for preparing a synthetic image by synthesizing a body trunk side image imaged by the body trunk side camera 105 and a connecting portion side image imaged by the connecting portion side camera 106, and a recognition means for recognizing the position of a surrounding object by the synthetic image. COPYRIGHT: (C)2007,JPO&INPIT

Abstract translation: 要解决的问题：提供一种通过在通过提供照相机操作机器人时消除由于看到诸如连接部分的身体的一部分而产生的未知环境而通常识别所有周围环境区域的技术 与通过接头连接到身体躯干的连接部分处设置在身体躯干中的照相机分离。 解决方案：该机器人具有由头部和身体构成的身体躯干103，至少一个连接部分104经由从动肩关节203连接到身体躯干103，至少设置在身体躯干侧照相机105中 身体躯干103和设置在连接部分的至少一个连接部分侧照相机106。 机器人设有合成图像准备装置，用于通过合成由躯干侧相机105成像的体干侧图像和由连接部分侧相机106成像的连接部分侧图像来准备合成图像;以及识别装置， 通过合成图像识别周围物体的位置。 版权所有（C）2007，JPO＆INPIT

公开(公告)号：JP2008023630A

公开(公告)日：2008-02-07

申请号：JP2006196912

申请日：2006-07-19

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： RI KAIKEN ,  NAKAJIMA YUICHIRO ,  NOMURA HIDEKI

IPC: B25J5/00 ,  B25J13/08

Abstract: PROBLEM TO BE SOLVED: To provide an art capable of guiding an arm to a target object on an appropriate route without handling large data more than necessary when guiding both of a moving body and an arm movably connected to the body.
SOLUTION: This moving body is provided with a movable body and the arm movably connected to the body, and guides the arm to the target object. In the moving object, the moving route of the body is formed based on a global map and the moving route of the arm is formed based on a local map. The local map is updated based on the shape of surrounding environment and the position of the arm. The shape of the surrounding environment is recognized by measuring the distance from the body of the moving object to the surrounding environment.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：提供一种能够在适当的路线上将目标物体引导到目标物体上的技术，而不需要在可移动地连接到身体的移动体和臂上引导两者而不需要大量的数据。 解决方案：该移动体设置有可移动体，臂可移动地连接到身体，并将臂引导到目标对象。 在移动物体中，基于全局映射形成身体的移动路线，并且基于局部地图形成臂的移动路线。 基于周围环境的形状和手臂位置更新本地图。 通过测量从运动物体到周围环境的距离来识别周围环境的形状。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2008006518A

公开(公告)日：2008-01-17

申请号：JP2006177360

申请日：2006-06-27

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： NAKAJIMA YUICHIRO

IPC: B25J13/00

CPC classification number: B25J9/06 ,  B25J9/1602 ,  B25J13/00

Abstract: PROBLEM TO BE SOLVED: To provide a robot control system, a robot control method and a robot facilitating description of a model, reducing calculation amount and easily coping with changes of a task and a partial portion.
SOLUTION: This robot control system is provided corresponding to each function of the robot 1. The robot control system is provided with a plurality of control parts 23-27 capable of controlling the corresponding functions and task control parts 20 and 21 for converting a requested main operation task into subdivided tasks subdivided corresponding to the plurality of control parts 23-27 and making the plurality of control parts 23-27 execute the subdivided tasks.
COPYRIGHT: (C)2008,JPO&INPIT

Abstract translation: 要解决的问题：提供一种机器人控制系统，机器人控制方法和促进模型描述的机器人，减少计算量并容易地应对任务和部分部分的变化。 解决方案：该机器人控制系统对应于机器人1的每个功能而设置。机器人控制系统设置有多个控制部件23-27，能够控制相应的功能和任务控制部件20和21，用于转换 将所请求的主操作任务分解为与多个控制部件23-27相对应的细分任务，并使多个控制部件23-27执行细分任务。 版权所有（C）2008，JPO＆INPIT

公开(公告)号：JP2004345030A

公开(公告)日：2004-12-09

申请号：JP2003145416

申请日：2003-05-22

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： HORI HIDEKI ,  SATO YOSHIMASA ,  NAKAJIMA YUICHIRO ,  GOTO TERUHIRO ,  YAMAMOTO KEIICHI ,  MOTOTANI TAKESHI ,  KOIDE MITSUO ,  SUKIGARA KAZUTOSHI

IPC: B25J5/00 ,  B25J13/00

Abstract: PROBLEM TO BE SOLVED: To reduce effect on an inverted control due to differences of weight and shapes of gripped heavy articles in a carriage robot capable of gripping multiple kinds of heavy articles. SOLUTION: This carriage robot is provided with a carriage 1 to be controlled based on an inverted pendulum type control model, a heavy article gripping device 80 mounted on the carriage 1, and slide mechanisms 100a and 100b for guiding the heavy article gripping device 80 to be slidable and movable in a front and rear direction of a carriage advancing direction in relation to the carriage 1. The heavy article gripping device 80 is slid and moved in the front and rear direction of the carriage advancing direction according to the kind of the gripped heavy article and is positioned at a proper position. COPYRIGHT: (C)2005,JPO&NCIPI

公开(公告)号：JP2010131751A

公开(公告)日：2010-06-17

申请号：JP2010057267

申请日：2010-03-15

Applicant: Toyota Motor Corp ,  トヨタ自動車株式会社

Inventor： NAKAJIMA YUICHIRO ,  RI KAIKEN ,  NOMURA HIDEKI

IPC: B25J13/08

Abstract: PROBLEM TO BE SOLVED: To provide a technique capable of always recognizing the whole area of a surrounding environment by eliminating an unknown environment generated by entering a part of a body such as a connection section at the operation of a robot into a visual field while a camera different from a camera prepared at a body core is arranged on the body core via a joint.
SOLUTION: The robot has the body core 103 made from a head and a body, at least one connection section 104 connected with the body core 103 via the driving shoulder joint 203, the body core-side cameras 105 in which at least one is arranged on the body core, and the connection section-side cameras 106 in which at least one is arranged on the connection section. Further, the robot has a composed image creating means for creating a composed image by composing both a body core-side image photographed by the body core-side camera 105 and a connection section-side image photographed by the connection section-side camera 106; and a recognition means for recognizing positions of peripheral objects by the composed image.
COPYRIGHT: (C)2010,JPO&INPIT

Abstract translation: 要解决的问题：提供一种技术，其能够通过消除在机器人的操作期间将诸如连接部分的主体的一部分进入视觉而产生的未知环境来始终识别周围环境的整个区域 而通过接头将不同于准备在体芯上的相机的照相机布置在身体芯上。 解决方案：机器人具有由头部和主体制成的主体芯体103，至少一个连接部分104经由驱动肩部接头203与主体芯103连接，主体芯侧相机105至少 一个布置在主体芯上，并且连接部侧摄像机106中至少一个配置在连接部上。 此外，机器人具有合成图像创建装置，用于通过组合由身体核心侧照相机105拍摄的身体核心侧图像和由连接部分侧相机106拍摄的连接部分侧图像来创建合成图像; 以及识别装置，用于通过合成图像识别周边物体的位置。 版权所有（C）2010，JPO＆INPIT