公开(公告)号：US09002519B2

公开(公告)日：2015-04-07

申请号：US13795967

申请日：2013-03-12

申请人： JTEKT Corporation

发明人： Hiromichi Ohta ,  Yasuharu Mukai ,  Kazuya Numazaki

IPC分类号： G05B19/00 ,  B25J9/16

CPC分类号： B25J9/1628 ,  B25J9/1633 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1643 ,  G05B2219/40367 ,  G05B2219/40461 ,  Y10S901/09

摘要： A CPU of a robot control device calculates load torque based on the inertia force, centrifugal force or Coriolis force, gravity force, friction torque, and actuator inertia torque applied to a joint axis of each link, each time an orientation parameter indicative of the link position and orientation allowed by a redundant degree of freedom is sequentially changed, under a constraint of end-effector position and orientation as target values. The CPU obtains the link position and orientation at which the ratio of the load torque to the rated torque of a rotary actuator provided for each joint is minimized, while the orientation parameter is being changed, and provides a feed-forward value that gives rise to each load torque obtained when the ratio of the load torque to the rated torque of the rotary actuator is minimized, to a control command generated to the rotary actuator of each joint axis for achieving the end-effector position and orientation as target values.

摘要翻译： 机器人控制装置的CPU基于施加到每个链节的关节轴的惯性力，离心力或科里奥利力，重力，摩擦力矩和致动器惯性转矩来计算负载转矩，每次指示链接的取向参数 在作为目标值的末端执行器位置和方向的约束下，顺序地改变由冗余自由度允许的位置和取向。 在取向参数改变的同时，CPU获得链接位置和方向，在该位置和方向上，为每个接头设置的旋转致动器的负载转矩与额定转矩的比例最小化，并且提供一个前馈值， 当将负载转矩与旋转致动器的额定转矩的比率最小化时获得的每个负载转矩相对于为了实现末端执行器位置和方位而成为每个关节轴的旋转致动器的控制指令作为目标值。

公开(公告)号：US09859829B2

公开(公告)日：2018-01-02

申请号：US15393792

申请日：2016-12-29

申请人： JTEKT CORPORATION

发明人： Kazuya Numazaki ,  Yasuharu Mukai

IPC分类号： H02P21/14 ,  H02P21/00 ,  G05B13/02

CPC分类号： H02P21/14 ,  G05B13/027 ,  G05B13/0285 ,  H02P21/001

摘要： In a motor control device, a velocity feed-forward control portion includes a velocity-side acceleration input portion that outputs received high-order command acceleration as a velocity-side acceleration output; a velocity-side velocity input portion that outputs a received high-order command velocity as a velocity-side velocity output; velocity-side boundary-velocity input portions which are prepared so as to respectively correspond to boundary velocities, and to output velocity-side boundary velocity outputs from the velocity-side boundary-velocity input portions corresponding to the high-order command velocity, the boundary velocities being velocities at boundaries of preset adjacent velocity ranges obtained by dividing a limited velocity range; a velocity-side first weight learning portion that changes velocity-side first learning weights in accordance with a velocity deviation, the velocity-side first learning weights respectively corresponding to velocity-side first outputs; and a velocity-side output portion that outputs, as a second tentative command current, a value obtained by summing velocity-side first multiplication values.

公开(公告)号：US09085082B2

公开(公告)日：2015-07-21

申请号：US13783989

申请日：2013-03-04

申请人： JTEKT Corporation

发明人： Hiromichi Ohta ,  Yasuharu Mukai ,  Kazuya Numazaki

IPC分类号： G05B19/04 ,  G05B19/18 ,  B25J9/16

CPC分类号： B25J9/1674 ,  B25J9/1643 ,  B25J9/1692 ,  G05B2219/39048

摘要： A distal end of a manipulator having a redundancy is constrained so as to leave one degree of freedom, an attitude of the manipulator is changed into a plurality of attitudes that are allowed by the redundancy by outputting joint position command values from a controller to servomotors that drive links that constitute the manipulator of which the distal end is fixed, and calibration is performed by obtaining parameter deviations of a robot constant of the manipulator on the basis of the joint position command values and actual measured values from rotary encoders, which are respectively provided at the servomotors, after each attitude change.

摘要翻译： 限制具有冗余度的操纵器的远端以保持一个自由度，通过从控制器输出关节位置指令值来将操纵器的姿态改变为由冗余所允许的多种态度，以使伺服电动机 构成前端固定的机械手的驱动连杆，通过基于分别设置的旋转编码器的关节位置指令值和实际测量值，通过获得机械手的机器人常数的参数偏差来进行校准 在伺服电机上，每次态度改变。

公开(公告)号：US20130238127A1

公开(公告)日：2013-09-12

申请号：US13785650

申请日：2013-03-05

申请人： JTEKT CORPORATION

发明人： Hiromichi Ohta ,  Yasuharu Mukai ,  Kazuya Numazaki

IPC分类号： B25J9/16

CPC分类号： B25J9/1674 ,  B25J9/1682 ,  B25J9/1692 ,  G05B2219/39048 ,  G05B2219/39049 ,  G05B2219/39051 ,  Y10S901/02

摘要： A pair of manipulators are caused to take a plurality of attitudes in a state where distal ends of the manipulators are coupled to each other, coordinates of joints between links at each attitude change are acquired on the basis of detection signals, at each attitude change, of rotary encoders provided for servomotors that drive the links of the manipulators, and a position and attitude of an installation point of a slave robot with reference to an installation point of a master robot are calculated on the basis of the joint coordinates acquired at the corresponding attitude change in a forward kinematics manner. A deviation vector for each attitude change between actual measured values of the installation point of the slave robot and the calculated values of the installation point of the slave robot is calculated, and robot constants of both manipulators are identified from the deviation vector.

摘要翻译： 在操纵器的远端彼此连接的状态下，使一对操纵器采取多种态度，在每个姿势变化时，基于检测信号获取每个姿势变化处的链节之间的关节的坐标， 为驱动机械手的连杆的伺服电动机提供的旋转编码器，参照主机器人的安装点，计算从机器人的安装点的位置和姿势， 以正向运动学方式改变态度。 计算从机器人的安装点的实际测量值与从机器人的安装点的计算值之间的每个姿态变化的偏差矢量，并根据偏差矢量识别两个操纵器的机器人常数。

公开(公告)号：US09014853B2

公开(公告)日：2015-04-21

申请号：US13785650

申请日：2013-03-05

申请人： JTEKT Corporation

发明人： Hiromichi Ohta ,  Yasuharu Mukai ,  Kazuya Numazaki

IPC分类号： B25J18/00 ,  B25J9/16

CPC分类号： B25J9/1674 ,  B25J9/1682 ,  B25J9/1692 ,  G05B2219/39048 ,  G05B2219/39049 ,  G05B2219/39051 ,  Y10S901/02

摘要： A pair of manipulators are caused to take a plurality of attitudes in a state where distal ends of the manipulators are coupled to each other, coordinates of joints between links at each attitude change are acquired on the basis of detection signals, at each attitude change, of rotary encoders provided for servomotors that drive the links of the manipulators, and a position and attitude of an installation point of a slave robot with reference to an installation point of a master robot are calculated on the basis of the joint coordinates acquired at the corresponding attitude change in a forward kinematics manner. A deviation vector for each attitude change between actual measured values of the installation point of the slave robot and the calculated values of the installation point of the slave robot is calculated, and robot constants of both manipulators are identified from the deviation vector.

摘要翻译： 在操纵器的远端彼此连接的状态下，使一对操纵器采取多种态度，在每个姿势变化时，基于检测信号获取每个姿势变化处的链节之间的关节的坐标， 为驱动机械手的连杆的伺服电动机提供的旋转编码器，参照主机器人的安装点，计算从机器人的安装点的位置和姿势， 以正向运动学方式改变态度。 计算从机器人的安装点的实际测量值与从机器人的安装点的计算值之间的每个姿态变化的偏差矢量，并根据偏差矢量识别两个操纵器的机器人常数。

公开(公告)号：US20130245829A1

公开(公告)日：2013-09-19

申请号：US13795967

申请日：2013-03-12

申请人： JTEKT CORPORATION

发明人： Hiromichi Ohta ,  Yasuharu Mukai ,  Kazuya Numazaki

IPC分类号： B25J9/16

CPC分类号： B25J9/1628 ,  B25J9/1633 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1643 ,  G05B2219/40367 ,  G05B2219/40461 ,  Y10S901/09

摘要： A CPU of a robot control device calculates load torque based on the inertia force, centrifugal force or Coriolis force, gravity force, friction torque, and actuator inertia torque applied to a joint axis of each link, each time an orientation parameter indicative of the link position and orientation allowed by a redundant degree of freedom is sequentially changed, under a constraint of end-effector position and orientation as target values. The CPU obtains the link position and orientation at which the ratio of the load torque to the rated torque of a rotary actuator provided for each joint is minimized, while the orientation parameter is being changed, and provides a feed-forward value that gives rise to each load torque obtained when the ratio of the load torque to the rated torque of the rotary actuator is minimized, to a control command generated to the rotary actuator of each joint axis for achieving the end-effector position and orientation as target values.

摘要翻译： 机器人控制装置的CPU基于施加到每个链节的关节轴的惯性力，离心力或科里奥利力，重力，摩擦力矩和致动器惯性转矩来计算负载转矩，每次指示链接的取向参数 在作为目标值的末端执行器位置和方向的约束下，顺序地改变由冗余自由度允许的位置和取向。 在取向参数改变的同时，CPU获得链接位置和方向，在该位置和方向上，为每个接头设置的旋转致动器的负载转矩与额定转矩的比例最小化，并且提供一个前馈值， 当将负载转矩与旋转致动器的额定转矩的比率最小化时获得的每个负载转矩相对于为了实现末端执行器位置和方位而成为每个关节轴的旋转致动器的控制指令作为目标值。