公开(公告)号：US20170266809A1

公开(公告)日：2017-09-21

申请号：US15458994

申请日：2017-03-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Taku SHIKINA ,  Takashi NISHIMURA ,  Tamio NAKAMURA

IPC: B25J9/16

CPC classification number: B25J9/1651 ,  B25J9/1607 ,  B25J9/161 ,  B25J9/1694 ,  G05B2219/40333

Abstract: A robot controller (2) configured to control a robot (1) including a plurality of joints (J1-J6) each rotatable around a rotation axis, the robot controller (2) including: an acquisition unit (21) configured to acquire a rotation angle of each of the plurality of joints (J1-J6); a determination unit (22) configured to determine whether or not the robot (1) has been in proximity to a singular configuration, based on the rotation angle of each of the plurality of joints (J1-J6); and a control unit (23) configured to control the plurality of joints (J1-J6) to be rotated not to rotate simultaneously, when the determination unit (22) determines that the robot (1) has been in proximity to the singular configuration.

公开(公告)号：US20160236347A1

公开(公告)日：2016-08-18

申请号：US15045460

申请日：2016-02-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Taku SHIKINA ,  Tamio NAKAMURA ,  Dai KONO ,  Takashi NISHIMURA

IPC: B25J9/16 ,  B25J5/00

CPC classification number: B25J9/162 ,  B25J5/007 ,  B25J9/1676 ,  B60K31/0008 ,  G01S17/42 ,  G01S17/936 ,  G05D1/0223 ,  G05D1/024 ,  G05D2201/0216 ,  Y10S901/01

Abstract: A movable object controlling apparatus includes an obstacle detecting device including circuitry detects an obstacle, and a controlling device including circuitry which sets a monitor region with respect to a movable object, controls a speed of the movable object based on detection of the obstacle by the obstacle detecting device in the monitor region, and changes a size of the monitor region based on the speed of the movable object.

Abstract translation: 可移动物体控制装置包括障碍物检测装置，其包括检测障碍物的电路，以及包括相对于可移动物体设置监视区域的电路的控制装置，基于障碍物的障碍物的检测来控制可移动物体的速度 在监视区域中检测设备，并且基于可移动物体的速度改变监视器区域的大小。

公开(公告)号：US20150120127A1

公开(公告)日：2015-04-30

申请号：US14527700

申请日：2014-10-29

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Taku SHIKINA ,  Tamio NAKAMURA ,  Dai KOUNO ,  Takashi NISHIMURA

IPC: G05D1/02 ,  G01S17/93 ,  B25J9/16 ,  B25J9/00

CPC classification number: B25J9/1676 ,  G01S17/936 ,  G05B2219/40298 ,  G05D1/0225 ,  G05D1/0236 ,  G05D2201/0216 ,  Y10S901/01 ,  Y10S901/47

Abstract: A mobile unit according to an embodiment includes a main body, a moving mechanism, a sensor, a recognizer, a first movement adjuster, a second landmark recognizer, and a second movement adjuster. The moving mechanism moves the main body. The sensor detects a distance and a direction to an object around the main body. The recognizer recognizes a landmark based on a detection result of the sensor. The first movement adjuster controls the moving mechanism such that the main body is moved to a target position based on the landmark. If the distance to the landmark has become smaller than a first threshold, the second landmark recognizer recognizes a second landmark. The second movement adjuster controls the moving mechanism such that the main body is moved to the target position based on the second landmark.

Abstract translation: 根据实施例的移动单元包括主体，移动机构，传感器，识别器，第一移动调节器，第二地标识别器和第二移动调节器。 移动机构移动主体。 传感器检测与主体周围的物体的距离和方向。 识别器基于传感器的检测结果识别地标。 第一移动调节器控制移动机构，使得主体基于地标移动到目标位置。 如果到地标的距离变得小于第一阈值，则第二地标识别器识别第二地标。 第二移动调节器控制移动机构，使得主体基于第二标记移动到目标位置。