公开(公告)号：US20140081460A1

公开(公告)日：2014-03-20

申请号：US14085794

申请日：2013-11-21

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingo ANDO ,  Ryoichi NAGAI ,  Yasuyuki INOUE

IPC: B25J9/16

CPC classification number: B25J9/1633 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1664 ,  B25J13/085 ,  G05B2219/36429 ,  G05B2219/37357 ,  G05B2219/39188 ,  G05B2219/39325 ,  G05B2219/39343 ,  G05B2219/39347 ,  G05B2219/39348 ,  G05B2219/41387

Abstract: In a method for adjusting parameters of impedance control, an overshoot amount allowable value is set as an allowable maximum value of an overshoot amount of a time response of a force feedback from a force sensor provided for an end effector of a robot manipulator, and a setting time allowable value is set as an allowable maximum value of a setting time of the time response of the force feedback. A viscosity parameter with which the setting time is shortest is calculated while fixing the inertia parameter. An overshoot amount adjustment value and a setting time adjustment value which are obtained from a result of the calculating of the viscosity parameter are compared with the overshoot amount allowable value and the setting time allowable value, respectively, to determine whether a repeating process is finished or continued.

Abstract translation: 在调整阻抗控制参数的方法中，将过冲量允许值设定为来自设置在机器人机械手的端部执行器的力传感器的力反馈的时间响应的过冲量的容许最大值， 设定时间容许值被设定为力反馈的时间响应的设定时间的容许最大值。 在固定惯性参数的同时计算设定时间最短的粘度参数。 将从粘度参数的计算结果得到的过冲量调整值和设定时间调整值分别与过冲量允许值和设定时间容许值进行比较，判断重复处理是否结束， 继续。

公开(公告)号：US20140174239A1

公开(公告)日：2014-06-26

申请号：US14193369

申请日：2014-02-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hideo NAGATA ,  Ryoichi NAGAI ,  Yasuyuki INOUE ,  Yoshiaki KUBOTA

IPC: G01L5/00 ,  B25J9/16 ,  G01L5/16

CPC classification number: G01L5/0028 ,  B25J9/1633 ,  B25J13/085 ,  G01L5/16 ,  G01L5/162 ,  G05B2219/40586 ,  Y10S901/09 ,  Y10T74/20305

Abstract: A force sensor and a robot that can suppress a load applied to load sensor elements are provided.A force sensor includes: a first base member one surface of which is fixed on a fixed member; a plurality of load sensor elements that is provided on another surface of the first base member to detect a load; a second base member that is disposed facing the other surface of the first base member to generate a preload to be applied to each of the load sensor elements toward the first base member; a preload adjusting unit that adjusts the magnitude of the preload generated by the second base member; and buffer bodies that receive a part of an external load to be applied to each of the load sensor elements from the outside.

Abstract translation: 提供能够抑制施加到负载传感器元件的负载的力传感器和机器人。 力传感器包括：一个第一基体，其一个表面固定在固定构件上; 多个负载传感器元件，设置在所述第一基座部件的另一个表面上以检测负载; 第二基座构件，其面对所述第一基座构件的另一表面设置，以产生将被施加到每个所述负载传感器元件的预载荷朝向所述第一基座构件; 预压调节单元，其调节由所述第二基座构件产生的所述预载荷的大小; 以及从外部接收要施加到每个负载传感器元件的外部负载的一部分的缓冲体。

公开(公告)号：US20140163737A1

公开(公告)日：2014-06-12

申请号：US14183378

申请日：2014-02-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hideo NAGATA ,  Tomoyuki SEKIYAMA ,  Yasuyuki INOUE

IPC: B25J9/16

CPC classification number: B25J9/1697 ,  G05B2219/39057 ,  G05B2219/40053 ,  G05B2219/40575 ,  G05B2219/40613

Abstract: A robot system includes: a robot including a camera unit shooting an object in a container, a hand gripping the object, and a contact detector detecting that the hand contacts the container; and a robot control device, which includes a control unit causing the hand to contact the container; a contact detection unit detecting by the contact detector that the hand contacts the container, and finding a contact position thereof; a first processing unit calculating a position of the container from a stereo image of the container acquired by the camera unit; a second processing unit calculating a difference between the position of the container calculated by the first processing unit and the contact position found by the contact detection unit as a correction amount; and a third processing unit correcting information on a position in a height direction of the object in the container based on the correction amount.

Abstract translation: 机器人系统包括：机器人，其包括拍摄容器中的物体的相机单元，夹持物体的手和检测到手接触容器的接触检测器; 以及机器人控制装置，其包括使所述手接触所述容器的控制单元; 接触检测单元，由接触检测器检测到手接触容器，并找到其接触位置; 第一处理单元，从由所述照相机单元获取的容器的立体图像计算所述容器的位置; 第二处理单元，计算由第一处理单元计算的容器的位置与由接触检测单元找到的接触位置之间的差作为校正量; 以及第三处理单元，基于校正量来校正在容器中的物体的高度方向上的位置的信息。