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16 条记录 (耗时 0.022 秒)

    Control device, control method, computer program, and recording medium
    13.
    发明授权
    Control device, control method, computer program, and recording medium 有权
    控制装置，控制方法，计算机程序和记录介质

    公开(公告)号：US08644986B2

    公开(公告)日：2014-02-04

    申请号：US12208563

    申请日：2008-09-11

    申请人： Toshimitsu Tsuboi ,  Takeo Kishida ,  Tetsuharu Fukushima

    发明人： Toshimitsu Tsuboi ,  Takeo Kishida ,  Tetsuharu Fukushima

    IPC分类号： G06F19/00

    CPC分类号： G05B13/021 ,  B25J9/1612 ,  G05B2219/39505 ,  G05B2219/40264 ,  G05B2219/40567

    摘要： A control device that controls grip of an object is disclosed. The control device includes: detecting means for detecting a slip of the object and outputting a slip detection value; change-value calculating means for calculating, on the basis of the slip detection value, a change value for changing a command value, which sets gripping force for the object, to magnitude for resting the object; suppression-value calculating means for calculating, on the basis of the slip detection value, a suppression value for suppressing the command value to necessary minimum magnitude for resting the object; and setting means for setting the magnitude of the command value on the basis of the change value and the suppression value.

    摘要翻译： 公开了一种控制物体的夹持的控制装置。 控制装置包括：检测装置，用于检测物体的滑动并输出滑移检测值; 改变值计算装置，用于基于滑移检测值，将用于将对物体设定夹持力的命令值改变为用于静止物体的大小的改变值; 抑制值计算装置，用于基于滑移检测值计算用于将命令值抑制为用于休息物体所需最小量级的抑制值; 以及设定装置，用于根据变化值和抑制值来设定指令值的大小。

    GRIPPING JUDGMENT APPARATUS AND GRIPPING JUDGMENT METHOD
    14.
    发明申请
    GRIPPING JUDGMENT APPARATUS AND GRIPPING JUDGMENT METHOD 有权
    拖运裁判设备和拖车裁判方法

    公开(公告)号：US20110238213A1

    公开(公告)日：2011-09-29

    申请号：US13023797

    申请日：2011-02-09

    申请人： Kenichiro Nagasaka ,  Toshimitsu Tsuboi ,  Atsushi Miyamoto ,  Yasunori Kawanami ,  Tetsuharu Fukushima ,  Kenta Kawamoto

    发明人： Kenichiro Nagasaka ,  Toshimitsu Tsuboi ,  Atsushi Miyamoto ,  Yasunori Kawanami ,  Tetsuharu Fukushima ,  Kenta Kawamoto

    IPC分类号： B25J13/08

    CPC分类号： B25J9/1612

    摘要： There is provided a gripping judgment apparatus including a plan unit that generates a target orbit for moving a gripping unit in a state in which an object as a gripping target is gripped by the gripping unit, an observation unit that measures movement of the gripping unit driven based on the target orbit, a gripping state judgment unit that judges whether or not an object as a gripping target is grippable based on a target value of the gripping unit derived from the target orbit and an actual measured value measured by the observation unit, and a gripping state change unit that changes a gripping state of an object gripped by the gripping unit based on a judgment result obtained by the gripping state judgment unit.

    摘要翻译： 提供了一种夹持判断装置，包括：平面单元，其在作为夹持目标的物体被夹持单元夹持的状态下产生用于移动夹持单元的目标轨道;观察单元，其测量夹持单元驱动的运动 基于所述目标轨道的夹持状态判断单元，基于来自所述目标轨道的所述夹持单元的目标值和由所述观测单元测量的实际测量值，判断作为夹持目标的物体是否可抓握，以及 夹持状态改变单元，其基于由夹持状态判断单元获得的判断结果，改变由夹持单元夹持的物体的夹持状态。

    CONTROL DEVICE, CONTROL METHOD, COMPUTER PROGRAM, AND RECORDING MEDIUM
    15.
    发明申请
    CONTROL DEVICE, CONTROL METHOD, COMPUTER PROGRAM, AND RECORDING MEDIUM 有权
    控制装置，控制方法，计算机程序和记录介质

    公开(公告)号：US20090076657A1

    公开(公告)日：2009-03-19

    申请号：US12208563

    申请日：2008-09-11

    申请人： Toshimitsu TSUBOI ,  Takeo Kishida ,  Tetsuharu Fukushima

    发明人： Toshimitsu TSUBOI ,  Takeo Kishida ,  Tetsuharu Fukushima

    IPC分类号： G05B13/00

    CPC分类号： G05B13/021 ,  B25J9/1612 ,  G05B2219/39505 ,  G05B2219/40264 ,  G05B2219/40567

    摘要： A control device that controls grip of an object is disclosed. The control device includes: detecting means for detecting a slip of the object and outputting a slip detection value; change-value calculating means for calculating, on the basis of the slip detection value, a change value for changing a command value, which sets gripping force for the object, to magnitude for resting the object; suppression-value calculating means for calculating, on the basis of the slip detection value, a suppression value for suppressing the command value to necessary minimum magnitude for resting the object; and setting means for setting the magnitude of the command value on the basis of the change value and the suppression value.

    摘要翻译： 公开了一种控制物体的夹持的控制装置。 控制装置包括：检测装置，用于检测物体的滑动并输出滑移检测值; 改变值计算装置，用于基于滑移检测值，将用于将对物体设定夹持力的命令值改变为用于静止物体的大小的改变值; 抑制值计算装置，用于基于滑移检测值计算用于将命令值抑制为用于休息物体所需最小量级的抑制值; 以及设定装置，用于根据变化值和抑制值来设定指令值的大小。