公开(公告)号：US5191272A

公开(公告)日：1993-03-02

申请号：US776418

申请日：1991-11-25

申请人： Nobutoshi Torii ,  Ryo Nihei ,  Tetsuaki Kato

发明人： Nobutoshi Torii ,  Ryo Nihei ,  Tetsuaki Kato

IPC分类号： G05B11/32 ,  G05B13/02 ,  H02P23/00 ,  H02P29/00

CPC分类号： G05B13/0265 ,  G05B13/024 ,  H02P23/16

摘要： The feedback gain for motor control for a control system in which the inertia of a load is greatly variable is adjusted. First, a feedback gain (K1) is determined. The value of feedback gain is calculated from a servomotor itself or the like, and selected so that the control loop will not oscillate (S1). A feed-forward gain (K) is determined according to a learning process with the feedback gain (K1) (S2). Then, a feedback gain (K1) is calculated from the feed-forward gain (K) (S3). Thereafter, a feed-forward gain (K) is determined again according to a learning process based on the feedback gain (S4). The second feed-forward gain (K) and the feedback gain (K1) are used to establish a control system. In this manner, a control system having an optimum feed-forward gain and an optimum feedback gain can be established.

公开(公告)号：US5119006A

公开(公告)日：1992-06-02

申请号：US432743

申请日：1989-10-25

申请人： Nobutoshi Torii ,  Yasuo Naito ,  Masayuki Hamura ,  Tetsuaki Kato

发明人： Nobutoshi Torii ,  Yasuo Naito ,  Masayuki Hamura ,  Tetsuaki Kato

IPC分类号： B25J9/16 ,  B25J19/06 ,  G05B19/19 ,  G05D1/02

CPC分类号： B25J19/06 ,  B25J19/063 ,  B25J9/1676

摘要： A collision detecting method is provided which is capable of promptly detecting a collision of robot operating parts driven by servomotors, e.g., robot arms, with a foreign object. Prompt detection of such collisions aids in preventing or limiting damage to a machine, etc. by the collision. A digital signal processor of an axis controller (2) of FIG. 1, as part of a software servo system, calculates a velocity command and a torque command in accordance with a movement command supplied from a main computer (1), to periodically carry out servo control for individual axes of the robot. The digital signal processor also determines whether the torque command or a velocity deviation between the velocity command and an actual velocity of a servomotor (13b) is greater than a respective predetermined value. When the torque command or velocity deviation becomes greater than the respective predetermined value, the collision detecting method determines that a collision of the robot operating part (13a) with a foreign object or the like has occurred, and the operation of the servomotor is stopped.

摘要翻译： PCT No.PCT / JP89 / 00245 Sec。 371日期：1989年10月25日 102（e）日期1989年10月25日PCT 1989年3月7日PCT公布。 出版物WO89 / 08538 日期：1989年9月21日。提供了一种碰撞检测方法，其能够及时检测由伺服电动机（例如机器人手臂）驱动的机器人操作部件与异物的碰撞。 快速检测这种碰撞有助于防止或限制碰撞对机器等造成的损坏。 图1的轴控制器（2）的数字信号处理器。 如图1所示，作为软件伺服系统的一部分，根据从主计算机（1）提供的移动指令计算速度指令和转矩指令，周期性地对机器人的各个轴进行伺服控制。 数字信号处理器还确定扭矩指令或速度指令与伺服电动机（13b）的实际速度之间的速度偏差是否大于相应的预定值。 当转矩指令或速度偏差大于相应的预定值时，碰撞检测方法确定机器人操作部件（13a）与异物等的碰撞已经发生，并且停止伺服电动机的操作。

公开(公告)号：US20130033625A1

公开(公告)日：2013-02-07

申请号：US13566179

申请日：2012-08-03

申请人： Tetsuaki KATO

发明人： Tetsuaki KATO

IPC分类号： H04N5/361

CPC分类号： H04N5/361 ,  H04N5/23245 ,  H04N5/2353 ,  H04N5/3655

摘要： A camera a has an image sensor; an exposure controller that conducts a main exposure and a dark exposure, in order, when a long-exposure shooting is carried out; an image signal processor that processes image-pixel signals that are generated by the main exposure and are read from the image sensor; and a noise reduction processor that reduces dark current components in the image-pixel signals on the basis of dark current components in the dark exposure. The exposure controller operates the image sensor for heating between the main exposure and the dark exposure.

摘要翻译： 相机a具有图像传感器; 当进行长时间曝光拍摄时，进行主曝光和暗曝光的曝光控制器; 图像信号处理器，处理由主曝光产生并从图像传感器读取的图像像素信号; 以及降噪处理器，其基于暗曝光中的暗电流分量来减少图像像素信号中的暗电流分量。 曝光控制器操作图像传感器，用于在主曝光和暗曝光之间加热。

公开(公告)号：US20110106304A1

公开(公告)日：2011-05-05

申请号：US12984796

申请日：2011-01-05

申请人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

发明人： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

IPC分类号： G05B19/425

CPC分类号： G05B19/4083 ,  B25J9/1664 ,  G05B2219/36404 ,  G05B2219/40385 ,  G05B2219/45104

摘要： A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.

摘要翻译： 一种用于校正机器人的操作程序中的教导点的教导点校正装置。 该装置包括：判断部，其判断是否已经校正了先前教导并包括在操作程序中的多个不同教导点中的任一个的位置数据; 以及数据校正部，根据所述判断部判断所述不同教导点中的第一教导点的位置数据已被校正，校正与所述第一教导点具有相对位置关系的相关教导点的位置数据 以前规定不同教学点之间的相对位置关系的教导点规则。 设备还可以包括存储教导点规则的存储部分。 教导点规则可以包括规定不同教导点之间的任何两个教导点之间的距离的规则。

公开(公告)号：US20100305758A1

公开(公告)日：2010-12-02

申请号：US12789530

申请日：2010-05-28

申请人： Hiroji NISHI ,  Tetsuaki Kato

发明人： Hiroji NISHI ,  Tetsuaki Kato

IPC分类号： G05B15/00 ,  B25J9/22

CPC分类号： B23Q17/00 ,  G05B19/409 ,  G05B19/41825 ,  Y02P90/087 ,  Y02P90/18

摘要： A robot control system provided in a machining system including a robot and a machine tool. The robot control system includes a robot controller controlling the robot, a portable teach pendant connected to the robot controller, and a communication network adapted to connect the robot controller to a machine tool controller controlling the machine tool. The teach pendant includes a display section configured to display information relating to the robot and the machine tool. The robot controller includes a processing section configured to obtain information relating to the machine tool from the machine tool controller through the communication network, make the display section of the teach pendant display a machine tool-related screen in accordance with a given screen program, and make the machine tool-related screen of the display section of the teach pendant display the information, as obtained, relating to the machine tool.

摘要翻译： 一种机器人控制系统，其设置在包括机器人和机床的加工系统中。 机器人控制系统包括控制机器人的机器人控制器，连接到机器人控制器的便携式示教器，以及适于将机器人控制器连接到控制机床的机床控制器的通信网络。 示教器包括配置为显示与机器人和机床有关的信息的显示部分。 机器人控制器包括：处理部，被配置为通过通信网络从机床控制器获取与机床相关的信息，使得示教器的显示部分根据给定的屏幕程序显示机床相关屏幕;以及 使示教器的显示部分的机床相关屏幕显示与机床有关的信息。

公开(公告)号：US20090200978A1

公开(公告)日：2009-08-13

申请号：US12342804

申请日：2008-12-23

申请人： Tetsuaki Kato ,  Shougo Inagaki

发明人： Tetsuaki Kato ,  Shougo Inagaki

IPC分类号： G05B9/02

CPC分类号： B25J9/1674 ,  G05B2219/39237 ,  G05B2219/39261 ,  G05B2219/40525 ,  G05B2219/41367 ,  G05B2219/41373 ,  G05B2219/41381

摘要： A robot controller and a robot control method, by which each element constituting a robot is protected. An output of a rotary encoder attached to a servomotor is read, and the motor speed is obtained by calculating the difference between a current speed and another speed in a previous speed loop. Then, a processor of the servo controller of each link of a robot arm executes a normal speed loop control in order to calculate a torque command of the motor. Next, a load torque is estimated by using the obtained torque command and the motor speed, and the estimated load torque in each speed loop is compared with a predetermined threshold. If the load torque is larger than the threshold in at least one of the axes, the robot controller judges that an abnormality has occurred in the robot, generates an alarm or warning, and then controls the robot so as to protect the element.

摘要翻译： 机器人控制器和机器人控制方法，通过该机器人控制方法保护构成机器人的每个元件。 读取附接到伺服电动机的旋转编码器的输出，并且通过计算当前速度和先前速度循环中的另一速度之间的差来获得电动机速度。 然后，机器人臂的每个链路的伺服控制器的处理器执行正常速度回路控制，以便计算电动机的转矩指令。 接下来，通过使用获得的转矩指令和电动机速度来估计负载转矩，并将每个速度环路中的估计负载转矩与预定阈值进行比较。 如果在至少一个轴上的负载转矩大于阈值，则机器人控制器判断机器人发生异常，产生报警或警告，然后控制机器人，以保护元件。

公开(公告)号：US20090185716A1

公开(公告)日：2009-07-23

申请号：US12356609

申请日：2009-01-21

申请人： Tetsuaki KATO ,  Naoto KAWANAMI ,  Satoru HORITA

发明人： Tetsuaki KATO ,  Naoto KAWANAMI ,  Satoru HORITA

IPC分类号： G06T7/00

CPC分类号： H04N5/367 ,  G06T7/80 ,  G06T2207/10004 ,  H04N5/217 ,  H04N5/2171

摘要： A dust detection system, comprising a receiver, a dust extraction block, a memory and an image correction block, is provided. The receiver receives an image signal. The dust extraction block generates a dust image signal on the basis of the image signal. The memory stores an intrinsic-flaw image signal corresponding to an intrinsic-flaw image including sub-images of dust that the dust extraction block extracts in initializing. The image correction block generates a corrected dust-image signal on the basis of the intrinsic-flaw image signal and a normal dust-image signal. The normal dust-image signal corresponds to a normal dust image including sub-image of dust that the dust extraction block extracts after initializing. The corrected dust image is the normal dust image that sub-images of dust in the intrinsic-flaw image are deleted from.

摘要翻译： 提供了一种包括接收器，除尘块，存储器和图像校正块的灰尘检测系统。 接收器接收图像信号。 除尘块根据图像信号产生灰尘图像信号。 存储器存储对应于包括灰尘提取块在初始化中提取的灰尘的子图像的固有缺陷图像的固有缺陷图像信号。 图像校正块基于本征缺陷图像信号和正常灰尘图像信号产生校正的灰尘图像信号。 正常灰尘图像信号对应于包括在初始化之后灰尘提取块提取的灰尘副图像的正常灰尘图像。 校正的灰尘图像是从本体缺陷图像中除去灰尘的子图像的正常灰尘图像。

公开(公告)号：US20090088898A1

公开(公告)日：2009-04-02

申请号：US12191486

申请日：2008-08-14

申请人： Ryo NIHEI ,  Tetsuaki KATO ,  Takeaki ARAMAKI ,  Tomoyuki YAMAMOTO

发明人： Ryo NIHEI ,  Tetsuaki KATO ,  Takeaki ARAMAKI ,  Tomoyuki YAMAMOTO

IPC分类号： G06F19/00

CPC分类号： B25J9/1674 ,  B25J5/02 ,  G05B2219/40248 ,  G05B2219/40252 ,  G05B2219/40272 ,  G05B2219/43201 ,  G05B2219/43203

摘要： A robot includes a traveling rail supported by struts, and a robot body attached to a slider that slides on the traveling rail. A robot controller comprises speed calculation means for calculating moving speeds of the robot hand portion on the coordinate axes of a rectangular coordinate system set for the robot controller; comparator means for comparing the moving speeds on the coordinate axes calculated by the speed calculation means with threshold values on the coordinate axes of the rectangular coordinate system, respectively; and halting means for halting the robot in case at least any one of the moving speeds is higher than the corresponding threshold value. The strength required for the struts can be lowered without limiting the dynamic capability of the robot.

摘要翻译： 机器人包括由支柱支撑的行进轨道，以及附接到在行进轨道上滑动的滑块的机器人主体。 机器人控制器包括速度计算装置，用于计算机器人手部在为机器人控制器设置的直角坐标系的坐标轴上的移动速度; 比较装置，用于将由速度计算装置计算的坐标轴上的移动速度与直角坐标系的坐标轴上的阈值进行比较; 以及用于在移动速度中的至少任一个高于相应的阈值的情况下停止机器人的停止装置。 可以降低支柱所需的强度，而不会限制机器人的动态能力。

公开(公告)号：US20090058342A1

公开(公告)日：2009-03-05

申请号：US12185226

申请日：2008-08-04

申请人： Ryo Nihei ,  Tetsuaki Kato ,  Takeaki Aramaki ,  Tomoyuki Yamamoto

发明人： Ryo Nihei ,  Tetsuaki Kato ,  Takeaki Aramaki ,  Tomoyuki Yamamoto

IPC分类号： G05B19/406

CPC分类号： B25J9/1674 ,  G05B2219/40231

摘要： A robot controller having a stoppage monitoring function, by which safety of an operator is ensured without using hardware or the like for allowing/stopping the power transmission to each of a robot and a cooperating device. A CPU of the robot controller periodically monitors the position of the robot or the cooperating device based on positional information from each servomotor and the state of entering information regarding the robot or the cooperating device. Then, when entering information is initially input, the position of the servomotor of the robot or the cooperating device, to which the entering information is applied, is stored in RAM. After that, while the entering information is being input, the distance between the position stored in RAM and the current position of the servomotor is calculated. If the calculated distance is larger than an allowable moving distance, the CPU sends a command to an emergency stopping part in order to cut-off power to all servomotors of the robot and the cooperating device.

摘要翻译： 一种具有停止监视功能的机器人控制器，通过该机器人控制器可以确保操作者的安全性，而无需使用用于允许/停止对机器人和协作装置中的每一个的电力传输的硬件等。 机器人控制器的CPU基于来自每个伺服电动机的位置信息和输入关于机器人或协作装置的信息的状态周期性地监视机器人或协作装置的位置。 然后，当最初输入进入信息时，将应用了进入信息的机器人或协作装置的伺服电动机的位置存储在RAM中。 此后，当输入进入信息时，计算存储在RAM中的位置与伺服电动机的当前位置之间的距离。 如果计算出的距离大于允许的移动距离，则CPU向紧急停止部发送命令，以切断机器人和协作装置的所有伺服电机的电力。

公开(公告)号：US20080077279A1

公开(公告)日：2008-03-27

申请号：US11902268

申请日：2007-09-20

申请人： Tetsuaki Kato ,  Teruki Kuroshita

发明人： Tetsuaki Kato ,  Teruki Kuroshita

IPC分类号： G05B15/00

CPC分类号： B25J9/1633 ,  G05B2219/40467

摘要： The robot controller (RC) performs soft control in which a virtual spring or virtual damper is made to act between a tool of a robot and an objective workpiece. The robot controller includes: gain reducing arrangement (41, 42) for selecting an articulated shaft from articulated shafts (J1-J6) of the robot based on a soft control starting position where the soft control is started and the virtual spring or virtual damper when performing the soft control, and reducing a position gain and/or speed gain of the certain articulated shaft lower than a position gain normal value and/or speed gain normal value of the selected articulated shaft; and a correction torque reducing arrangement (43) for reducing a correction torque of the selected articulated shaft calculated based on the soft control starting position and the virtual spring or virtual damper lower than a correction torque normal value of the selected articulated shaft when performing the soft control. As a result, it is possible to overcome obstacles to smooth action in the direction in which the virtual spring or virtual damper is made to act.

摘要翻译： 机器人控制器（RC）执行软控制，其中使虚拟弹簧或虚拟阻尼器在机器人的工具和目标工件之间起作用。 机器人控制器包括：增益减小装置，用于基于软控制开始的软控制开始位置和虚拟弹簧或虚拟的机器人的铰接轴（J 1 -J 6）来选择铰接轴 在执行软控制时减震器，以及降低所述某个铰接轴的位置增益和/或速度增益低于所选择的铰接轴的位置增益正常值和/或速度增益正常值; 以及修正扭矩降低装置（43），用于当执行软件时，基于软控制开始位置和虚拟弹簧或虚拟阻尼器计算出的所选择的铰接轴的校正扭矩低于所选择的铰接轴的校正转矩正常值 控制。 结果，可以克服使虚拟弹簧或虚拟阻尼器作用的方向上的平滑动作的障碍。