公开(公告)号：US20170001305A1

公开(公告)日：2017-01-05

申请号：US15175330

申请日：2016-06-07

申请人： KUKA Roboter GmbH

发明人： Yevgen KOGAN

IPC分类号： B25J9/12 ,  B25J11/00 ,  B25J5/00

CPC分类号： B25J9/12 ,  B25J5/007 ,  B25J9/161 ,  B25J9/162 ,  B25J11/008 ,  G05B2219/34027 ,  G05B2219/40298 ,  G05B2219/41293 ,  G05B2219/45108

摘要： A method for controlling a manipulator system including a manipulator, several drives and a mobile platform. A first converter for actuating at least two of the several drives is associated with the manipulator system. The method includes the steps of: a) identifying one of the drives of the manipulator system that is associated with the first converter and that must be used to travel over a current planned movement path of the manipulator system, and (b) actuating the one identified associated drive by means of the first converter, where the actuated drive is for the manipulator system to travel over the planned movement path. One of the at least two drives that is not being actuated is stationary preferably fixed or secured by a mechanical brake.

摘要翻译： 一种用于控制包括操纵器，多个驱动器和移动平台的机械手系统的方法。 用于致动多个驱动器中的至少两个的第一转换器与操纵器系统相关联。 该方法包括以下步骤：a）识别与第一转换器相关联并且必须用于在机械手系统的当前计划移动路径上行进的机械手系统的驱动器中的一个，以及（b）致动一个 通过第一转换器识别相关联的驱动器，其中致动驱动器用于机械手系统在计划的移动路径上行进。 未被致动的至少两个驱动器中的一个是固定的，优选地通过机械制动器固定或固定。

公开(公告)号：US09498884B2

公开(公告)日：2016-11-22

申请号：US13277436

申请日：2011-10-20

申请人： Tae Sin Ha ,  Kyung Shik Roh ,  Dong Min Shin

发明人： Tae Sin Ha ,  Kyung Shik Roh ,  Dong Min Shin

IPC分类号： B25J9/16

CPC分类号： B25J9/162 ,  B25J9/1669 ,  B25J9/1682 ,  G05B2219/40298 ,  G05B2219/45108

摘要： A crosswalk walking assistance system to assist a pedestrian by moving a movable robot along with the pedestrian along a boundary of a crosswalk when the pedestrian crosses at the crosswalk, and a method of controlling the same. The crosswalk walking assistance system includes guide rails formed along boundary lines of a crosswalk, robots moving along the guide rails, and a controller connected to the guide rails.

摘要翻译： 人行横道步行辅助系统，当行人在人行横道交叉时，通过沿人行横道的边界与行人一起移动可移动机器人来辅助行人，以及一种控制行人的方法。 人行横道步行辅助系统包括沿着人行横道的边界线形成的导轨，沿着导轨移动的机器人以及连接到导轨的控制器。

公开(公告)号：US20160310342A1

公开(公告)日：2016-10-27

申请号：US15103573

申请日：2014-11-19

申请人： KOREA POLYTECHNIC UNIVERSITY INDUSTRY ACADEMIC COOPERATION FOUNDATION

发明人： Eung Hyuk LEE ,  Su Hong EOM ,  Mun Suck JANG ,  Won Young LEE

IPC分类号： A61H3/00 ,  A61H1/02 ,  A61B5/103

CPC分类号： A61H3/00 ,  A61B5/1038 ,  A61B5/1121 ,  A61H1/024 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/50 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5071 ,  B25J9/16 ,  B25J9/1612 ,  B60W2710/08 ,  G05B2219/40202 ,  G05B2219/40305 ,  G05B2219/45108 ,  G05B2219/45109

摘要： The present invention relates to a system and a method for controlling a joint angle of a knee-joint type walking training robot which estimates a walking stage of a person receiving rehabilitation for walking and actively responds to the walking stage on the basis thereof. The present invention can easily control the joint angle of the knee-joint type walking training robot by providing a configuration comprising: a pressure measuring device for measuring the pressure on the sole of a walker's foot by using a pressure sensor; and a joint angle estimating device for estimating the joint angle of a knee-joint by extracting movement time of the walk and the length of the part of the sole contacting the ground on the basis of the sole's pressure measured by the pressure measuring device.

摘要翻译： 本发明涉及一种膝关节型步行训练机器人的关节角度的控制系统和方法，该膝关节型步行训练机器人估计步行者康复的步行阶段，并基于此步行主动地响应于步行阶段。 本发明可以通过提供一种构造来容易地控制膝关节型步行训练机器人的关节角度，该构造包括：压力测量装置，用于通过使用压力传感器来测量步行者脚底上的压力; 以及关节角度估计装置，用于基于由压力测量装置测量的鞋底压力来提取步行的移动时间和接触地面的鞋底部分的长度来估计膝关节的关节角度。

公开(公告)号：US20130138020A1

公开(公告)日：2013-05-30

申请号：US13686109

申请日：2012-11-27

申请人： Honda Motor Co., Ltd

发明人： Ken Yasuhara

IPC分类号： A61H3/00

CPC分类号： A61H3/00 ,  A61H1/0244 ,  A61H2201/1207 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5069 ,  A61H2201/5092 ,  G05B2219/45108

摘要： A walking assist device is capable of operating at an appropriate cycle in view of the motion cycle of a human being to be assisted while at the same time reducing the number of control parameters to be adjusted or set. A second phase oscillator, based on which the phase of the periodic operation of each actuator is controlled, is calculated on the basis of the difference between a first phase oscillator, which indicates a phase of the periodic motion of each thigh relative to the upper body of a human being, and the second phase oscillator, and an intrinsic angular velocity. A current intrinsic angular velocity is set by correcting a previous intrinsic angular velocity by an amount based on a previous difference between the first phase oscillator and the second phase oscillator such that the previous difference approaches a desired difference.

摘要翻译： 考虑到要辅助的人的运动周期，行走辅助装置能够以适当的周期运行，同时减少要调整或设定的控制参数的数量。 基于第二相位振荡器，基于该第一相位振荡器计算每个致动器的周期性操作的相位，该第一相位振荡器指示每个大腿相对于上体的周期运动的相位 人体，第二相位振荡器和固有角速度。 通过基于先前的第一相位振荡器和第二相位振荡器之间的差来校正先前的固有角速度来设定当前固有角速度，使得先前的差值接近期望的差。

公开(公告)号：US07778726B2

公开(公告)日：2010-08-17

申请号：US10588770

申请日：2005-02-01

申请人： Yoshihiro Miyake

发明人： Yoshihiro Miyake

IPC分类号： G06F19/00 ,  G05B15/00 ,  G05B13/02

CPC分类号： G05B13/02 ,  G05B2219/40414 ,  G05B2219/45108

摘要： An object of the present invention is to provide a novel controller and a control method which, in a nonlinear system in which a controller 1 and a controlled object 2 cannot be clearly separated, can converge the relationship between the controller 1 and controlled object 2 to a target relationship.The controller 1 of the present invention comprises a first module 3 having dynamic behavior as a nonlinear system and a second module 4 as a feedback system. The first module 3 creates a synchronous state with the controlled object 2 through an entrainment effect in an interaction therewith. When a synchronous state is created between the first module 3 and the controlled object 2, the second module 4 provides feedback to adjust a parameter of the first module 3 based on the difference between a relation value 5 relating to the synchronization and a target relation value. The controlled object 2 is controlled by the convergence of the relation value 5 relating to the synchronization to the target value.

摘要翻译： 本发明的目的是提供一种新颖的控制器和控制方法，其中控制器1和受控对象2不能清楚地分离的非线性系统中，可以将控制器1和受控对象2之间的关系收敛到 目标关系。 本发明的控制器1包括具有作为非线性系统的动态特性的第一模块3和作为反馈系统的第二模块4。 第一模块3通过与其相互作用的夹带效应与受控对象2产生同步状态。 当在第一模块3和受控对象2之间创建同步状态时，第二模块4基于与同步关系的关系值5与目标关系值之间的差异提供反馈以调整第一模块3的参数 。 受控对象2由与该同步关系的关系值5的收敛控制为目标值。

公开(公告)号：US20100185328A1

公开(公告)日：2010-07-22

申请号：US12656023

申请日：2010-01-13

申请人： Hong Won Kim ,  Woo Sup Han ,  Yong Jae Kim

发明人： Hong Won Kim ,  Woo Sup Han ,  Yong Jae Kim

IPC分类号： G05B15/00

CPC分类号： B25J9/104 ,  G05B2219/40408 ,  G05B2219/40411 ,  G05B2219/40413 ,  G05B2219/40414 ,  G05B2219/45108

摘要： Disclosed herein are a robot that supplies a projector service according to a user's context and a controlling method thereof. The robot includes a user detection unit detecting a user; a user recognition unit recognizing the user; an object recognition unit recognizing an object near the user; a position perception unit perceiving relative positions of the object and the user; a context awareness unit perceiving the user's context based on information on the user, the object and the relative positions between the user and the object; and a projector supplying a projector service corresponding to the user's context.

摘要翻译： 这里公开了根据用户的上下文提供投影仪服务的机器人及其控制方法。 机器人包括检测用户的用户检测单元; 识别用户的用户识别单元; 识别用户附近的物体的物体识别单元; 位置知觉单元感知对象和用户的相对位置; 上下文感知单元基于用户的信息，对象和用户与对象之间的相对位置来感知用户的上下文; 以及提供与用户上下文相对应的投影仪服务的投影仪。