公开(公告)号：US5719479A

公开(公告)日：1998-02-17

申请号：US518689

申请日：1995-08-24

Applicant: Tetsuaki Kato ,  Soichi Arita ,  Ichiro Kanno

Inventor： Tetsuaki Kato ,  Soichi Arita ,  Ichiro Kanno

IPC: B25J9/16 ,  B25J19/06 ,  G05B19/19 ,  G05B19/4061 ,  G05D3/00 ,  G05D3/12 ,  H02P29/00 ,  F15B9/00 ,  G05B5/00

CPC classification number: G05B19/4061 ,  G05B19/19 ,  G05B2219/37624 ,  G05B2219/41128 ,  G05B2219/41381 ,  G05B2219/41395

Abstract: A collision detecting method, in which a collision of a driven body driven by a servomotor is detected by a disturbance estimating observer. The method obtains a disturbance component which can be known in advance, subtracts the disturbance component from an input torque to generate a modified torque, and inputs the modified torque to a distrubance estimating observer.

Abstract translation: 一种碰撞检测方法，其中由伺服电动机驱动的从动体的碰撞被干扰估计观察器检测到。 该方法获得预先知道的扰动分量，从输入转矩中减去干扰分量以产生修正转矩，并将改变后的转矩输入到发散估计观测器。

公开(公告)号：US5691615A

公开(公告)日：1997-11-25

申请号：US204313

申请日：1994-03-14

Applicant: Tetsuaki Kato ,  Osamu Yoshida ,  Masaru Nakamura ,  Soichi Arita

Inventor： Tetsuaki Kato ,  Osamu Yoshida ,  Masaru Nakamura ,  Soichi Arita

IPC: G05B11/36 ,  B25J9/16 ,  G05B11/42 ,  G05B13/02 ,  G05B13/04 ,  G05D3/12 ,  H02M1/12

CPC classification number: B25J9/163 ,  G05B2219/34448 ,  G05B2219/39178 ,  G05B2219/39181 ,  G05B2219/39194 ,  G05B2219/41123 ,  G05B2219/41425 ,  G05B2219/42037

Abstract: A method of obtaining a very robust adaptive PI control method irrespective of fluctuation of parameters of a control object, wherein (speed command r-actual speed y) is used as a state variable Suf. Estimated values J*, A*, Gr*, and C* of inertia, coefficient of dynamic friction, gravitational disturbance depending on a robot angle, and Coulomb's friction, respectively, are obtained and a torque command .tau. is obtained in accordance with the following equation so as to cancel an error between each of the estimated values and its actual value to zero. .tau.=K2.multidot.Suf+(K1/s).multidot.Suf+J*.multidot.r'+A*.multidot.y+Gr*.multidot.sin .theta.+Cf*+.tau.1. The first and second terms of the right side of the above equation are identical with a torque command obtained by the PI control. Furthermore, r' represents an acceleration of command; .theta. represents a rotational angle of a robot arm; and .tau.1 represents a switching input corresponding to miscellaneous disturbance. As an error between each of the estimated values and its actual value becomes zero, a relationship of speed command r=actual speed y is obtained and therefore an adaptive PI control of a transfer function "1" is obtained.

Abstract translation: PCT No.PCT / JP93 / 00995 Sec。 371日期：1994年3月14日 102（e）1994年3月14日PCT PCT 1993年7月16日PCT公布。 公开号WO94 / 02989 日期1994年2月3日无论控制对象的参数波动如何，都获得非常鲁棒的自适应PI控制方法，其中（速度指令r-实际速度y）被用作状态变量Suf。 获得惯性惯量的估计值J *，A *，Gr *和C *，动摩擦系数，取决于机器人角度的重力扰动和库仑摩擦，并且根据以下方式获得转矩指令τ 以便将每个估计值和其实际值之间的误差消除为零。 tau = K2xSuf +（K1 / s）xSuf + J * xr'+ A * xy + Gr *xsinθ+ Cf * + tau 1.上述方程右侧的第一项和第二项与获得的转矩指令相同 由PI控制。 此外，r'表示指令的加速度; theta表示机器人手臂的旋转角度; 并且τ1表示对应于杂项干扰的开关输入。 由于每个估计值与其实际值之间的误差为零，所以获得速度指令r =实际速度y的关系，因此获得传递函数“1”的自适应PI控制。

公开(公告)号：US5493192A

公开(公告)日：1996-02-20

申请号：US84181

申请日：1993-06-28

Applicant: Ryo Nihei ,  Yasuo Naito ,  Kazuhisa Otsuka ,  Tetsuaki Kato ,  Hideki Sugiyama

Inventor： Ryo Nihei ,  Yasuo Naito ,  Kazuhisa Otsuka ,  Tetsuaki Kato ,  Hideki Sugiyama

IPC: B23K11/25 ,  B25J9/16 ,  B25J9/18 ,  B25J19/06 ,  G05D3/00 ,  G05D17/02 ,  G05B19/416

CPC classification number: B25J19/06 ,  B23K11/252 ,  B25J9/1674

Abstract: A method for accurately detecting an abnormal load caused, e.g., by adhesion of the distal end of a spot gun. A flag F2 is set to "1" when a move command is outputted to move a movable part of a machine and is reset to "0" upon lapse of a predetermined very short period of time, and, while the flag F2 remains "0" during stoppage of the movable part, a disturbance torque T0, estimated by a disturbance estimation observer, is stored and successively updated. When a move command is thereafter outputted, and the flag F2 is set to "1", an estimated disturbance torque T1 is obtained, and if the absolute value .vertline.T1-T0.vertline. of the difference between the disturbance torque T1 and the disturbance torque T0, estimated immediately before the movable part is moved, is greater than a reference value Ts, it is determined that an abnormal load is applied, whereupon an alarm is outputted, a flag F1 is set to "1", and the motion is stopped. The disturbance torque T0 estimated during stoppage indicates a value of the load then acting on the movable part, such as gravity. Consequently, the value .vertline.T1-T0.vertline. represents a disturbance torque during movement of the movable part, which is free from the influence of gravity, and a comparison between this value and the reference value Ts permits accurate detection of a force acting on the movable part, not including gravity or frictional force, whereby the occurrence of adhesion or the like can be accurately detected.

Abstract translation: PCT No.PCT / JP92 / 01391 Sec。 371日期：1993年6月28日 102（e）日期1993年6月28日PCT提交1992年10月10日PCT公布。 出版物WO93 / 08958 日期：1993年5月13日。一种用于准确地检测异常载荷的方法，例如通过点枪的远端的粘附而引起。 当输出移动指令以移动机器的可移动部分时，标志F2被设置为“1”，并且在经过预定的非常短的时间段后被重置为“0”，并且当标志F2保持为“0” “在可动部件的停止期间，由干扰估计观察者估计的干扰转矩T0被存储并依次更新。 此后，当输出移动指令并且将标志F2设定为“1”时，获得估计的干扰转矩T1，如果绝对值| T1-T0 | 在可移动部分移动之前估计的干扰转矩T1和干扰转矩T0之间的差异大于参考值Ts，确定施加异常负载，从而输出报警，标志F1 被设定为“1”，停止运动。 在停止期间估计的扰动转矩T0表示随后作用在可动部分上的负载的值，例如重力。 因此，值| T1-T0 | 表示可移动部件的移动期间的干扰转矩，其不受重力的影响，并且该值与参考值Ts之间的比较允许精确地检测作用在可移动部件上的力，不包括重力或摩擦力， 从而可以精确地检测粘附等的发生。

公开(公告)号：US5444612A

公开(公告)日：1995-08-22

申请号：US368711

申请日：1995-01-03

Applicant: Nobutoshi Torii ,  Ryo Nihei ,  Tetsuaki Kato

Inventor： Nobutoshi Torii ,  Ryo Nihei ,  Tetsuaki Kato

IPC: B25J9/16 ,  G05B13/04 ,  G05B19/19 ,  G05B11/42 ,  G06F19/00

CPC classification number: G05B19/19 ,  B25J9/1638 ,  G05B13/042 ,  G05B2219/34047 ,  G05B2219/41367 ,  G05B2219/42037 ,  G05B2219/42153 ,  G05B2219/42155

Abstract: An adaptive proportional-plus-integral control system for controlling a robot or a machine tool which is subject to large load variation. The PI control system comprises a speed control loop and a pre-compensator provided in the speed control loop. The pre-compensator is equivalent to a system which is the combination of a reference model and an inverse system of a servomotor, and has adaptivity. Since the pre-compensator is incorporated into the speed control loop, robust control can be made even if the inertia of a load is largely variable.

Abstract translation: 一种用于控制承受较大负载变化的机器人或机床的自适应比例加整体控制系统。 PI控制系统包括速度控制回路和速度控制回路中提供的预补偿器。 预补偿器相当于伺服电机的参考模型和反向系统的组合的系统，具有适应性。 由于预补偿器被并入到速度控制回路中，所以即使负载的惯性在很大程度上是可变的，也可以进行鲁棒的控制。

公开(公告)号：US5440213A

公开(公告)日：1995-08-08

申请号：US177342

申请日：1994-01-04

Applicant: Soichi Arita ,  Tetsuaki Kato ,  Osamu Yoshida

Inventor： Soichi Arita ,  Tetsuaki Kato ,  Osamu Yoshida

IPC: G05B19/4061 ,  G05B5/00

CPC classification number: G05B19/4061

Abstract: A collision detecting method for quickly securely detecting a collision between a driven body driven by a servomotor and an obstacle by using an observer, thereby preventing machine components from be damaged by the collision. An estimated disturbance torque (y) is obtained in accordance with a torque command (I) and an actual motor speed (.theta.) by means of the observer (50) formed of blocks (S1 to 54) having transfer functions (Kt/J, K3, K4/S, 1/S), which depend individually on a torque constant, inertia, and parameters corresponding thereto, and a multiplier (61) having a transfer function (J.multidot.A) equivalent to the product of the inertia and a unit system conversion constant. The drive of the servomotor is stopped before any of the components of the machine is broken, in response to an alarm delivered from a comparator (62) when the estimated disturbance torque exceeds a threshold value (Ts) which is set at a value smaller than servomotor output torques corresponding to the breaking limits of the machine components.

Abstract translation: 一种用于通过使用观察者快速安全地检测由伺服电动机和障碍物驱动的被驱动体之间的碰撞的碰撞检测方法，从而防止机器部件被碰撞损坏。 根据具有传递函数（Kt / J，S）的块（S1〜54）形成的观察者（50），根据转矩指令（I）和实际电动机速度（θ），求出估计的扰动转矩（y） K3，K4 / S，1 / S），其分别取决于转矩常数，惯性和对应的参数，以及具有与惯量和单位系统的乘积相当的传递函数（JxA）的乘法器 转换常数。 当估计的扰动转矩超过阈值（Ts）时，响应于从比较器（62）发出的警报，伺服电动机的驱动被停止，在机器的任何部件断开之前， 伺服电机输出扭矩对应于机器部件的断裂极限。

公开(公告)号：US5191272A

公开(公告)日：1993-03-02

申请号：US776418

申请日：1991-11-25

Applicant: Nobutoshi Torii ,  Ryo Nihei ,  Tetsuaki Kato

Inventor： Nobutoshi Torii ,  Ryo Nihei ,  Tetsuaki Kato

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

CPC classification number: G05B13/0265 ,  G05B13/024 ,  H02P23/16

Abstract: 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

Applicant: Nobutoshi Torii ,  Yasuo Naito ,  Masayuki Hamura ,  Tetsuaki Kato

Inventor： Nobutoshi Torii ,  Yasuo Naito ,  Masayuki Hamura ,  Tetsuaki Kato

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

CPC classification number: B25J19/06 ,  B25J19/063 ,  B25J9/1676

Abstract: 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.

Abstract translation: 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：US09802286B2

公开(公告)日：2017-10-31

申请号：US12789530

申请日：2010-05-28

Applicant: Hiroji Nishi ,  Tetsuaki Kato

Inventor： Hiroji Nishi ,  Tetsuaki Kato

IPC: G05B19/409 ,  B23Q17/00 ,  G05B19/418

CPC classification number: B23Q17/00 ,  G05B19/409 ,  G05B19/41825 ,  Y02P90/087 ,  Y02P90/18

Abstract: 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.

公开(公告)号：US08860854B2

公开(公告)日：2014-10-14

申请号：US13566179

申请日：2012-08-03

Applicant: Tetsuaki Kato

Inventor： Tetsuaki Kato

IPC: H04N9/64 ,  H04N5/235 ,  H04N5/361 ,  H04N5/365 ,  H04N5/232

CPC classification number: H04N5/361 ,  H04N5/23245 ,  H04N5/2353 ,  H04N5/3655

Abstract: 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.

Abstract translation: 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：US08600555B2

公开(公告)日：2013-12-03

申请号：US12984796

申请日：2011-01-05

Applicant: Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

Inventor： Ryo Nihei ,  Tetsuaki Kato ,  Hiroji Nishi

IPC: G06F19/00 ,  G05B19/19

CPC classification number: G05B19/4083 ,  B25J9/1664 ,  G05B2219/36404 ,  G05B2219/40385 ,  G05B2219/45104

Abstract: 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.

Abstract translation: 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。