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    Method of controlling robot movements
    2.
    发明授权
    Method of controlling robot movements 失效
    控制机器人运动的方法

    公开(公告)号：US5157315A

    公开(公告)日：1992-10-20

    申请号：US535140

    申请日：1990-06-08

    申请人： Norihisa Miyake ,  Masaki Sumita ,  Koichi Sugimoto

    发明人： Norihisa Miyake ,  Masaki Sumita ,  Koichi Sugimoto

    IPC分类号： B25J9/16 ,  B25J9/06 ,  B25J9/18 ,  B25J13/00 ,  G05B19/408

    CPC分类号： G05B19/4086

    摘要： A method of controlling the movements of a robot having a plurality of degrees of freedom includes expressing the attitudes of a hand or a working tool fitted to the arm end of the robot, the by the use of base vectors of a rectangular coordinate system fixed to the hand or the working tool. The attitudes are given as coordinate components related to a rectangular coordinate system which is fixed to the pedestal of the robot and which serves as reference. Interpolation and movement control of the robot is performed on the basis of the coordinate components. By performing control, based on the coordinate components real-time calculation processings is reduced highly accurate robot movement which is smooth in terms of both time and space is accomplished.

    Method of controlling information in multimedia system
    6.
    发明授权
    Method of controlling information in multimedia system 失效
    多媒体系统信息管理方法

    公开(公告)号：US5481664A

    公开(公告)日：1996-01-02

    申请号：US5273

    申请日：1993-01-19

    申请人： Masaaki Hiroya ,  Masayuki Saito ,  Hiroyuki Takagi

    发明人： Masaaki Hiroya ,  Masayuki Saito ,  Hiroyuki Takagi

    IPC分类号： G06F3/14 ,  G06F3/048 ,  G06F12/00 ,  G06F17/30 ,  G06T11/80 ,  G06T1/00

    CPC分类号： G06F17/30017

    摘要： For each media information element constituting a display screen image in a multimedia system, main data and attribute data are stored in a storage. After the user copies a media information element from a screen layout to another screen layout, until an attribute of the media information element is altered in either one of the layouts, the main data and/or the attribute data of the media information element is not copied in the storage of the system. Moreover, when the user varies an attribute of a media information element in one of the layouts, only attribute data of the media information element is changed in the storage. The media information includes music pieces and voices in addition to characters and graphic images.

    摘要翻译： 对于构成多媒体系统中的显示屏幕图像的每个媒体信息元素，主数据和属性数据被存储在存储器中。 在用户将媒体信息元素从屏幕布局复制到另一屏幕布局之后，直到媒体信息元素的属性在任一个布局中被改变，媒体信息元素的主数据和/或属性数据不是 复制在系统的存储中。 此外，当用户改变一个布局中的媒体信息元素的属性时，在存储器中仅改变媒体信息元素的属性数据。 除了字符和图形图像之外，媒体信息还包括音乐片段和声音。

    Method and apparatus for welding robot control
    7.
    发明授权
    Method and apparatus for welding robot control 失效
    焊接机器人控制的方法与装置

    公开(公告)号：US5170034A

    公开(公告)日：1992-12-08

    申请号：US661110

    申请日：1991-02-26

    申请人： Tatsuya Seshimo ,  Shigeyoshi Yokoyama ,  Raiji Shimomura ,  Tukasa Shiina

    发明人： Tatsuya Seshimo ,  Shigeyoshi Yokoyama ,  Raiji Shimomura ,  Tukasa Shiina

    IPC分类号： B23K9/12 ,  B23K9/127 ,  G05B19/4067

    CPC分类号： G05B19/4067

    摘要： A method and a system for controlling a welding robot is disclosed, in which at the time of restarting the welding operation after a provisional welding stoppage which may occur during a series of welding operation by a robot, the welding operation is restarted from a position receded along the welding line thus far followed. A memory unit sequentially holds the position data along the welding line during the welding operation. The position receded along the welding line is calculated in accordance with the position data held in the memory unit during the provisional welding operation stoppage.

    摘要翻译： 公开了一种用于控制焊接机器人的方法和系统，其中在机器人的一系列焊接操作期间可能发生的临时焊接停止之后重新启动焊接操作时，焊接操作从退出的位置重新启动 沿着焊接线到目前为止。 存储单元在焊接操作期间沿着焊接线依次保持位置数据。 在临时焊接操作停止期间，根据保存在存储单元中的位置数据计算沿着焊接线退回的位置。

    Method for controlling operation of industrial robot
    8.
    发明授权
    Method for controlling operation of industrial robot 失效
    控制工业机器人操作的方法

    公开(公告)号：US4887222A

    公开(公告)日：1989-12-12

    申请号：US213137

    申请日：1988-06-29

    申请人： Norihisa Miyake ,  Masaki Sumita

    发明人： Norihisa Miyake ,  Masaki Sumita

    IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/18 ,  G05B19/4093 ,  G05B19/41

    CPC分类号： G05B19/41 ,  G05B2219/34131 ,  G05B2219/45083

    摘要： There is provided an operation control method for an industrial robot having a plurality of joints, cooperation of these joints allowing a hand or an end effector attached to the hand to perform necessary operation comprising the steps of representing a position and orientation of a hand effecting point relatively determined with respect to the hand or the end effector by a generalized coordinate system suitable for describing the task, deriving respective displacement values of the plurality of joints corresponding to the position and orientation information by using means such as computation, and making the hand effecting point perform necessary operation. For at least one joint among the plurality of joints, displacement is approximately derived by using approximate solution. For remaining joint among the plurality of joints satisfying a parameter or parameters to be controlled especially accurately among the position or position and orientation of the hand effecting point, strict solutions are derived by using the approximate solution of the above described at least one joint. the operation of the hand effecting point is thus controlled.

    摘要翻译： 提供了一种用于具有多个关节的工业机器人的操作控制方法，这些关节的配合允许附着在手上的手或端部执行器执行必要的操作，包括以下步骤：表示手部效果点的位置和方位 通过适用于描述任务的广义坐标系相对于手或末端执行器确定相应的位置值，通过使用诸如计算的手段导出与位置和方向信息相对应的多个关节的各个位移值，并且使手执行 点执行必要的操作。 对于多个关节中的至少一个关节，通过使用近似解来近似地导出位移。 为了在多个关节中保持接合，满足在手效点的位置或位置和方位之间特别精确地控制的参数或参数，通过使用上述至少一个关节的近似解来导出严格的解。 因此控制手效点的操作。

    Weld line system and method for control
    9.
    发明授权
    Weld line system and method for control 失效
    焊线系统及其控制方法

    公开(公告)号：US4587398A

    公开(公告)日：1986-05-06

    申请号：US643707

    申请日：1984-08-24

    申请人： Shinichi Sarugaku ,  Masao Tsuji

    发明人： Shinichi Sarugaku ,  Masao Tsuji

    IPC分类号： B23K9/12 ,  B23K9/127

    CPC分类号： B23K9/127

    摘要： A system and method for weld line profile control wherein an electrical quantity corresponding to the arc of a welding torch is detected and the deviation between the electrical quantity and a reference quantity is monitored so that correction movements of the welding torch relative to the weld line can be limited if the deviation exceeds a predetermined value. In more detail, an electrical quantity corresponding to the arc of one side waveform of a welding torch operating under the influence of a wave signal is detected and a reference quantity corresponding to the arc of the other side waveform of the welding torch is detected, and the deviation between the electrical quantity and the reference quantity is monitored to provide a signal limiting the correction movements of the welding torch relative to the weld line when the deviation exceeds a predetermined value.

    摘要翻译： 一种用于焊接线轮廓控制的系统和方法，其中检测到与焊炬的电弧相对应的电量，并且监测电量与参考量之间的偏差，使得焊炬相对于焊接线的修正运动可以 如果偏差超过预定值则被限制。 更详细地，检测对应于在波信号的影响下操作的焊炬的一侧波形的电弧的电量，并且检测与焊炬的另一侧波形的弧相对应的参考量，以及 监测电量和参考量之间的偏差，以提供当偏差超过预定值时限制焊炬相对于焊接线的校正运动的信号。