公开(公告)号：US08483882B2

公开(公告)日：2013-07-09

申请号：US12686512

申请日：2010-01-13

申请人： Muhammad E. Abdallah ,  Robert Platt ,  Charles W. Wampler, II

发明人： Muhammad E. Abdallah ,  Robert Platt ,  Charles W. Wampler, II

IPC分类号： G05B19/00 ,  G05B15/00

CPC分类号： H01R13/17 ,  H01R13/052

摘要： A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.

摘要翻译： 机器人系统包括机器人，其具有用于在主任务期间使用多个抓握类型中的一个抓握对象的操纵器，以及控制器。 控制器在主任务期间使用多任务控制层次来控制操纵器，并且响应于输入信号自动地对每个抓握类型的系统的内力进行参数化。 主要任务在对象级别的控制下被定义，例如使用闭合链变换，使得仅为对象命令选择自由度。 用于机器人系统的控制系统具有使用上述层级控制操纵器的主机和算法。 用于控制系统的方法包括使用主机接收和处理输入信号，包括在对象级别的控制下定义主要任务，例如使用闭合链定义，以及对每个抓握类型的内部力进行参数化 。

公开(公告)号：US20110257784A1

公开(公告)日：2011-10-20

申请号：US12760954

申请日：2010-04-15

申请人： Charles W. Wampler, II ,  Robert J. Platt, JR.

发明人： Charles W. Wampler, II ,  Robert J. Platt, JR.

IPC分类号： G05B19/04 ,  G01L25/00

CPC分类号： G01L5/226 ,  B25J9/1692 ,  B25J15/0009 ,  G01L25/00 ,  G05B2219/39024 ,  G05B2219/40618

摘要： A robotic system includes a dexterous robot having robotic joints, angle sensors adapted for measuring joint angles at a corresponding one of the joints, load cells for measuring a set of strain values imparted to a corresponding one of the load cells during a predetermined pose of the robot, and a host machine. The host machine is electrically connected to the load cells and angle sensors, and receives the joint angle values and strain values during the predetermined pose. The robot presses together mating pairs of load cells to form the poses. The host machine executes an algorithm to process the joint angles and strain values, and from the set of all calibration matrices that minimize error in force balance equations, selects the set of calibration matrices that is closest in a value to a pre-specified value. A method for calibrating the load cells via the algorithm is also provided.

摘要翻译： 机器人系统包括具有机器人接头的灵巧机器人，角度传感器适用于在相应的一个关节处测量关节角度，用于测量在预定姿势期间赋予相应的一个称重传感器的一组应变值的称重传感器 机器人和主机。 主机电连接到称重传感器和角度传感器，并且在预定姿势期间接收关节角度值和应变值。 机器人将一对称重传感器压在一起形成姿势。 主机执行处理关节角度和应变值的算法，并且从力平衡方程中误差最小的所有校准矩阵的集合中，选择一个最接近于一个值的校准矩阵集合到一个预定值。 还提供了一种通过算法校准称重传感器的方法。

公开(公告)号：US07900898B2

公开(公告)日：2011-03-08

申请号：US11871337

申请日：2007-10-12

申请人： Charles W. Wampler, II

发明人： Charles W. Wampler, II

IPC分类号： B23Q3/00

CPC分类号： B23Q3/069 ,  Y10T29/49998 ,  Y10T29/53961

摘要： A fixturing apparatus for locating and supporting a panel, such as an automotive body panel is provided. The fixturing apparatus includes a support structure having at least three generally spherically shaped contactors. The panel includes at least three extending channels sufficiently configured to receive a respective one of the at least three generally spherically shaped contactors to locate and support the panel. At least one clamping arm is operable to selectively retain one of the at least three extending channels with respect to the respective one of the at least three generally spherically shaped contactors. A method of fixturing a panel employing the above described fixturing apparatus is also provided.

摘要翻译： 提供了一种用于定位和支撑诸如汽车车身面板的面板的固定装置。 夹具装置包括具有至少三个通常为球形的接触器的支撑结构。 面板包括至少三个延伸通道，其被充分地配置成接收至少三个大致球形的接触器中的相应的一个以定位和支撑面板。 至少一个夹紧臂可操作以相对于所述至少三个大致球形的接触器中的相应一个选择性地保持所述至少三个延伸通道中的一个。 还提供了使用上述夹持装置固定面板的方法。

公开(公告)号：US20100280661A1

公开(公告)日：2010-11-04

申请号：US12686512

申请日：2010-01-13

申请人： Muhammad E. Abdallah ,  Robert J. Platt, JR. ,  Charles W. Wampler, II

发明人： Muhammad E. Abdallah ,  Robert J. Platt, JR. ,  Charles W. Wampler, II

IPC分类号： B25J9/00 ,  G06F19/00 ,  G05B15/00 ,  B25J9/16

CPC分类号： H01R13/17 ,  H01R13/052

摘要： A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. Hie controller controls the manipulators dining the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.

摘要翻译： 机器人系统包括机器人，其具有用于在主任务期间使用多个抓握类型中的一个抓握对象的操纵器，以及控制器。 Hie控制器控制操纵器使用多任务控制层次来对主要任务进行用餐，并且响应于输入信号自动地对每个抓握类型的系统的内力进行参数化。 主要任务被定义在对象级别的控制下，例如使用闭合链变换，使得仅为对象命令选择自由度。 用于机器人系统的控制系统具有使用上述层级控制操纵器的主机和算法。 用于控制系统的方法包括使用主机接收和处理输入信号，包括在对象级别的控制下定义主要任务，例如使用闭合链定义，以及对每个抓握类型的内部力进行参数化 。

公开(公告)号：US20100161127A1

公开(公告)日：2010-06-24

申请号：US12338697

申请日：2008-12-18

申请人： Muhammad E. Abdallah ,  Matthew J. Reiland ,  Robert Platt ,  Charles W. Wampler, II ,  Brian Hargrave

发明人： Muhammad E. Abdallah ,  Matthew J. Reiland ,  Robert Platt ,  Charles W. Wampler, II ,  Brian Hargrave

IPC分类号： B25J13/08 ,  G05B19/00 ,  G06F19/00 ,  G05B15/00 ,  B25J19/02

CPC分类号： B25J9/1653 ,  G05B2219/39343 ,  G05B2219/40352

摘要： A system and method for providing multiple priority impedance control for a robot manipulator where impedance laws are realized simultaneously and with a given order of priority. The method includes a control scheme for realizing a Cartesian space impedance objective as a first priority while also realizing a joint space impedance objective as a second priority. The method also includes a control scheme for realizing two Cartesian space impedance objectives with different levels of priority. The method includes instances of the control schemes that use feedback from force sensors mounted at an end-effector and other instances of the control schemes that do not use this feedback.

摘要翻译： 一种用于为机器人操纵器提供多重优先级阻抗控制的系统和方法，其中阻抗定律同时实现并且具有给定的优先顺序。 该方法包括用于实现笛卡尔空间阻抗目标作为第一优先级的控制方案，同时还实现作为第二优先级的联合空间阻抗目标。 该方法还包括用于实现具有不同优先级的两个笛卡尔空间阻抗目标的控制方案。 该方法包括使用安装在末端执行器处的力传感器的反馈和不使用该反馈的控制方案的其他实例的控制方案的实例。

公开(公告)号：US20100121222A1

公开(公告)日：2010-05-13

申请号：US12269552

申请日：2008-11-12

申请人： MUHAMMAD E. ABDALLAH ,  Lyndon Bridgwater ,  Myron A. Diftler ,  Douglas Martin Linn ,  Charles W. Wampler, II ,  Robert Platt

发明人： MUHAMMAD E. ABDALLAH ,  Lyndon Bridgwater ,  Myron A. Diftler ,  Douglas Martin Linn ,  Charles W. Wampler, II ,  Robert Platt

IPC分类号： A61B5/103

CPC分类号： B25J15/0009 ,  B25J9/1045 ,  G01L1/2218 ,  G01L5/226

摘要： A technique that determines the tension in a tendon using a conduit reaction force applied to an end of a conduit through which the tendon is threaded. Any suitable tendon tension sensor can be employed that uses the conduit reaction force for this purpose. In one non-limiting embodiment, the tendon tension sensor includes a cylindrical strain gauge element and a force member mounted to an end of the conduit. The force member includes a cylindrical portion having a bore and a plate portion, where the cylindrical portion is inserted into a bore in the strain gauge element. The tendon is threaded through the strain gauge element and the force member. A strain gauge is mounted to the strain gauge element and measures the reaction force when tension on the tendon causes the strain gauge element to be pushed against the force member.

摘要翻译： 使用施加到导管的端部的导管反作用力来确定腱中的张力的技术，腱穿过该导管。 可以使用任何合适的腱张力传感器，其用于该目的的导管反作用力。 在一个非限制性实施例中，腱张力传感器包括圆柱形应变计元件和安装到导管端部的力部件。 力构件包括具有孔和圆柱形部分的圆柱形部分，其中圆柱形部分插入到应变计元件中的孔中。 腱穿过应变计元件和力部件。 应变计安装到应变计元件上，并且当肌腱上的张力导致应变计元件被推靠在力构件上时，测量反作用力。

公开(公告)号：US20090091072A1

公开(公告)日：2009-04-09

申请号：US11867729

申请日：2007-10-05

申请人： Charles W. Wampler, II

发明人： Charles W. Wampler, II

IPC分类号： B23Q1/25

CPC分类号： B25B5/04 ,  B25B5/12

摘要： A fixturing apparatus for locating and supporting a panel, such as an automotive body panel is provided. The fixturing apparatus includes a support structure having at least three generally spherically shaped contactors. The panel includes at least three extending channels sufficiently configured to receive a respective one of the at least three generally spherically shaped contactors to locate and support the panel. At least one clamping arm is operable to selectively retain one of the at least three extending channels with respect to the respective one of the at least three generally spherically shaped contactors. A method of fixturing a panel employing the above described fixturing apparatus is also provided.

摘要翻译： 提供了一种用于定位和支撑诸如汽车车身面板的面板的固定装置。 夹具装置包括具有至少三个通常为球形的接触器的支撑结构。 面板包括至少三个延伸通道，其被充分地配置成接收至少三个大致球形的接触器中的相应的一个以定位和支撑面板。 至少一个夹紧臂可操作以相对于所述至少三个大致球形的接触器中的相应一个选择性地保持所述至少三个延伸通道中的一个。 还提供了使用上述夹持装置固定面板的方法。

公开(公告)号：US4392757A

公开(公告)日：1983-07-12

申请号：US152206

申请日：1980-05-22

申请人： Clifford M. Denny ,  Charles W. Wampler, II

发明人： Clifford M. Denny ,  Charles W. Wampler, II

IPC分类号： F16H25/24 ,  B41J19/20 ,  B41J23/00

CPC分类号： B41J19/20 ,  Y10T74/18728 ,  Y10T74/19902

摘要： Disclosed is drive apparatus especially useful for controllably displacing the carrier of a printer, the drive apparatus including a lead screw having laterally spaced apart and floating threaded followers thereon. Intermediate the threaded followers are a first pair of preloaded springs which press the followers against the opposite flanks of the threads on the lead screw to thereby inhibit backlash intermediate the followers. A second pair of springs are mounted intermediate a bracket, which is fastened to the carrier, and at least one of the followers for effecting coupling between the carrier and the follower while controlling backlash therebetween. A pair of arms extend from the followers and are coupled to a restraining shaft in such a manner as to inhibit rotational movement of the arms (and thus the followers) while permitting motion of the followers in any perpendicular direction to the lead screw to accommodate runout or eccentricity.

摘要翻译： 公开了一种驱动装置，其特别适用于可控地移动打印机的托架，该驱动装置包括一个在其上具有横向间隔开且浮动的带螺纹随动件的导螺杆。 中间螺纹跟随器是第一对预加载弹簧，其将跟随器压靠在导螺杆上的螺纹的相对侧面上，从而抑制从动件之间的间隙。 第二对弹簧被安装在固定到托架上的托架的中间，以及至少一个跟随器，用于在托架与跟随器之间实现联接，同时控制它们之间的间隙。 一对臂从跟随者延伸并且以这样的方式联接到约束轴，即阻止臂（以及从动件）的旋转运动，同时允许从动件在与导螺杆垂直的任何方向上的运动以适应跳动 或偏心。

公开(公告)号：US08170718B2

公开(公告)日：2012-05-01

申请号：US12338697

申请日：2008-12-18

申请人： Muhammad E. Abdallah ,  Matthew J. Reiland ,  Robert Platt ,  Charles W. Wampler, II ,  Brian Hargrave

发明人： Muhammad E. Abdallah ,  Matthew J. Reiland ,  Robert Platt ,  Charles W. Wampler, II ,  Brian Hargrave

IPC分类号： G06F19/00

CPC分类号： B25J9/1653 ,  G05B2219/39343 ,  G05B2219/40352

摘要： A system and method for providing multiple priority impedance control for a robot manipulator where impedance laws are realized simultaneously and with a given order of priority. The method includes a control scheme for realizing a Cartesian space impedance objective as a first priority while also realizing a joint space impedance objective as a second priority. The method also includes a control scheme for realizing two Cartesian space impedance objectives with different levels of priority. The method includes instances of the control schemes that use feedback from force sensors mounted at an end-effector and other instances of the control schemes that do not use this feedback.

摘要翻译： 一种用于为机器人操纵器提供多重优先级阻抗控制的系统和方法，其中阻抗定律同时实现并且具有给定的优先顺序。 该方法包括用于实现笛卡尔空间阻抗目标作为第一优先级的控制方案，同时还实现作为第二优先级的联合空间阻抗目标。 该方法还包括用于实现具有不同优先级的两个笛卡尔空间阻抗目标的控制方案。 该方法包括使用安装在末端执行器处的力传感器的反馈和不使用该反馈的控制方案的其他实例的控制方案的实例。

公开(公告)号：US20120062725A1

公开(公告)日：2012-03-15

申请号：US12879656

申请日：2010-09-10

申请人： Charles W. Wampler, II ,  James W. Wells ,  Roland J. Menassa

发明人： Charles W. Wampler, II ,  James W. Wells ,  Roland J. Menassa

IPC分类号： H04N7/18 ,  G08B21/00

CPC分类号： G01V8/12

摘要： An error detection vision system that determines whether a proper part has been selected from a presentation device during an assembly process. In one embodiment, the presentation device is a rack including a plurality of bins, where the bins hold a plurality of different parts. The vision system includes one or more projecting devices that project a light beam towards the presentation device and a detector, such as a camera, receiving reflections back from a worker as he selects parts from the presentation device. The error detection vision system can employ various detection processes, such as a stereo pair of video cameras, vision using structured-light triangulation and infrared time-of-flight distance measurements.

摘要翻译： 一种错误检测视觉系统，其在组装过程期间确定是否已经从呈现装置中选择了正确的部分。 在一个实施例中，呈现设备是包括多个箱的机架，其中箱容纳多个不同的部件。 视觉系统包括一个或多个投影装置，其将光束投射到呈现装置，以及检测器，例如相机，当从演示装置选择部件时，从工作人员接收反射。 错误检测视觉系统可以采用各种检测过程，例如立体声摄像机对，使用结构光三角测量和红外飞行时间距离测量的视觉。