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    Method of calculating points and normal lines of contact and apparatus therefor
    3.
    发明授权
    Method of calculating points and normal lines of contact and apparatus therefor 失效
    计算点和法线的方法及其设备

    公开(公告)号：US5668453A

    公开(公告)日：1997-09-16

    申请号：US683860

    申请日：1996-07-19

    申请人： Shinyo Muto ,  Ken-ichiro Shimokura

    发明人： Shinyo Muto ,  Ken-ichiro Shimokura

    IPC分类号： B25J9/16 ,  B25J9/18 ,  B25J9/06

    CPC分类号： B25J9/1679 ,  G05B2219/39529 ,  G05B2219/40561

    摘要： The presentation of a contact point and contact normal line calculation method for processing/assembly apparatuses, having the ability to reduce contact point calculation errors due to errors in the force measurement device in both the direction of movement and the direction perpendicular to movement. The invention calculates the points and normal lines of contact between a tool and a product being processed by running, in order, a force application line calculation procedure to calculate the force application line from the signal output from the force measurement device; a intersection point calculation procedure to calculate the intersection point between the force application line and the tool by using information about the geometrical shape of tool; a dot product calculation procedure for determining the dot product between the translation velocity and the normal vector; a boundary distance calculation procedure to calculate the boundary distance to the boundary area; a force effect distance calculation procedure to calculate the force effect distance; and a function calculation procedure to calculate a function of the chosen points over the dot product, the force effect distance, and the boundary distance; taking the calculated function as a final determining function and taking the point within the chosen points which minimizes the final determining function and the corresponding normal vector as the contact point and contact normal line.

    摘要翻译： 提供用于处理/组装设备的接触点和接触法线计算方法，具有在运动方向和垂直于运动的方向上减小由于力测量装置中的误差引起的接触点计算误差的能力。 本发明根据从力测量装置输出的信号计算力施加线计算程序，依次运行，计算工具与正在处理的产品之间的接触点和法线。 通过使用关于刀具几何形状的信息计算力施加线和刀具之间的交点的交点计算程序; 用于确定平移速度和法向量之间的点积的点积计算程序; 计算与边界区域的边界距离的边界距离计算程序; 力效应距离计算程序来计算力效应距离; 以及函数计算程序，用于计算点乘积上的所选点的函数，力效应距离和边界距离; 将计算出的函数作为最终确定函数，并将所选择的点中的点最小化，使最终确定函数和相应的法向量作为接触点和接触法线最小化。

    System management method, system management device, system management program, and storage medium containing system management program
    4.
    发明授权
    System management method, system management device, system management program, and storage medium containing system management program 有权
    系统管理方法，系统管理装置，系统管理程序和包含系统管理程序的存储介质

    公开(公告)号：US07617238B2

    公开(公告)日：2009-11-10

    申请号：US10564183

    申请日：2004-07-09

    申请人： Jouji Nakayama ,  Tetsuya Yamamoto ,  Ken-ichiro Shimokura ,  Tsutomu Yabuuchi ,  Kimitaka Endo ,  Takashi Imaeda

    发明人： Jouji Nakayama ,  Tetsuya Yamamoto ,  Ken-ichiro Shimokura ,  Tsutomu Yabuuchi ,  Kimitaka Endo ,  Takashi Imaeda

    IPC分类号： G06F7/00

    CPC分类号： G06F17/30011 ,  G06F21/6218 ,  G06F2221/2141 ,  G06F2221/2145 ,  Y10S707/99939

    摘要： A system management method is disclosed for associating a process object and a process with each node in a tree structure, and operating each node based on the tree structure so as to manage the process object and the process, including: registering a registered user that performs operations for a general node corresponding to the process object or for a function node corresponding to the process; setting the function node as a child node of the general node corresponding to the process object for which the process corresponding to the function node should be performed, and setting the general node as a parent node of the function node; setting registered user operation authority for each registered user; and, when execution of the process corresponding to the function node is requested by the registered user, causing the function node to execute the process only when the process is permitted by the registered user operation authority, of the registered user requesting the process, set in the general node that is a parent node of the function node.

    摘要翻译： 公开了一种系统管理方法，用于将过程对象和过程与树结构中的每个节点相关联，并且基于树结构操作每个节点，以便管理过程对象和过程，包括：注册执行的注册用户 对应于过程对象或对应于过程的功能节点的通用节点的操作; 将功能节点设置为与应该执行与功能节点对应的进程的进程对象对应的通用节点的子节点，并将总节点设置为功能节点的父节点; 为每个注册用户设置注册用户操作权限; 并且当被注册用户请求与功能节点相对应的处理的执行时，仅当注册用户操作权限的注册用户的请求进程被许可的功能节点才执行该处理时，设置为 作为功​​能节点的父节点的通用节点。