公开(公告)号：US07366587B2

公开(公告)日：2008-04-29

申请号：US10726597

申请日：2003-12-04

申请人： Masatsugu Iribe ,  Jinichi Yamaguchi

发明人： Masatsugu Iribe ,  Jinichi Yamaguchi

IPC分类号： G06F19/00

CPC分类号： B62D57/032

摘要： The characteristics of actuators themselves and the characteristics of controllers for the actuators are dynamically or statically controlled to achieve stable and highly efficient movements. In a stage in which a leg in the flight state is uplifted such that the reactive force from the floor received by the foot sole of the leg is zero, the characteristics of the respective actuators for the knee joint pitch axis and the ankle pitch and roll axes of the leg in the flight state are set for decreasing the low range gain, increasing the quantity of phase lead and for decreasing the viscous resistance of the actuators, in order to impart mechanical passiveness and fast response characteristics. The followup control for the high frequency range may be achieved as the force of impact at the instant of touchdown is buffered.

摘要翻译： 执行器本身的特性和执行器控制器的特性被动态或静态控制，以实现稳定高效的运动。 在飞行状态下的腿被抬起使得来自腿部足底接收到的地板的反作用力为零的阶段中，用于膝关节俯仰轴线和脚踝俯仰和滚动的各个致动器的特征 为了赋予机械被动性和快速响应特性，设定处于飞行状态的腿的轴线用于降低低范围增益，增加相引线的数量和降低致动器的粘性阻力。 当触地瞬间的冲击力被缓冲时，可以实现高频范围的后续控制。

公开(公告)号：US06995535B2

公开(公告)日：2006-02-07

申请号：US11098481

申请日：2005-04-05

申请人： Masatsugu Iribe ,  Hajime Yamanaka

发明人： Masatsugu Iribe ,  Hajime Yamanaka

IPC分类号： F16D7/00 ,  G05B11/01

CPC分类号： B25J9/1633 ,  G05B2219/37342 ,  G05B2219/42289

摘要： To appropriately detect overload which may break a motor or deform a body and reduce the overload in the motor. The DC component of a load torque is derived from the sum of absolute values of a torque applied to a link connected to the output shaft of a motor and the generated torque of the motor, and it is determined that overload has been applied when the DC component exceeds a first threshold value for a prescribed period of time or longer. In addition, considering such a characteristic that the variation of energy applied to the output shaft of a motor is in proportion to a product of the torque and the angular velocity of the motor, the AC component of the load torque is detected based on the variation of energy, and it is predicted that overload will be applied when the AC component exceeds a second threshold value.

摘要翻译： 适当地检测可能会破坏电机或使机身变形并减少电机过载的过载。 负载转矩的直流分量来自施加到连接到电动机的输出轴的连杆的转矩的绝对值和电动机的产生转矩之和，并且当DC 分量超过规定时间段以上的第一阈值。 此外，考虑到施加到电动机的输出轴的能量的变化与电动机的转矩和角速度的乘积成比例的特性，基于变化来检测负载转矩的交流分量 的能量，并且预测当AC分量超过第二阈值时将施加过载。

公开(公告)号：US06987374B2

公开(公告)日：2006-01-17

申请号：US11098372

申请日：2005-04-05

申请人： Masatsugu Iribe ,  Hajime Yamanaka

发明人： Masatsugu Iribe ,  Hajime Yamanaka

IPC分类号： F16D7/00 ,  G05B11/01

CPC分类号： B25J9/1633 ,  G05B2219/37342 ,  G05B2219/42289

摘要： To appropriately detect overload which may break a motor or deform a body and reduce the overload in the motor. The DC component of a load torque is derived from the sum of absolute values of a torque applied to a link connected to the output shaft of a motor and the generated torque of the motor, and it is determined that overload has been applied when the DC component exceeds a first threshold value for a prescribed period of time or longer. In addition, considering such a characteristic that the variation of energy applied to the output shaft of a motor is in proportion to a product of the torque and the angular velocity of the motor, the AC component of the load torque is detected based on the variation of energy, and it is predicted that overload will be applied when the AC component exceeds a second threshold value.

公开(公告)号：US20050168185A1

公开(公告)日：2005-08-04

申请号：US11098372

申请日：2005-04-05

申请人： Masatsugu Iribe ,  Hajime Yamanaka

发明人： Masatsugu Iribe ,  Hajime Yamanaka

IPC分类号： B25J19/06 ,  B25J5/00 ,  B25J9/16 ,  F16D7/00 ,  G05B11/01 ,  H02P7/00

CPC分类号： B25J9/1633 ,  G05B2219/37342 ,  G05B2219/42289

摘要： To appropriately detect overload which may break a motor or deform a body and reduce the overload in the motor. The DC component of a load torque is derived from the sum of absolute values of a torque applied to a link connected to the output shaft of a motor and the generated torque of the motor, and it is determined that overload has been applied when the DC component exceeds a first threshold value for a prescribed period of time or longer. In addition, considering such a characteristic that the variation of energy applied to the output shaft of a motor is in proportion to a product of the torque and the angular velocity of the motor, the AC component of the load torque is detected based on the variation of energy, and it is predicted that overload will be applied when the AC component exceeds a second threshold value.

公开(公告)号：US06965210B2

公开(公告)日：2005-11-15

申请号：US11083932

申请日：2005-03-21

申请人： Masatsugu Iribe ,  Hajime Yamanaka

发明人： Masatsugu Iribe ,  Hajime Yamanaka

IPC分类号： B25J19/06 ,  B25J5/00 ,  B25J9/16 ,  F16D7/00 ,  G05B11/01 ,  H02P7/00

CPC分类号： B25J9/1633 ,  G05B2219/37342 ,  G05B2219/42289

摘要： To appropriately detect overload which may break a motor or deform a body and reduce the overload in the motor. The DC component of a load torque is derived from the sum of absolute values of a torque applied to a link connected to the output shaft of a motor and the generated torque of the motor, and it is determined that overload has been applied when the DC component exceeds a first threshold value for a prescribed period of time or longer. In addition, considering such a characteristic that the variation of energy applied to the output shaft of a motor is in proportion to a product of the torque and the angular velocity of the motor, the AC component of the load torque is detected based on the variation of energy, and it is predicted that overload will be applied when the AC component exceeds a second threshold value.

公开(公告)号：US06956346B2

公开(公告)日：2005-10-18

申请号：US11083967

申请日：2005-03-21

申请人： Masatsugu Iribe ,  Hajime Yamanaka

发明人： Masatsugu Iribe ,  Hajime Yamanaka

IPC分类号： B25J19/06 ,  B25J5/00 ,  B25J9/16 ,  F16D7/00 ,  G05B11/01 ,  H02P7/00

CPC分类号： B25J9/1633 ,  G05B2219/37342 ,  G05B2219/42289

摘要： To appropriately detect overload which may break a motor or deform a body and reduce the overload in the motor. The DC component of a load torque is derived from the sum of absolute values of a torque applied to a link connected to the output shaft of a motor and the generated torque of the motor, and it is determined that overload has been applied when the DC component exceeds a first threshold value for a prescribed period of time or longer. In addition, considering such a characteristic that the variation of energy applied to the output shaft of a motor is in proportion to a product of the torque and the angular velocity of the motor, the AC component of the load torque is detected based on the variation of energy, and it is predicted that overload will be applied when the AC component exceeds a second threshold value.

公开(公告)号：US20050184697A1

公开(公告)日：2005-08-25

申请号：US11098471

申请日：2005-04-05

申请人： Masatsugu Iribe ,  Hajime Yamanaka

发明人： Masatsugu Iribe ,  Hajime Yamanaka

IPC分类号： F16D7/00 ,  G05B11/01 ,  H02P7/00

CPC分类号： B25J9/1633 ,  G05B2219/37342 ,  G05B2219/42289

摘要： To appropriately detect overload which may break a motor or deform a body and reduce the overload in the motor. The DC component of a load torque is derived from the sum of absolute values of a torque applied to a link connected to the output shaft of a motor and the generated torque of the motor, and it is determined that overload has been applied when the DC component exceeds a first threshold value for a prescribed period of time or longer. In addition, considering such a characteristic that the variation of energy applied to the output shaft of a motor is in proportion to a product of the torque and the angular velocity of the motor, the AC component of the load torque is detected based on the variation of energy, and it is predicted that overload will be applied when the AC component exceeds a second threshold value.

公开(公告)号：US06510110B2

公开(公告)日：2003-01-21

申请号：US09760348

申请日：2001-01-12

申请人： Taro Watanabe ,  Yuji Uchiyama ,  Masatsugu Iribe

发明人： Taro Watanabe ,  Yuji Uchiyama ,  Masatsugu Iribe

IPC分类号： G11B1722

CPC分类号： G11B17/228 ,  G11B17/225

摘要： A disk-type recording medium is carried by a disk carrying section and accommodated into one of layered accommodation shelves of a disk accommodation section. A memory stores position information of the disk carrying section with respect to the accommodation shelves. A controller controls the disk carrying section in accordance with the stored position information to move to a position corresponding to each accommodation shelf. A stopping state detection section includes a light emitting element and a light receiving element provided on the disk carrying section adjacent the disk accommodation section and detects a stopping state of the disk carrying section with respect to each accommodation shelf based on a received light amount of the light receiving element depending upon a state of a light intercepting disk which is transferred between the disk carrying section and the accommodation shelf. An updating section determines an optimum stop position of the disk carrying section with respect to each accommodation shelf in response to the detected stopping state and updates the position information stored in the memory with the position information corresponding to the optimum stop position.

摘要翻译： 盘式记录介质由盘片承载部分承载并容纳在盘容纳部分的一个层状住宿架中。 存储器存储盘承载部分相对于搁置架的位置信息。 控制器根据存储的位置信息控制盘片传送部分，以移动到与每个搁置架相对应的位置。 停止状态检测部分包括发光元件和设置在盘片承载部分附近的光盘容纳部分的光接收元件，并基于所接收的光量来检测盘片传送部分相对于每个搁置架的停止状态 光接收元件取决于在盘传送部分和容纳架之间传送的遮光盘的状态。 更新部分响应于检测到的停止状态确定盘承载部分相对于每个搁置架的最佳停止位置，并用与最佳停止位置对应的位置信息更新存储在存储器中的位置信息。

公开(公告)号：US06956345B2

公开(公告)日：2005-10-18

申请号：US10731145

申请日：2003-12-10

申请人： Masatsugu Iribe ,  Hajime Yamanaka

发明人： Masatsugu Iribe ,  Hajime Yamanaka

IPC分类号： B25J19/06 ,  B25J5/00 ,  B25J9/16 ,  F16D7/00 ,  G05B11/01 ,  H02P7/00

CPC分类号： B25J9/1633 ,  G05B2219/37342 ,  G05B2219/42289

摘要： To appropriately detect overload which may break a motor or deform a body and reduce the overload in the motor. The DC component of a load torque is derived from the sum of absolute values of a torque applied to a link connected to the output shaft of a motor and the generated torque of the motor, and it is determined that overload has been applied when the DC component exceeds a first threshold value for a prescribed period of time or longer. In addition, considering such a characteristic that the variation of energy applied to the output shaft of a motor is in proportion to a product of the torque and the angular velocity of the motor, the AC component of the load torque is detected based on the variation of energy, and it is predicted that overload will be applied when the AC component exceeds a second threshold value.

公开(公告)号：US07072740B2

公开(公告)日：2006-07-04

申请号：US10732446

申请日：2003-12-11

申请人： Masatsugu Iribe ,  Jinichi Yamaguchi

发明人： Masatsugu Iribe ,  Jinichi Yamaguchi

IPC分类号： G06F19/00

CPC分类号： G06N3/008 ,  B62D57/032

摘要： In a mobile robot, the actuator characteristics are dynamically or statically controlled, during motions of an entire robot body in the course of falldown or descent, to realize stable highly efficient motions. In each stage of the falldown motions, the characteristics of each joint site taking part in controlling the stable area are set so that the low range gain is low, the quantity of phase lead is large and the viscous resistance of the motor is large, in such a manner that these joint sites may be positioned to high accuracy in a controller manner to increase orientation stability. This assures the positioning accuracy of the joints as main component for controlling the quantity ΔS/Δt as a reference in controlling the falldown motions of the robot body to increase the motion stability.

摘要翻译： 在移动机器人中，在整个机器人身体在跌落或下降过程中的运动期间，致动器特性被动态地或静态地控制，以实现稳定的高效运动。 在跌倒运动的每个阶段，设定参与控制稳定区域的各关节部位的特性，使得低范围增益低，相引线量大，电机的粘性阻力大 这样的方式使得这些接合部位可以以控制器方式高精度地定位，以增加取向稳定性。 这确保了接头的定位精度，作为控制数值DeltaS / Deltat的主要部件，作为控制机器人体的跌落运动以提高运动稳定性的基准。