公开(公告)号：US5570458A

公开(公告)日：1996-10-29

申请号：US411996

申请日：1995-03-28

申请人： Akira Umeno ,  Kiyoshi Nonaka ,  Takao Kakizaki

发明人： Akira Umeno ,  Kiyoshi Nonaka ,  Takao Kakizaki

IPC分类号： B25J9/10 ,  B25J9/18 ,  B25J13/08 ,  G05B19/42 ,  G05B19/425 ,  G05B19/04

CPC分类号： G05B19/425 ,  G05B2219/33263 ,  G05B2219/36405 ,  G05B2219/37425 ,  G05B2219/37522 ,  G05B2219/37525 ,  G05B2219/45104

摘要： A tracking apparatus and method for controlling the position and movement of a manipulator which holds an effector. An actual work path drawn on a workpiece is detected by a sensor. Predetermined taught path data is amended according to the detected work path, and the effector held by the manipulator is drawn to exactly track the work path on the workpiece. The effector is controlled so that the effector tracks the work path accurately even under conditions when detection data from the sensor has low reliability or contains errors.

摘要翻译： 一种用于控制保持效应器的操纵器的位置和运动的跟踪装置和方法。 通过传感器检测在工件上绘制的实际工作路径。 根据检测到的工作路径修改预定的教导路径数据，并且绘制由操纵器保持的效应器以精确地跟踪工件上的工作路径。 控制效应器使得即使在来自传感器的检测数据具有低可靠性或包含误差的情况下，效应器也能准确地跟踪工作路径。

公开(公告)号：US5357424A

公开(公告)日：1994-10-18

申请号：US39997

申请日：1993-03-30

申请人： Takao Kakizaki ,  Koji Otani ,  Kenji Kogure

发明人： Takao Kakizaki ,  Koji Otani ,  Kenji Kogure

IPC分类号： B25J13/00 ,  B25J9/16 ,  G06F15/46

CPC分类号： B25J9/1664 ,  B25J9/1653

摘要： The present invention provides a dynamic model parameter identification system consisting of a parameter classifying part and a motion planning part. The parameter classifying part approximates the respective links forming the manipulator by means of a symmetrical and homogeneous virtual solid link, calculates the inertial parameters, and finally classifies the calculated inertial parameters into parameter groups. The motion planning part calculates the condition number for the parameter coefficient sub-matrix, and calculates the number of equilibriums which is shown by the quotient of the maximum and minimum values of the vector normal of the rows of the coefficient sub-matrix. The motion planning section then sets the motion for parameter identification so that the condition number and number of equilibriums are both below predetermined values. Therefore, it is possible to identify the dynamic parameters of a robotic manipulator with a high degree of accuracy and without carrying out numerous trial-and-error experiments.

摘要翻译： 本发明提供一种由参数分类部分和运动规划部分组成的动态模型参数识别系统。 参数分类部分通过对称和均匀的虚拟固体链路近似形成机械手的各个链接，计算惯性参数，最后将计算的惯性参数分类为参数组。 运动规划部分计算参数系数子矩阵的条件数，并计算由系数子矩阵的行的向量法线的最大值和最小值所示的平均值。 然后，运动规划部分设置用于参数识别的运动，使得条件数量和平衡数量都低于预定值。 因此，可以以高精确度识别机器人操纵器的动态参数，并且不进行大量的试验和错误实验。

公开(公告)号：US4544972A

公开(公告)日：1985-10-01

申请号：US400148

申请日：1982-07-20

申请人： Kenji Kogure ,  Takao Kakizaki ,  Yasunaga Mitsuya ,  Shigemitsu Oguchi ,  Koji Otani

发明人： Kenji Kogure ,  Takao Kakizaki ,  Yasunaga Mitsuya ,  Shigemitsu Oguchi ,  Koji Otani

IPC分类号： H02K33/18 ,  G11B5/55 ,  G11B21/00 ,  G11B21/02 ,  H02K16/00 ,  H02K41/035 ,  G11B5/54 ,  G11B21/08

CPC分类号： H02K41/0358 ,  G11B21/00 ,  G11B5/5521 ,  H02K16/00

摘要： A magnetic disc type memory device swinging actuator is constituted by a plurality of a driving assemblies juxtaposed on a stationary shaft and extending in the opposite direction. Each driving assembly include a head arm, a magnetic head mounted on one end of the head arm, a coil supporting member for supporting a flat coil and extending in the opposite direction to the head arm, and first and second permanent magnets spaced from the coil in an axial direction of the shaft and also spaced in a direction of arrangement of the flat coil. The first and second permanent magnets are magnetized in the axial direction of the shaft so that poles of opposite polarities confront the flat coil. The first and second permanent magnets are mounted on a common yoke and the flat coils are disposed in a closed magnetic flux path including the first and second permanent magnets and the yokes.

摘要翻译： 磁盘式存储装置摆动致动器由并列在固定轴上并沿相反方向延伸的多个驱动组件构成。 每个驱动组件包括头臂，安装在头臂一端的磁头，用于支撑扁平线圈并在与头臂相反的方向上延伸的线圈支撑构件，以及与线圈间隔开的第一和第二永磁体 在轴的轴向上，并且在扁平线圈的布置方向上也间隔开。 第一和第二永磁体在轴的轴向被磁化，使得相反极性的极面对扁平线圈。 第一和第二永久磁铁安装在公共轭上，扁平线圈设置在包括第一和第二永久磁铁和磁轭的封闭磁通路中。

公开(公告)号：US5796610A

公开(公告)日：1998-08-18

申请号：US736540

申请日：1996-10-24

申请人： Kenichi Arakawa ,  Takao Kakizaki ,  Shinji Omyo

发明人： Kenichi Arakawa ,  Takao Kakizaki ,  Shinji Omyo

IPC分类号： B25J13/08 ,  B05D1/02 ,  B25J19/02 ,  G05B19/402 ,  G06F19/00

CPC分类号： G05B19/402 ,  G05B2219/36405 ,  G05B2219/37048 ,  G05B2219/37053 ,  G05B2219/37425 ,  G05B2219/45065

摘要： In order to provide a method of detecting seam characteristic points which makes it possible to accurately and quickly detect seam characteristic points, which are used as work target positions, by using coordinate data of a series of distance points detected by a sensor, when sealing is performed by a robot (1) equipped with a sensor (2), seam characteristic points P of an object are detected, a distance to an arbitrary cross section of an object is detected by the sensor (2), the data obtained through the measurement are converted into coordinate data of a series of distance points arranged in a predetermined order, a statistic value regarding the distance between paired adjacent distance points among the series of distant points is calculated so as to obtain a threshold level for judging discontinuity, based on the statistic value, the distance between paired adjacent distance points is compared with the discontinuity threshold level so as to detect a pair of adjacent distance points which are separated from each other by a distance equal to or greater than the threshold level, the center point between the detected pair of adjacent distance points which are separated from each other by a distance equal to or greater than the threshold level is obtained as a seam characteristic point.

摘要翻译： 为了提供检测接缝特征点的方法，通过使用由传感器检测到的一系列距离点的坐标数据，可以精确快速地检测作为工作目标位置的接缝特征点，当密封为 通过装备有传感器（2）的机器人（1）进行检测，检测物体的接缝特征点P，通过传感器（2）检测到物体的任意截面的距离，通过测量得到的数据 被转换为以预定顺序排列的一系列距离点的坐标数据，计算关于远程点间的一对相邻距离点之间的距离的统计值，以便获得用于判断不连续性的阈值水平，基于 统计值，将成对的相邻距离点之间的距离与不连续阈值水平进行比较，以便检测一对相邻的距离点 s彼此分离等于或大于阈值水平的距离，被检测的相邻距离点对之间的中心点彼此分开等于或大于阈值水平的距离获得为 接缝特征点。