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公开(公告)号：US07756606B2
公开(公告)日：2010-07-13
申请号：US11017865
申请日：2004-12-22
IPC分类号： G06F19/00
CPC分类号： B25J9/1643 , G05B2219/40367 , Y10S700/90
摘要： A method of controlling a redundant manipulator for assigning one or more redundant joints from a plurality of joints and obtaining the solution to an inverse kinematics problem at high-speed. The joints are arbitrarily classified into redundant joints and non-redundant joints, and an initial value is set for the joint angle of the classified redundant joint as a parameter. Then based on an evaluating function or a constraint condition defined by the joint angle of the redundant joint provided as a parameter and the joint angle of the non-redundant joint, which is determined by the inverse kinematics calculation according to the change of the parameter, an optimum solution of a set of joint angles is determined, and until the optimum solution covers the target range of the hand position, the procedure to determine the optimum solution is repeated with relaxing the constraint conditions.
摘要翻译： 一种控制冗余操纵器的方法，用于从多个关节分配一个或多个冗余关节，并以高速获得逆运动学问题的解决方案。 关节被任意分为冗余关节和非冗余关节，并且将分类的冗余关节的关节角度的初始值设置为参数。 然后，基于由作为参数提供的冗余关节的关节角度和由根据参数的变化的逆运动学计算确定的非冗余关节的关节角度的评估函数或约束条件， 确定一组关节角度的最佳解，并且直到最佳解覆盖了手位置的目标范围，则通过放宽约束条件来重复确定最优解的过程。
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公开(公告)号：US20050143860A1
公开(公告)日：2005-06-30
申请号：US11017865
申请日：2004-12-22
CPC分类号： B25J9/1643 , G05B2219/40367 , Y10S700/90
摘要： A method of controlling a redundant manipulator for assigning one or more redundant joints from a plurality of joints and obtaining the solution to an inverse kinematics problem at high-speed. The joints are arbitrarily classified into redundant joints and non-redundant joints, and an initial value is set for the joint angle of the classified redundant joint as a parameter. Then based on an evaluating function or a constraint condition defined by the joint angle of the redundant joint provided as a parameter and the joint angle of the non-redundant joint, which is determined by the inverse kinematics calculation according to the change of the parameter, an optimum solution of a set of joint angles is determined, and until the optimum solution covers the target range of the hand position, the procedure to determine the optimum solution is repeated with relaxing the constraint conditions.
摘要翻译： 一种控制冗余操纵器的方法，用于从多个关节分配一个或多个冗余关节，并以高速获得逆运动学问题的解决方案。 关节被任意分为冗余关节和非冗余关节，并且将分类的冗余关节的关节角度的初始值设置为参数。 然后，基于由作为参数提供的冗余关节的关节角度和由根据参数的变化的逆运动学计算确定的非冗余关节的关节角度的评估函数或约束条件， 确定一组关节角度的最佳解，并且直到最佳解覆盖了手位置的目标范围，则通过放宽约束条件来重复确定最优解的过程。
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公开(公告)号：US06976401B2
公开(公告)日：2005-12-20
申请号：US10190538
申请日：2002-07-09
申请人： Osamu Okamoto , Teruomi Nakaya , Isao Yamaguchi , Seizo Suzuki , Jyunichi Ueno , Yasuoki Usui , Hiroaki Nagano , Katsuhiko Renbutsu , Mitsuharu Izaki , Tadashi Kishimoto
发明人： Osamu Okamoto , Teruomi Nakaya , Isao Yamaguchi , Seizo Suzuki , Jyunichi Ueno , Yasuoki Usui , Hiroaki Nagano , Katsuhiko Renbutsu , Mitsuharu Izaki , Tadashi Kishimoto
CPC分类号： B25J17/0291 , Y10T74/20311 , Y10T74/20317 , Y10T74/20329
摘要： An offset rotary joint unit equipped with a rotation correction mechanism, in which a bending motion can be executed in a two-dimensional plane only by virtue of a rotary mechanism and which can support a high-load weight and is applicable for two-arm mechanisms such as nursing assistant robots. One offset rotary joint unit 4 is composed of a first arm 1, a rotation correction arm 2 rotationally driven around the axial line of the first arm, and a second arm 3 rotationally driven around an axial line obliquely intersecting with the rotation correction arm. A rotation correction joint mechanism 5 linking the first arm 1 and the rotation correction arm 2 and an offset rotary joint mechanism 6 linking the rotation correction arm 2 and the second arm 3 are driven by a single motor 12, and the rotation correction joint mechanism 5 rotates synchronously and in the reverse direction, following the rotation of the offset rotary joint mechanism 6, thereby allowing the second arm 3 to execute a bending motion in a two-dimensional plane with respect to the first arm 1 only by virtue of rotary mechanisms.
摘要翻译： 一种具有旋转校正机构的偏移旋转接头单元，其中只能通过旋转机构在二维平面中执行弯曲运动，并且可以支撑高负载重量并且适用于双臂机构 如护理助理机器人。 一个偏移旋转接头单元4由第一臂1，围绕第一臂的轴线旋转驱动的旋转校正臂2和与旋转校正臂倾斜相交的轴线旋转地驱动的第二臂3组成。 连接第一臂1和旋转校正臂2的旋转校正关节机构5和连接旋转校正臂2和第二臂3的偏移旋转关节机构6由单个电动机12驱动，旋转校正关节机构5 在偏移旋转接头机构6的旋转之后，同步且相反方向旋转，从而允许第二臂3仅通过旋转机构相对于第一臂1在二维平面中执行弯曲运动。
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公开(公告)号：US06922610B2
公开(公告)日：2005-07-26
申请号：US10424711
申请日：2003-04-29
申请人： Osamu Okamoto , Teruomi Nakaya , Seizo Suzuki , Isao Yamaguchi , Heihachiro Kamimura , Kotaro Matsumoto , Sachiko Wakabayashi , Shuichi Sasa
发明人： Osamu Okamoto , Teruomi Nakaya , Seizo Suzuki , Isao Yamaguchi , Heihachiro Kamimura , Kotaro Matsumoto , Sachiko Wakabayashi , Shuichi Sasa
CPC分类号： B62D57/028 , B25J9/06 , B25J17/025 , B64G1/16 , B64G1/62
摘要： A robot is obtained having various functions that are demanded for planetary landing vehicles, extreme operations robots or the like, in particular to provide a leg structure for a robot that is capable of getting up itself when overturned, facilitating take-off and landing on uneven ground, and that has a walking function and that has a hand function capable of three-dimensional operation. A robot comprises a main robot body and at least three legs mounted on this main body for enabling three-dimensional movement of the main robot body such as a self-erecting action or walking action; each leg is constituted by a multi-joint arm having a plurality of said offset rotary joints linked together and has a ground-engaging member mounted at the leading end of the arm, so that each leg is capable of independently controlled three-dimensional movement and drive.
摘要翻译： 获得具有对于行星式着陆车辆，极限作战机器人等要求的各种功能的机器人，特别是提供一种用于机器人的腿部结构，其能够在翻倒时自身起床，便于起飞和着陆在不均匀 地面，具有行走功能，具有能够进行三维操作的手功能。 机器人包括主机器人体和安装在该主体上的至少三个腿，用于使主机器人体的三维运动，例如自立行动或行走动作; 每个腿由具有连接在一起的多个所述偏移旋转接头的多关节臂构成，并且具有安装在臂的前端的接地构件，使得每个腿能够独立控制三维运动， 驾驶。
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5.发明授权公开(公告)号：US06430475B2
公开(公告)日：2002-08-06
申请号：US09828988
申请日：2001-04-10
申请人： Osamu Okamoto , Teruomi Nakaya , Heihachiro Kamimura , Isao Yamaguchi , Seizo Suzuki , Kazuyoshi Yabuuchi , Jyunichi Ueno , Yasuoki Usui , Hiroaki Nagano , Katsuhiko Renbutsu , Mitsuharu Izaki
发明人： Osamu Okamoto , Teruomi Nakaya , Heihachiro Kamimura , Isao Yamaguchi , Seizo Suzuki , Kazuyoshi Yabuuchi , Jyunichi Ueno , Yasuoki Usui , Hiroaki Nagano , Katsuhiko Renbutsu , Mitsuharu Izaki
IPC分类号： G06F1900
CPC分类号： G01L5/228 , A61G12/00 , B25J9/0003 , B25J9/06 , B25J13/084 , G01L1/205
摘要： The present invention provides contact sensors capable of determining the pressure distribution over the whole surface of each of joint units having a cylindrical shape, both end portions of which are cut at an offset angle, and constituting robot arms. In order to provide a technology enabling real-time drive control of the robot arms by using detected values from these sensors, the points of intersection of the electrodes are distributed across the whole surface of each joint by forming a pressure-sensitive sheet sensor in which column electrodes arranged in parallel, and row electrodes arranged in a wound-string shape, are combined, these joints having a cylindrical shape, both end portions of which are cut at an offset angle. In addition, by making an electrode structure that covers a prescribed width in both rows and columns, the number of signal output terminals is reduced and the operation processing load is lightened. Moreover, after executing local processing, through the use of an encoder and pressure-sensitive sheet sensor provided in each of the joints, in addition to the information processing means, [this data] is sent to the CPU, whereby the central operation processing load is lightened.
摘要翻译： 本发明提供了一种接触传感器，其能够确定具有圆柱形形状的每个关节单元的整个表面上的压力分布，其两端部以偏移角切割并构成机器人手臂。 为了提供通过使用来自这些传感器的检测值来实现机器人手臂的实时驱动控制的技术，通过形成压敏片传感器，电极的交叉点分布在每个接头的整个表面上，其中 排列成平行的列电极和以缠绕线形状布置的行电极组合在一起，这些接头具有两个端部以偏移角切割的圆柱形形状。 此外，通过制造覆盖行和列的规定宽度的电极结构，信号输出端子的数量减少，操作处理负荷减轻。 此外，在执行本地处理之后，通过使用设置在每个关节中的编码器和压敏片传感器，除了信息处理装置之外，将该数据发送到CPU，由此中央操作处理负载 减轻了
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公开(公告)号：US06408224B1
公开(公告)日：2002-06-18
申请号：US09708667
申请日：2000-11-09
IPC分类号： G06F1900
CPC分类号： B25J9/1661 , B25J9/1664 , B25J17/025 , G05B2219/33219 , G05B2219/34015 , G05B2219/36417 , G05B2219/39078 , G05B2219/40114 , G05B2219/40299 , G05B2219/40442 , G05B2219/40543 , G05B2219/40584 , Y10T29/53091 , Y10T29/53178 , Y10T29/53191 , Y10T74/19126 , Y10T74/20317 , Y10T74/20323 , Y10T74/20329
摘要： In a rotary articulated robot having at least a plurality of offset rotary joints in which a drive arm and driven arm are driven in rotation about an offset rotary axis inclined with respect to the arm axis, a hollow rotary shaft that is driven in rotation by a motor is arranged rotatably, being inclined, at the leading end of the arm of either the drive arm or driven arm while a rotor member to which turning effort from the hollow shaft is transmitted is fixed at the base of the other arm, said hollow rotary shaft and said rotor member constituting a high reduction ratio transmission/torque increasing mechanism. The method of control is that the operation of the joints is determined by dividing the operating region of the end effector into a plurality of blocks, the operating conditions of each joint necessary for movement to a prescribed block are converted to database form for each block, the teaching of operating points in the prescribed block region is converted to database form and a track is generated to the block of the operating region on the basis of the block region data; and when a reference point of the block is reached, the in-block operating point data is fetched.
摘要翻译： 在具有至少多个偏移旋转接头的旋转关节式机器人中，驱动臂和从动臂围绕相对于臂轴线倾斜的偏移旋转轴线旋转驱动，空心旋转轴由旋转轴旋转驱动 电动机可旋转地布置在驱动臂或从动臂的臂的前端处，同时来自中空轴的转向力的转子构件被固定在另一个臂的底部，所述中空旋转体 轴和所述转子构件构成高减速比的变速/转矩增加机构。 控制方法是通过将末端执行器的操作区域划分为多个块来确定关节的操作，将移动到规定块所需的每个关节的操作条件转换为每个块的数据库形式， 将规定块区域中的操作点的教导转换为数据库形式，并且基于块区域数据将轨道生成到操作区域的块; 并且当达到块的参考点时，获取块内工作点数据。
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公开(公告)号：US20120200808A1
公开(公告)日：2012-08-09
申请号：US11599440
申请日：2006-11-15
申请人： Takakazu Yamamoto , Choi Bongjin , Takeaki Koizumi , Isao Yamaguchi , Osamu Goto , Makoto Anryu
发明人： Takakazu Yamamoto , Choi Bongjin , Takeaki Koizumi , Isao Yamaguchi , Osamu Goto , Makoto Anryu
CPC分类号： C09K11/06 , C07F5/00 , C07F5/003 , C07F15/0033 , C07F15/0093 , C08G61/10 , C08G61/123 , C08G79/08 , C08G2261/312 , C08G2261/3142 , C08G2261/411 , C08G2261/5242 , C08G2261/95 , C08L65/00 , C08L81/04 , C09D165/00 , C09K2211/1491 , G02F1/133602 , H01L51/0035 , H01L51/008 , H05B33/14
摘要： To provide a polymer compound which is useful as a light emitting material or charge transport material having a boron atom.A polymer compound comprising a structure represented by a formula (1) as described below: wherein R1, R2, and R3 each independently represents a hydrogen atom or a substituent.
摘要翻译： 提供可用作具有硼原子的发光材料或电荷输送材料的高分子化合物。 包含如下所述的由式（1）表示的结构的高分子化合物：其中R 1，R 2和R 3各自独立地表示氢原子或取代基。
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公开(公告)号：US20110109138A1
公开(公告)日：2011-05-12
申请号：US13002057
申请日：2009-06-30
IPC分类号： B60N2/28
CPC分类号： B60N2/2824 , B60N2/2806 , B60N2/286 , B60N2/2863 , B60N2/2869 , B60N2/2875
摘要： There is provided a child car seat capable of preventing a seat body from being unintentionally moved to a turning position. The child car seat includes a pedestal and a seat body that can be slid with respect to the pedestal. A plurality of reclining positions and a turning position are included in a range within which the seat body can be slid. The seat body includes a retractable projecting member projecting toward the pedestal, and an operation member connected to the projecting member. The seat body can be held in the respective positions when the projecting member is engaged with the pedestal. An operation amount of the operation member, which is required for sliding the seat body between the reclining positions, is smaller than an operation amount of the operation member, which is required for sliding the seat body from the reclining position to the turning position.
摘要翻译： 提供了一种能够防止座椅体被无意地移动到转动位置的儿童座椅。 儿童汽车座椅包括可以相对于基座滑动的基座和座椅本体。 在座椅主体能够滑动的范围内包括多个倾斜位置和转动位置。 座椅主体包括朝向基座突出的可伸缩突出构件，以及连接到突出构件的操作构件。 当突出构件与基座接合时，座椅本体可以保持在相应的位置。 座椅主体在倾斜位置之间滑动所需的操作构件的操作量小于将座椅主体从倾斜位置滑动到转动位置所需的操作构件的操作量。
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9.发明授权公开(公告)号：US07018456B2
公开(公告)日：2006-03-28
申请号：US10506449
申请日：2003-03-05
申请人： Yoshinori Katoh , Isao Yamaguchi
发明人： Yoshinori Katoh , Isao Yamaguchi
CPC分类号： C09D11/32 , C09B47/22 , C09D11/328
摘要： A metal phthalocyanine compound that is useful as a black colorant suitable for use in an ink-jet recording ink, a water-based ink composition containing the metal phthalocyanine compound, and a product colored with the metal phthalocyanine compound. In particular, a metal phthalocyanine compound having, as substituents, both an acylamino group and a carboxyethylamino group on the phthalocyanine structure, or the salt thereof is used as a black colorant. Recorded images formed by the use of this colorant are excellent in light fastness and water fastness and exhibit absorption in infrared and visible regions, so that highly effective utilization can be found in printing of, for example, bar codes which are available in near-infrared ray reading.
摘要翻译： 可用作适用于喷墨记录油墨的黑色着色剂的金属酞菁化合物，含有金属酞菁化合物的水性油墨组合物和用金属酞菁化合物着色的产品。 特别地，作为黑色着色剂，使用具有酞菁结构上的酰氨基和羧乙基氨基取代基的金属酞菁化合物或其盐。 通过使用该着色剂形成的记录图像具有优异的耐光性和耐水性，并且在红外和可见光区域具有吸收，因此可以在例如近红外可用的条形码的印刷中发现高效的利用 射线阅读。
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10.发明授权Water-soluble trisazo compounds, aqueous ink composition and colored article 失效水溶性三偶氮化合物，水性墨水组合物和有色制品公开(公告)号：US06409810B1
公开(公告)日：2002-06-25
申请号：US09403464
申请日：1999-11-22
申请人： Hiroaki Ono , Takashi Miyazawa , Toru Tabei , Yasuo Shirasaki , Isao Yamaguchi , Kazunobu Nagasaki
发明人： Hiroaki Ono , Takashi Miyazawa , Toru Tabei , Yasuo Shirasaki , Isao Yamaguchi , Kazunobu Nagasaki
IPC分类号： C09D1102
CPC分类号： C09D11/328 , C09B31/16
摘要： A black recording having high solubility, being stable even after being stored for long, and capable of forming a printed image with a high optical density and excellent water and light resistances. The recording fluid contains a trisazo compound of general formula (1): wherein D is an 8-hydroxy-1-naphtyl group substituted with one or two sulfo groups; A is a 1,4-phenylene group or 1,4-naphtylene group which may be substituted with amino, hydroxy, alkyl, alkoxy, acylamino or ureido; and B is a phenyl group which may be substituted with hydroxy, amino or sulfo, or a salt thereof and is used for the recording.
摘要翻译： 具有高溶解度的黑色记录，即使长期储存后也能够稳定，并且能够形成具有高光密度和优异的耐水和耐光性的印刷图像。 记录液含有通式（1）的三偶氮化合物：其中D是被一个或两个磺基取代的8-羟基-1-萘基; A是可被氨基，羟基，烷基，烷氧基，酰氨基或脲基取代的1,4-亚苯基或1,4-亚萘基; 并且B是可被羟基，氨基或磺基取代的苯基或其盐，并用于记录。
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