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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：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：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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6.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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7.发明授权Image heating apparatus having an inclinable steering roller configured to support a belt member contacted by a heating member configured to heat an image on recording material 失效图像加热装置具有可倾斜的转向辊，其被配置为支撑由构造成加热记录材料上的图像的加热构件接触的带构件公开(公告)号：US08311470B2
公开(公告)日：2012-11-13
申请号：US12844008
申请日：2010-07-27
申请人： Osamu Okamoto
发明人： Osamu Okamoto
IPC分类号： G03G15/20
CPC分类号： G03G15/206
摘要： An image heating apparatus includes: a belt member; an inclinable steering roller configured to support the belt member; a heating member configured to contact the belt member and heat an image on a recording material; a detecting member configured to detect a position of a belt end in a widthwise direction of the belt member; a correcting device configured to correct a position of the belt member in the widthwise direction by inclining the steering roller in accordance with a detected position of the belt end by the detecting member; and a supporting device configured to support the detecting member. The supporting device is provided with a contact portion for press-contacting an end surface of one end portion of a pressing roller configured to press the belt member against the heating member.
摘要翻译： 图像加热装置包括：带构件; 构造成支撑所述带构件的倾斜转向辊; 加热构件，其构造成接触所述带构件并加热记录材料上的图像; 检测构件，其构造成检测所述带构件的宽度方向上的带端部的位置; 校正装置，被配置为通过根据所述检测构件的所述带端的检测位置使所述转向辊倾斜来校正所述带构件在宽度方向上的位置; 以及配置为支撑所述检测部件的支撑装置。 支撑装置设置有用于将构造成将带构件压靠加热构件的加压辊的一个端部的端面压接的接触部。
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公开(公告)号：US07907383B2
公开(公告)日：2011-03-15
申请号：US12086967
申请日：2007-02-08
申请人： Masami Ando , Jun Miyaji , Osamu Okamoto
发明人： Masami Ando , Jun Miyaji , Osamu Okamoto
CPC分类号： H02N13/00 , C04B35/111 , C04B35/6455 , C04B2235/3232 , C04B2235/5445 , C04B2235/656 , C04B2235/6582 , C04B2235/661 , C04B2235/72 , C04B2235/77 , C04B2235/785 , C04B2235/786 , C04B2235/85 , H01L21/6833
摘要： The present invention provides an electrostatic chuck in which the surface can be kept smooth after being exposed to plasma, so as to protect a material to be clamped such as a silicon wafer from being contaminated with particles, and which is excellent in clamping and releasing a material to be clamped and easy to manufacture by low-temperature firing. The electrostatic chuck includes a dielectric material in which alumina is 99.4 wt % or more, and titanium oxide is more than 0.2 wt % and equal to or less than 0.6 wt %, wherein the electrostatic chuck's volume resistivity is 108-1011 Ωcm in room temperature, and wherein the titanium oxide segregates in boundaries of particles of the alumina.
摘要翻译： 本发明提供了一种静电卡盘，其中表面可以在暴露于等离子体之后保持光滑，以保护待被夹持的材料如硅晶片免受颗粒污染，并且夹紧和释放 待夹紧的材料并通过低温烧制容易制造。 静电卡盘包括氧化铝为99.4重量％以上，氧化钛大于0.2重量％且为0.6重量％以下的电介质材料，其中静电卡盘的体积电阻率为108-1011质量％ 室温，其中氧化钛在氧化铝颗粒的边界分离。
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公开(公告)号：US20110008084A1
公开(公告)日：2011-01-13
申请号：US12827058
申请日：2010-06-30
申请人： Osamu Okamoto
发明人： Osamu Okamoto
IPC分类号： G03G15/20
CPC分类号： G03G15/2025 , G03G2215/2009
摘要： An image heating apparatus includes an endless belt; a rotatable member, contactable to an outer surface of the endless belt, for forming a nip in which a recording material is nipped and conveyed; a stretching member for stretching the endless belt; an urging member, contacting an inner surface of the endless belt, for urging the stretching member by movement of the endless belt so as to include a contact portion at which the urging member contacts the stretching member; a lubricant application member for applying a lubricant onto the inner surface of the endless belt; and a collecting member, contacting the stretching member at a position downstream of an area in which the stretching member contacts the endless belt and upstream of the contact portion with respect to a rotational direction of the stretching member, for collecting the lubricant from the stretching member. The collecting member includes a guiding portion for guiding the lubricant, collected from the stretching member, onto the inner surface of the endless belt.
摘要翻译： 图像加热装置包括环形带; 可旋转构件，其可接触到所述环形带的外表面，用于形成记录材料被夹持和传送的辊隙; 用于拉伸环形带的拉伸构件; 促动构件，其与所述环形带的内表面接触，用于通过所述环形带的移动来推动所述拉伸构件，以包括所述推动构件与所述拉伸构件接触的接触部; 用于将润滑剂施加到环形带的内表面上的润滑剂施加构件; 以及收集构件，其在所述拉伸构件与所述环形带接触的区域的下游位置和所述接触部分的上游侧相对于所述拉伸构件的旋转方向接触所述拉伸构件，用于从所述拉伸构件收集所述润滑剂 。 收集构件包括用于将从拉伸构件收集的润滑剂引导到环形带的内表面上的引导部分。
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公开(公告)号：US20110008083A1
公开(公告)日：2011-01-13
申请号：US12821410
申请日：2010-06-23
申请人： Osamu Okamoto
发明人： Osamu Okamoto
IPC分类号： G03G15/20
CPC分类号： G03G15/206 , G03G2215/2009
摘要： An image heating apparatus includes a rotatable member; a belt member contactable to the rotatable member; a pressing member for pressing the belt member against the rotatable member to form a nip in which a recording material is nipped and conveyed; and a sheet member for covering a pressing surface of the pressing member at which the pressing member presses the belt member. The sheet member is mounted on the pressing member so as to have a first area in which an end portion thereof is located outside an end portion of the belt member with respect to a widthwise direction perpendicular to a conveying direction of the recording material and which includes a portion opposing the pressing surface, and so as to have a second area in which the end portion thereof is located inside the end portion of the belt member with respect to the widthwise direction.
摘要翻译： 图像加热装置包括可旋转构件; 可旋转构件可接触的带构件; 按压构件，用于将带构件压靠在可旋转构件上以形成记录材料被夹持和传送的辊隙; 以及片状部件，用于覆盖按压部件按压带部件的按压部件的按压面。 片状部件安装在按压部件上，以具有第一区域，其端部位于带部件的端部相对于与记录材料的传送方向垂直的宽度方向的外侧，并且包括 与所述按压面相对的部分，并且具有其端部相对于所述宽度方向位于所述带部件的端部内的第二区域。
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