公开(公告)号：US20180210434A1

公开(公告)日：2018-07-26

申请号：US15877505

申请日：2018-01-23

Applicant: FANUC CORPORATION

Inventor： Takahiro IWATAKE

IPC: G05B19/423 ,  B25J9/16 ,  B25J13/08

Abstract: A robot system including a force-controlled pushing device which causes, when a robot is guided and moved, an object provided at a tip end of the robot to be brought into appropriate contact with another object. The robot system includes the robot, the force-controlled pushing device, a robot operation input measuring part, a robot movement command calculating part, a pushing direction setting part, a target pushing force setting part, a force measuring part, and a force-controlled pushing device movement command calculating part. The pushing direction setting part sets a pushing direction of the force-controlled pushing device, based on at least one of: the position/orientation of the first object; a force-controlled pushing device movement command for moving the first object; the position/orientation of the movement mechanism part of the force-controlled pushing device; the position/orientation of the robot; and a robot movement command for moving the robot.

公开(公告)号：US20150290798A1

公开(公告)日：2015-10-15

申请号：US14684625

申请日：2015-04-13

Applicant: FANUC CORPORATION

Inventor： Takahiro IWATAKE

IPC: B25J9/16 ,  B25J13/06 ,  G06F17/16

CPC classification number: B25J13/085 ,  B25J9/0081

Abstract: An operation command unit of a robot control device includes a first control mode that, when a near-singular configuration determination unit determines that a robot is not near a singular configuration, outputs an operation command for moving a position and/or a posture of the tip of the robot on the basis of an operation force calculated by a first force calculation unit and a second control mode that, when the near-singular configuration determination unit determines that the robot is near the singular configuration, outputs an operation command for moving the position of an operation axis set by an operation axis setting unit on the basis of an operation force calculated by a second force calculation unit and a moving direction set by the operation axis setting unit.

Abstract translation: 机器人控制装置的操作指令单元包括第一控制模式，当近似奇异配置确定单元确定机器人不接近于单一配置时，输出用于移动位置和/或姿势的操作命令 基于由第一力计算单元计算的操作力和第二控制模式，当近似奇异构型确定单元确定机器人靠近奇异构型时，输出用于移动机器人的操作命令 基于由第二力计算单元计算的操作力和由操作轴设定单元设定的移动方向由操作轴设定单元设定的操作轴的位置。

公开(公告)号：US20170008171A1

公开(公告)日：2017-01-12

申请号：US15203848

申请日：2016-07-07

Applicant: FANUC CORPORATION

Inventor： Takahiro IWATAKE

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1633 ,  B25J9/1687 ,  B25J13/085 ,  G05B2219/39505

Abstract: A robot controller which uses a robot to more stably, more rapidly move a given object and a different object relative to each other to set the given object and the different object in a combined state in which portions of the two objects are in contact and combined with each other. The robot controller includes an unit which measures a force acting between two objects, an unit which sets a direction of translational force control, an unit which sets a translational force control target force, an unit which sets an axis of rotational force control, an unit which calculates a target amount of translational force control direction movement, an unit which calculates a target amount of rotational force control axis rotational movement, an unit which calculates a target amount of rotational movement, and an unit which generates an operation command for the robot.

Abstract translation: 一种机器人控制器，其使用机器人来更稳定地，更快速地移动给定对象和相对于彼此的不同对象，以将给定对象和不同对象设置为组合状态，其中两个对象的部分接触并组合 与彼此。 机器人控制器包括测量作用在两个物体之间的力的单元，设定平移力控制方向的单元，设定平移力控制目标力的单元，设定旋转力控制轴的单元， 其计算平移力控制方向移动的目标量，计算旋转力控制轴旋转运动的目标量的单元，计算目标旋转移动量的单元和生成机器人的操作命令的单元。

公开(公告)号：US20150290799A1

公开(公告)日：2015-10-15

申请号：US14684806

申请日：2015-04-13

Applicant: FANUC CORPORATION

Inventor： Takahiro IWATAKE

IPC: B25J9/16 ,  G01L5/00

CPC classification number: B25J9/161 ,  B25J9/1694 ,  G01L5/0028 ,  G01L5/0038 ,  G05B2219/39439

Abstract: A robot controller and a robot system capable of stably changing the orientation of a front end of a robot by applying a force to the front end, and moving each axis to a desired position. The robot controller for moving the robot based on the force applied to the robot includes a control point specifying part which specifies a control point in relation to the robot, and an operation commanding part which outputs a command so that the robot performs rotational movement about the control point. The robot has a structure constituted by sequentially combining three or more axes including at least three rotation axes, and rotation centerlines of the three rotation axes intersect at an origin of a centerline-intersecting axis, the centerline-intersecting axis corresponding to one of the three rotation axes. The control point specifying part specifies the origin of the centerline-intersecting axis as the control point.

Abstract translation: 一种机器人控制器和机器人系统，其能够通过向前端施加力并且将每个轴线移动到期望的位置来稳定地改变机器人的前端的方位。 用于基于施加到机器人的力来移动机器人的机器人控制器包括指定与机器人相关的控制点的控制点指定部分和输出命令的操作命令部分，使得机器人执行关于机器人的旋转运动 控制点。 机器人具有通过顺序地组合包括至少三个旋转轴的三个或更多个轴并且三个旋转轴的旋转中心线在中心线交叉轴的原点相交的结构，中心线相交轴对应于三个 旋转轴。 控制点指定部指定中心线相交轴的原点作为控制点。

公开(公告)号：US20150290796A1

公开(公告)日：2015-10-15

申请号：US14684930

申请日：2015-04-13

Applicant: FANUC CORPORATION

Inventor： Takahiro IWATAKE

IPC: B25J9/00 ,  B25J9/16

CPC classification number: B25J9/0081 ,  B25J13/085

Abstract: A robot controller for easily moving a desired axis of a robot by applying a force to a front end of the robot, and a robot system including the robot controller. The robot controller has: a force measuring part which measures a force applied to the front end; an operation force calculating part which calculates an operation force for moving each axis based on the measured force; an operation commanding part which outputs a command for moving the robot; and an operation axis specifying part which specifies an operation axis to be moved in response to the force, and determines a direction of movement of the operation axis as a function of a direction of the force. When two or more operation axes are specified, the operation axis specifying part determines as to whether or not each operation axis can be moved, depending on a status of the movement operation.

Abstract translation: 一种机器人控制器，用于通过向机器人的前端施加力来容易地移动机器人的所需轴线，以及包括机器人控制器的机器人系统。 机器人控制器具有：力测量部，其测量施加到前端的力; 操作力计算部，其基于测定的力来计算用于移动各轴的操作力; 输出用于移动机器人的命令的操作命令部; 以及操作轴指定部，其根据力指定要移动的操作轴，并且确定作为力的方向的函数的操作轴的移动方向。 当指定了两个以上的运算轴时，根据运动动作的状态，运算轴指定部确定运算轴是否能够移动。

公开(公告)号：US20200206919A1

公开(公告)日：2020-07-02

申请号：US16702865

申请日：2019-12-04

Applicant: FANUC CORPORATION

Inventor： Kazutaka NAKAYAMA ,  Takahiro IWATAKE

IPC: B25J9/16

Abstract: An industrial robot system includes: a robot that includes a torque sensor on at least one rotary shaft; and a controller that controls the robot. The controller includes a moment output unit that outputs a value of moment from a posture of the robot or the posture and a motion of the robot, a program storage unit that stores a motion program, a drive control unit that causes each of component parts of the robot to perform a rotating motion around the rotary shaft in accordance with the motion program, and an output calibration unit that associates a torque detection value detected by the torque sensor with the value of moment output from the moment output unit in the rotating motion of each of the component parts around the rotary shaft performed by the drive control unit.

公开(公告)号：US20140316573A1

公开(公告)日：2014-10-23

申请号：US14255075

申请日：2014-04-17

Applicant: FANUC CORPORATION

Inventor： Takahiro IWATAKE

IPC: B25J9/16

CPC classification number: B25J9/1694 ,  B25J9/1697 ,  G05B2219/35124 ,  G05B2219/39504 ,  G05B2219/40053

Abstract: A robot system includes a three-dimensional measuring device for obtaining positional information of a workpiece, a robot having a tool capable of holding a workpiece, and a control device for controlling the robot. The control device stores association data which associate the positional information of the workpiece with a center-of-gravity position of the workpiece. A center-of-gravity position of the workpiece to be picked out is estimated, based on the positional information obtained by the three-dimensional measuring device and on to the association data. The control device determines at least one of the holding position of the workpiece, the picking-out direction and the position and posture of the tool, based on the estimated center-of-gravity position.

Abstract translation: 机器人系统包括用于获得工件的位置信息的三维测量装置，具有能够保持工件的工具的机器人，以及用于控制机器人的控制装置。 控制装置存储将工件的位置信息与工件的重心位置相关联的关联数据。 基于由三维测量装置获得的位置信息和关联数据来估计待挑选的工件的重心位置。 控制装置基于估计的重心位置来确定工件的保持位置，取出方向和工具的位置和姿势中的至少一个。

公开(公告)号：US20140316572A1

公开(公告)日：2014-10-23

申请号：US14255065

申请日：2014-04-17

Applicant: FANUC CORPORATION

Inventor： Takahiro IWATAKE

IPC: B25J9/16

CPC classification number: B25J9/1633 ,  B25J9/1612 ,  G05B2219/39508 ,  G05B2219/40053 ,  G05B2219/40583 ,  G05B2219/45063

Abstract: A control device for controlling a robot which has a tool for holding a workpiece and a force measuring part for measuring a force acting on the tool. The control device includes a calculating part for calculating a center-of-gravity position of the workpiece, based on force data measured by the force measuring part with a plurality of postures of the robot holding the workpiece, a processing part for performing at least one of a process for estimating a holding state of the workpiece, a process for determining a type of the workpiece, and a process for testing a quality of the workpiece, based on the position of the tool and the center-of-gravity position of the workpiece, and an operating command modifying part for modifying an operating command to the robot, based on a result of the process performed by the processing part.

Abstract translation: 一种用于控制具有用于保持工件的工具的机器人的控制装置和用于测量作用在所述工具上的力的力测量部。 所述控制装置包括：计算部，其基于由所述力测量部测定的由所述机器人保持所述工件的多个姿势所测量的力数据，计算所述工件的重心位置;处理部， 用于估计工件的保持状态的过程，用于确定工件类型的处理以及用于测试工件的质量的过程，基于工具的位置和重心位置 工件，以及用于修改对机器人的操作命令的操作命令修改部件，基于由处理部执行的处理的结果。

公开(公告)号：US20240123607A1

公开(公告)日：2024-04-18

申请号：US18546972

申请日：2022-03-25

Applicant: FANUC CORPORATION

Inventor： Takahiro IWATAKE

IPC: B25J9/02 ,  B25J9/16 ,  B25J17/00

CPC classification number: B25J9/023 ,  B25J9/1635 ,  B25J17/00

Abstract: This robot system comprises: a display control unit which controls an image to be displayed in a display region of a display unit; and a reference direction setting unit which sets a reference direction for determining the orientation of an image. On the basis of the axial positions of respective joint shafts of the robot and the reference direction, the display control unit controls the orientation of an image shown on the display unit so as to perform display that represents a prescribed postural relation with respect to the reference direction.

公开(公告)号：US20240001548A1

公开(公告)日：2024-01-04

申请号：US18253912

申请日：2022-01-12

Applicant: FANUC CORPORATION

Inventor： Takahiro IWATAKE

IPC: B25J9/16

CPC classification number: B25J9/1633

Abstract: This robot system includes a robot that includes torque sensors corresponding to joint axes. The robot system includes a sensor temperature determination unit that determines whether the temperature state of each of the torque sensors is an abnormal or appropriate temperature state on the basis of an output value of a temperature detection unit. The robot system includes an operation command unit that reduces at least one among the speed and the acceleration of a robot drive motor when there is a torque sensor of which the temperature state is an abnormal temperature state and not an appropriate temperature state.