-
公开(公告)号：US10421187B2
公开(公告)日：2019-09-24
申请号：US15856315
申请日：2017-12-28
Applicant: FANUC CORPORATION
Inventor： Takumi Oyama
Abstract: A robot program modification device including a program storage unit that stores an operation program for a robot, a program execution unit that executes the stored operation program, a stop position estimation unit that estimates, at each operation position of the robot during execution of the operation program, a stop position of the robot in a case of cutoff of power, based on a movement speed of the robot, a stop position determination unit that determines whether the estimated stop position is in a predetermined region or not, and a speed modification unit that modifies, in a case where the stop position is determined to be outside the region, a set speed in the operation program such that a movement speed at the operation position corresponding to the stop position is reduced.
-
公开(公告)号：US11712808B2
公开(公告)日：2023-08-01
申请号：US16860071
申请日：2020-04-28
Applicant: FANUC CORPORATION , Preferred Networks, Inc.
Inventor： Takashi Yamazaki , Takumi Oyama , Shun Suyama , Kazutaka Nakayama , Hidetoshi Kumiya , Hiroshi Nakagawa , Daisuke Okanohara , Ryosuke Okuta , Eiichi Matsumoto , Keigo Kawaai
IPC: B25J9/16
CPC classification number: B25J9/1697 , B25J9/163 , B25J9/1612 , G05B2219/33056 , G05B2219/37567 , G05B2219/39476 , G05B2219/40053
Abstract: A machine learning device that learns an operation of a robot for picking up, by a hand unit, any of a plurality of objects placed in a random fashion, including a bulk-loaded state, includes a state variable observation unit that observes a state variable representing a state of the robot, including data output from a three-dimensional measuring device that obtains a three-dimensional map for each object, an operation result obtaining unit that obtains a result of a picking operation of the robot for picking up the object by the hand unit, and a learning unit that learns a manipulated variable including command data for commanding the robot to perform the picking operation of the object, in association with the state variable of the robot and the result of the picking operation, upon receiving output from the state variable observation unit and output from the operation result obtaining unit.
-
公开(公告)号：US10717196B2
公开(公告)日：2020-07-21
申请号：US15223141
申请日：2016-07-29
Applicant: FANUC CORPORATION , Preferred Networks, Inc.
Inventor： Takashi Yamazaki , Takumi Oyama , Shun Suyama , Kazutaka Nakayama , Hidetoshi Kumiya , Hiroshi Nakagawa , Daisuke Okanohara , Ryosuke Okuta , Eiichi Matsumoto , Keigo Kawaai
IPC: B25J9/16
Abstract: A machine learning device that learns an operation of a robot for picking up, by a hand unit, any of a plurality of workpieces placed in a random fashion, including a bulk-loaded state, includes a state variable observation unit that observes a state variable representing a state of the robot, including data output from a three-dimensional measuring device that obtains a three-dimensional map for each workpiece, an operation result obtaining unit that obtains a result of a picking operation of the robot for picking up the workpiece by the hand unit, and a learning unit that learns a manipulated variable including command data for commanding the robot to perform the picking operation of the workpiece, in association with the state variable of the robot and the result of the picking operation, upon receiving output from the state variable observation unit and output from the operation result obtaining unit.
-
公开(公告)号：US10850396B2
公开(公告)日：2020-12-01
申请号：US16131030
申请日：2018-09-14
Applicant: FANUC CORPORATION
Inventor： Takumi Oyama , Tomoyuki Yamamoto
IPC: B25J9/16 , G05B19/4061 , G05B19/416
Abstract: A controller includes a storage unit that stores a configuration file in which a tool coordinate system including a coordinate axis extending in the restriction direction of a movement of a hand is set. The controller includes a determination unit that determines whether or not the origin of the tool coordinate system moves in the direction of the coordinate axis extending in the restriction direction. The controller includes a speed limiting unit that limits the motion speed of the robot. The speed limiting unit performs a speed reduction control for reducing the movement speed of the hand or a stop control for stopping the robot if the origin of the tool coordinate system moves in the direction of the coordinate axis extending in the restriction direction.
-
Patent Agency Ranking
公开(公告)号：US10828776B2
公开(公告)日：2020-11-10
申请号：US16178601
申请日：2018-11-02
Applicant: FANUC CORPORATION
Inventor： Takumi Oyama
Abstract: A control device includes a stop command unit for stopping an operation of a robot when a person comes in contact with the robot, and a speed limit unit for limiting the operation speed of the robot. A distance determination value relating to an accident caused by sandwiching a person is predetermined. The speed limit unit includes a model generation unit for generating three-dimensional models of two objects among the component of the robot, a hand, and object arranged around the robot, and a distance calculation unit for calculating the shortest distance between the models of the two objects. When the shortest distance is less than the distance determination value, the speed limit unit controls the operation speed of the robot so that the operation speed is equal to or lower than a predetermined limit speed.
-
公开(公告)号：US10710241B2
公开(公告)日：2020-07-14
申请号：US16133704
申请日：2018-09-18
Applicant: FANUC CORPORATION
Inventor： Takumi Oyama , Tomoyuki Yamamoto
IPC: B25J9/16 , B25J13/08 , G05B19/042
Abstract: A controller includes a stop command unit for stopping the motion of the robot when a person comes into contact with the robot, and a speed limiting unit for limiting the operation speed of the component driven on the drive axis. A variable calculated from the position of the component on the drive axis and the range of the variable in a state where the person is caught by the robot are determined in advance. The speed limiting unit acquires the variable from the output of a position detector and controls the operation speed of the component to a predetermined speed limit or lower if the variable is within the range.
-
公开(公告)号：US11780095B2
公开(公告)日：2023-10-10
申请号：US16860071
申请日：2020-04-28
Applicant: FANUC CORPORATION , Preferred Networks, Inc.
Inventor： Takashi Yamazaki , Takumi Oyama , Shun Suyama , Kazutaka Nakayama , Hidetoshi Kumiya , Hiroshi Nakagawa , Daisuke Okanohara , Ryosuke Okuta , Eiichi Matsumoto , Keigo Kawaai
IPC: B25J9/16
CPC classification number: B25J9/1697 , B25J9/163 , B25J9/1612 , G05B2219/33056 , G05B2219/37567 , G05B2219/39476 , G05B2219/40053
Abstract: A machine learning device that learns an operation of a robot for picking up, by a hand unit, any of a plurality of objects placed in a random fashion, including a bulk-loaded state, includes a state variable observation unit that observes a state variable representing a state of the robot, including data output from a three-dimensional measuring device that obtains a three-dimensional map for each object, an operation result obtaining unit that obtains a result of a picking operation of the robot for picking up the object by the hand unit, and a learning unit that learns a manipulated variable including command data for commanding the robot to perform the picking operation of the object, in association with the state variable of the robot and the result of the picking operation, upon receiving output from the state variable observation unit and output from the operation result obtaining unit.
-
公开(公告)号：US10105846B2
公开(公告)日：2018-10-23
申请号：US14800804
申请日：2015-07-16
Applicant: FANUC Corporation
Inventor： Takumi Oyama , Tomoyuki Yamamoto
IPC: B25J9/16 , B25J19/00 , G05B19/4063
Abstract: A robot control system includes an operation command output unit which outputs an operation command of a motor, a position detection unit which is provided on the motor to detect the position of a control shaft, a stop signal output unit which outputs a stop signal to stop the robot when the speed of the control shaft acquired from the position detection unit exceeds a speed threshold value, and an operation command interruption unit which interrupts the operation command outputted from the operation command output unit when the stop signal is outputted.
-
公开(公告)号：US09808934B2
公开(公告)日：2017-11-07
申请号：US15056301
申请日：2016-02-29
Applicant: FANUC CORPORATION
Inventor： Takumi Oyama , Tomoyuki Yamamoto
CPC classification number: B25J9/1676 , B25J9/1674 , G05B2219/40201 , G05B2219/40218 , G05B2219/40223 , G05B2219/40582
Abstract: A robot control apparatus includes a stop command unit which stops a robot. A first external force judgement value smaller than a stop judgement value and a second external force judgement value smaller than the first external force judgement value are previously determined. The stop command unit inhibits a restart of execution of an operation program when, in a state where the execution of the operation program is temporarily stopped, an external force is continuously equal to or less than the first external force judgement value during a period of a first time length, and additionally, the external force continuously exceeds the second external force judgement value during a period of a second time length.
-
-
-
-
-
-
-
-
Search Results
9
records
(took 0.013 seconds)
