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公开(公告)号：US12030187B2
公开(公告)日：2024-07-09
申请号：US16503865
申请日：2019-07-05
Applicant: FANUC CORPORATION
Inventor： Kaimeng Wang , Wenjie Chen , Tetsuaki Kato
IPC: B25J9/16
CPC classification number: B25J9/1666 , B25J9/1653
Abstract: A robot system includes: a feature point position detection unit configured to detect, at a constant cycle, a position of a feature point of an obstacle that moves or deforms within a motion range of a robot; a movement path calculation unit configured to calculate a movement path of the robot before a motion of the robot; a mapping function derivation unit configured to derive a mapping function based on a position of the feature point that is detected at a time interval; and a path adjustment unit configured to dynamically adjust the movement path of the robot using the derived mapping function.
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公开(公告)号：US10744654B2
公开(公告)日：2020-08-18
申请号：US16020705
申请日：2018-06-27
Applicant: FANUC CORPORATION
Inventor： Weijia Li , Wenjie Chen , Hiroshi Nakagawa , Takafumi Kajiyama
Abstract: A gripper control device includes a controller, the controller is configured to conduct: a grasp quality evaluation process to obtain a grasp quality contribution degree for each of a plurality of contact positions at which fingers that support the object are in contact with the object; a finger-to-be-moved determination process configured to determine, as a finger-to-be-moved, the finger corresponding to one of the contact positions at which the grasp quality contribution degree is low; and a finger movement control process configured to send a control command to a finger driving apparatus, wherein the grasp quality contribution degree for each of the multiple contact positions is defined using at least one of the following elements: relative positions of the plurality of contact positions related to the object; and friction coefficients between the object and the fingers at the plurality of contact positions.
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公开(公告)号：US10521687B2
公开(公告)日：2019-12-31
申请号：US15964472
申请日：2018-04-27
Applicant: FANUC CORPORATION
Inventor： Kaimeng Wang , Wenjie Chen , Kouichirou Hayashi
Abstract: A shape recognition device that recognizes a shape of an object having an indefinite shape and flexibility, and assembled by a robot, the shape recognition device including: an imaging unit that images the object; an image processing unit that recognizes the shape of the object on the basis of the object imaged by the imaging unit; and a simulation processing unit that simulates the shape of the object on the basis of the image of the object imaged by the imaging unit. The simulation processing unit interpolates a recognition result of the shape of the object by the image processing unit, on the basis of a simulation result of the shape of the object.
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公开(公告)号：US10814485B2
公开(公告)日：2020-10-27
申请号：US15947281
申请日：2018-04-06
Applicant: FANUC CORPORATION
Inventor： Kaimeng Wang , Wenjie Chen , Kouichirou Hayashi
Abstract: A device that can prevent a decrease in an efficiency of a manufacturing line. The device includes a shape acquisition section for acquiring a shape of a workpiece; a motion pattern acquisition section for acquiring basic motion patterns including a reference workpiece shape, a reference working position in the reference workpiece shape, and a type of an operation carried out on the reference working position; a similarity determination section for determining whether a shape of the workpiece is similar to the reference work piece shape; a position determination section for, based on a shape of the workpiece and the reference workpiece shape, determining the working position on the workpiece that corresponds to the reference working position; and an motion-path generation section for, by changing the reference working position to the determined working position, generating a motion path.
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公开(公告)号：US20180290302A1
公开(公告)日：2018-10-11
申请号：US15947281
申请日：2018-04-06
Applicant: FANUC CORPORATION
Inventor： Kaimeng Wang , Wenjie Chen , Kouichirou Hayashi
IPC: B25J9/16
Abstract: A device that can prevent a decrease in an efficiency of a manufacturing line. The device includes a shape acquisition section for acquiring a shape of a workpiece; a motion pattern acquisition section for acquiring basic motion patterns including a reference workpiece shape, a reference working position in the reference workpiece shape, and a type of an operation carried out on the reference working position; a similarity determination section for determining whether a shape of the workpiece is similar to the reference work piece shape; a position determination section for, based on a shape of the workpiece and the reference workpiece shape, determining the working position on the workpiece that corresponds to the reference working position; and an motion-path generation section for, by changing the reference working position to the determined working position, generating a motion path.
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Patent Agency Ranking
公开(公告)号：US11207788B2
公开(公告)日：2021-12-28
申请号：US16266231
申请日：2019-02-04
Applicant: FANUC CORPORATION
Inventor： Wenjie Chen , Tetsuaki Kato , Kaimeng Wang
Abstract: A hand control apparatus including an extracting unit extracting a grip pattern of an object having a shape closest to that of the object acquired by a shape acquiring unit from a storage unit storing and associating shapes of plural types of objects and grip patterns, a position and posture calculating unit calculating a gripping position and posture of the hand in accordance with the extracted grip pattern, a hand driving unit causing the hand to grip the object based on the calculated gripping position and posture, a determining unit determining if a gripped state of the object is appropriate based on information acquired by at least one of the shape acquiring unit, a force sensor and a tactile sensor, and a gripped state correcting unit correcting at least one of the gripping position and the posture when it is determined that the gripped state of the object is inappropriate.
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公开(公告)号：US11130236B2
公开(公告)日：2021-09-28
申请号：US16293965
申请日：2019-03-06
Applicant: FANUC CORPORATION
Inventor： Wenjie Chen , Kaimeng Wang , Tetsuaki Kato
Abstract: A robot movement teaching apparatus including a movement path extraction unit configured to process time-varying images of a first workpiece and fingers or arms of a human working on the first workpiece, and thereby extract a movement path of the fingers or arms of the human; a mapping generation unit configured to generate a transform function for transformation from the first workpiece to a second workpiece worked on by a robot, based on feature points of the first workpiece and feature points of the second workpiece; and a movement path generation unit configured to generate a movement path of the robot based on the movement path of the fingers or arms of the human extracted by the movement path extraction unit and based on the transform function generated by the mapping generation unit.
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公开(公告)号：US09937620B2
公开(公告)日：2018-04-10
申请号：US15281084
申请日：2016-09-30
Applicant: FANUC CORPORATION
Inventor： Nobuaki Yamaoka , Wenjie Chen , Kaimeng Wang
CPC classification number: B25J9/1651 , B25J9/1692 , B25J13/088 , B25J13/089 , G05B2219/39017 , G05B2219/39058
Abstract: A robot control device which controls a robot includes a sensor coordinate system calculation unit which calculates a position and an orientation of a sensor by making the robot perform a predetermined operation. The sensor coordinate system calculation unit comprises an operation parameter optimization unit which is configured to obtain a combination most suitable for calculating the position and orientation of the sensor, from a plurality of combinations of modified values of a predetermined type of operation parameters, by making the robot perform the predetermined operation, successively using each of the combinations.
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公开(公告)号：US10507583B2
公开(公告)日：2019-12-17
申请号：US15676503
申请日：2017-08-14
Applicant: FANUC CORPORATION
Inventor： Kaimeng Wang , Wenjie Chen
Abstract: A robot control device includes a feature-point detecting unit that detects, from an image of an object acquired by a visual sensor, the positions of a plurality of feature points on the object in a predetermined cycle; a position/orientation calculating unit that updates, in the predetermined cycle, respective equations of motion of the plurality of feature points on the basis of the detected positions of the plurality of feature points and that calculates the position or orientation of the object on the basis of the detected positions of the plurality of feature points calculated from the updated equations of motion; and a robot-arm-movement control unit that controls the movement of a robot arm so as to follow the object, on the basis of the calculated position or orientation of the object.
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公开(公告)号：US10507581B2
公开(公告)日：2019-12-17
申请号：US16054180
申请日：2018-08-03
Applicant: FANUC CORPORATION
Inventor： Satoshi Inagaki , Wenjie Chen , Kaimeng Wang
Abstract: A robot system includes: at least one non-learned robot that has not learned a learning compensation amount of position control based on an operation command; at least one learned robot that has learned the learning compensation amount of the position control based on the operation command; and a storage device that stores the operation command and the learning compensation amount of the learned robot, the non-learned robot comprising a compensation amount estimation unit that compensates the learning compensation amount of the learned robot stored in the storage device based on a difference between the operation command of the learned robot stored in the storage device and an operation command of an own robot, and estimates the compensated learning compensation amount as a learning compensation amount of the own robot.
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