公开(公告)号：US09427872B1

公开(公告)日：2016-08-30

申请号：US14578446

申请日：2014-12-21

Applicant: Google Inc.

Inventor： Jeffrey Thomas Bingham ,  Rob Wilson ,  Advait Jain ,  Miguel Rivas ,  Lee Magnusson

IPC: B25J9/00 ,  B25J9/16 ,  G01D5/26 ,  G01D5/244

CPC classification number: B25J9/1692 ,  B25J9/1697 ,  G01D5/2448 ,  G05B2219/39058 ,  G05B2219/40596 ,  Y10S901/02 ,  Y10S901/09 ,  Y10S901/47

Abstract: A device is provided that comprises a hardware segment and an actuator to adjust a position of the segment within a range of positions. The device also comprises an encoder to rotate about an encoder axis responsive to the actuator adjusting the position. The device also comprises data storage that includes a dataset indicating offset angles between a reference configuration and a plurality of configurations of the encoder. The device also comprises a controller to cause the actuator to adjust the position to an end of the range of positions, responsively identify a range of encoder positions of the encoder that corresponds to the range of positions of the segment, modify the dataset such that the reference configuration corresponds to an end of the range of encoder positions, and determine a mapping between the offset angles indicated by the modified dataset and the range of positions of the hardware segment.

Abstract translation: 提供了一种装置，其包括硬件段和致动器，以在所述位置范围内调节所述段的位置。 该装置还包括响应于致动器调节位置而围绕编码器轴旋转的编码器。 该设备还包括数据存储器，其包括指示参考配置和编码器的多个配置之间的偏移角度的数据集。 该装置还包括控制器，用于使致动器将位置调整到位置范围的一端，响应于识别对应于段的位置范围的编码器的编码器位置的范围，修改数据集，使得 参考配置对应于编码器位置的范围的结束，并且确定由修改的数据集指示的偏移角与硬件段的位置范围之间的映射。

公开(公告)号：US20150349676A1

公开(公告)日：2015-12-03

申请号：US14288662

申请日：2014-05-28

Applicant: Google Inc.

Inventor： Kevin Kemper ,  Lee Magnusson

IPC: H02P6/00

CPC classification number: H02P6/002 ,  H02K11/33

Abstract: Methods and systems for building arbitrary motor controllers are described. An example motor controller may include multiple motor power boards connected in a stacked configuration and coupled in parallel. Each motor power board may include one or more power transistors and one or more gate drivers having an input terminal coupled to a control signal connector and an output terminal coupled to a gate terminal of the one or more power transistors. The example motor controller may also include a power bus connector coupled, in parallel, to a respective output terminal of each of the multiple motor power boards. Further, the example motor controller may include a control system coupled to the control signal connector and configured to selectively enable a set that includes one or more of the multiple motor power boards based on an output power requirement.

Abstract translation: 描述用于构建任意电动机控制器的方法和系统。 示例性电动机控制器可以包括以堆叠配置连接并并联耦合的多个电动机电力板。 每个电动机功率板可以包括一个或多个功率晶体管和一个或多个栅极驱动器，其具有耦合到控制信号连接器的输入端子和耦合到所述一个或多个功率晶体管的栅极端子的输出端子。 示例性电动机控制器还可以包括并联连接到多个电动机电源板中的每一个的相应输出端子的电力总线连接器。 此外，示例性电动机控制器可以包括耦合到控制信号连接器并被配置为基于输出功率需求选择性地启用包括多个电动机功率板中的一个或多个的组的控制系统。

公开(公告)号：US09346165B1

公开(公告)日：2016-05-24

申请号：US14293065

申请日：2014-06-02

Applicant: Google Inc.

Inventor： Andy Metzger ,  Lee Magnusson

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16

CPC classification number: B25J9/1674 ,  G05B2219/37274 ,  G05B2219/37624

Abstract: Robotic devices with multi-degree of freedom (DOF) load cells for shear beam sensing are described. An example robotic device includes actuators coupled through joints to form a robotic manipulator, and a load cell provided proximal to a joint for detecting a force applied to the robotic manipulator and a torque experienced about the joint. The device also includes a controller programmable to determine a location of the force along the robotic manipulator based on values of the force and the torque output from the load cell, receive information indicating parameters of the robotic manipulator and of a load being experienced by the robotic device, and based on one of the force applied to the robotic manipulator or the torque experienced about the joint being above a threshold expected amount due to the load being experienced, determine that the robotic manipulator is experiencing an unexpected shear load at the location.

Abstract translation: 描述了具有多自由度（DOF）用于剪切波束感测的称重传感器的机器人装置。 示例性机器人装置包括通过接头耦合以形成机器人操纵器的致动器，以及设置在接头附近的负载传感器，用于检测施加到机器人操纵器的力和关于接头的转矩。 该装置还包括可编程的控制器，用于基于来自测力传感器的力和扭矩输出的值来确定沿着机器人操纵器的力的位置，接收指示机器人操纵器的参数的信息和机器人经历的负载 装置，并且基于施加到机器人操纵器的力之一或由于经历负载而经历关于关节的扭矩高于阈值预期量的扭矩，确定机器人操纵器在该位置处经历意外的剪切载荷。

公开(公告)号：US09231503B2

公开(公告)日：2016-01-05

申请号：US14288662

申请日：2014-05-28

Applicant: Google Inc.

Inventor： Kevin Kemper ,  Lee Magnusson

IPC: H02P1/00 ,  H02P6/00

CPC classification number: H02P6/002 ,  H02K11/33

Abstract: Methods and systems for building arbitrary motor controllers are described. An example motor controller may include multiple motor power boards connected in a stacked configuration and coupled in parallel. Each motor power board may include one or more power transistors and one or more gate drivers having an input terminal coupled to a control signal connector and an output terminal coupled to a gate terminal of the one or more power transistors. The example motor controller may also include a power bus connector coupled, in parallel, to a respective output terminal of each of the multiple motor power boards. Further, the example motor controller may include a control system coupled to the control signal connector and configured to selectively enable a set that includes one or more of the multiple motor power boards based on an output power requirement.

Abstract translation: 描述用于构建任意电动机控制器的方法和系统。 示例性电动机控制器可以包括以堆叠配置连接并并联耦合的多个电动机电力板。 每个电动机功率板可以包括一个或多个功率晶体管和一个或多个栅极驱动器，其具有耦合到控制信号连接器的输入端子和耦合到所述一个或多个功率晶体管的栅极端子的输出端子。 示例性电动机控制器还可以包括并联连接到多个电动机电源板中的每一个的相应输出端子的电力总线连接器。 此外，示例性电动机控制器可以包括耦合到控制信号连接器并被配置为基于输出功率需求选择性地启用包括多个电动机功率板中的一个或多个的组的控制系统。

公开(公告)号：US20160332302A1

公开(公告)日：2016-11-17

申请号：US15222485

申请日：2016-07-28

Applicant: Google Inc.

Inventor： Jeffrey Thomas Bingham ,  Rob Wilson ,  Advait Jain ,  Miguel Rivas ,  Lee Magnusson

IPC: B25J9/16 ,  G01D5/244 ,  G01D5/26

CPC classification number: B25J9/1692 ,  B25J9/1697 ,  G01D5/2448 ,  G05B2219/39058 ,  G05B2219/40596 ,  Y10S901/02 ,  Y10S901/09 ,  Y10S901/47

Abstract: A device is provided that comprises a hardware segment and an actuator to adjust a position of the segment within a range of positions. The device also comprises an encoder to rotate about an encoder axis responsive to the actuator adjusting the position. The device also comprises data storage that includes a dataset indicating offset angles between a reference configuration and a plurality of configurations of the encoder. The device also comprises a controller to cause the actuator to adjust the position to an end of the range of positions, responsively identify a range of encoder positions of the encoder that corresponds to the range of positions of the segment, modify the dataset such that the reference configuration corresponds to an end of the range of encoder positions, and determine a mapping between the offset angles indicated by the modified dataset and the range of positions of the hardware segment.

Abstract translation: 提供了一种装置，其包括硬件段和致动器，以在所述位置范围内调节所述段的位置。 该装置还包括响应于致动器调节位置而围绕编码器轴旋转的编码器。 该设备还包括数据存储器，其包括指示参考配置和编码器的多个配置之间的偏移角度的数据集。 该装置还包括控制器，用于使致动器将位置调整到位置范围的一端，响应于识别对应于段的位置范围的编码器的编码器位置的范围，修改数据集，使得 参考配置对应于编码器位置的范围的结束，并且确定由修改的数据集指示的偏移角与硬件段的位置范围之间的映射。