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公开(公告)号：US20100292843A1
公开(公告)日：2010-11-18
申请号：US12793646
申请日：2010-06-03
CPC分类号： B25J9/1676 , A61B34/30 , G05B2219/39098 , G05B2219/40203
摘要： A robot system includes a robot and a robot controller including a drive unit, a memory that stores an arm-occupied region and a movement-forbidden region, a target position calculation unit that outputs a target position of a tool or a workpiece, a movement-forbidden region entry monitoring unit that checks whether the arm-occupied region based on the target position enters the movement-forbidden region and outputs a stop request if it is checked that the arm-occupied region enters the movement-forbidden region, and a predicted-coasting-position calculating unit that calculates a predicted coasting position of each axis and a coasting position of the tool or the workpiece in the case that the robot is urgently stopped. The movement-forbidden region entry monitoring unit checks whether the arm-occupied region at the coasting position enters the movement-forbidden region and outputs another stop request if it is checked that the arm-occupied region enters the movement-forbidden region.
摘要翻译： 机器人系统包括机器人和机器人控制器，其包括驱动单元，存储臂占用区域和禁止移动区域的存储器，输出工具或工件的目标位置的目标位置计算单元，移动 - 禁止区域进入监视单元，其检查基于目标位置的手臂占用区域是否进入禁止移动区域，并且如果检查到所述臂占用区域进入禁止运动区域则输出停止请求，并且预测 - 加工位置计算单元，其在机器人紧急停止的情况下，计算各轴的预测的滑行位置和工具或工件的滑行位置。 移动禁止区域进入监视单元检查在滑行位置的手臂占用区域是否进入禁止运动区域，如果检查到手臂占用区域进入禁止移动区域，则输出另一个停止请求。
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公开(公告)号：US08180488B2
公开(公告)日：2012-05-15
申请号：US12793646
申请日：2010-06-03
IPC分类号： G06F19/00
CPC分类号： B25J9/1676 , A61B34/30 , G05B2219/39098 , G05B2219/40203
摘要： A robot system includes a robot and a robot controller including a drive unit, a memory that stores an arm-occupied region and a movement-forbidden region, a target position calculation unit that outputs a target position of a tool or a workpiece, a movement-forbidden region entry monitoring unit that checks whether the arm-occupied region based on the target position enters the movement-forbidden region and outputs a stop request if it is checked that the arm-occupied region enters the movement-forbidden region, and a predicted-coasting-position calculating unit that calculates a predicted coasting position of each axis and a coasting position of the tool or the workpiece in the case that the robot is urgently stopped. The movement-forbidden region entry monitoring unit checks whether the arm-occupied region at the coasting position enters the movement-forbidden region and outputs another stop request if it is checked that the arm-occupied region enters the movement-forbidden region.
摘要翻译： 机器人系统包括机器人和机器人控制器，其包括驱动单元，存储臂占用区域和禁止移动区域的存储器，输出工具或工件的目标位置的目标位置计算单元，移动 - 禁止区域进入监视单元，其检查基于目标位置的手臂占用区域是否进入禁止移动区域，并且如果检查到所述臂占用区域进入禁止运动区域则输出停止请求，并且预测 - 加工位置计算单元，其在机器人紧急停止的情况下，计算各轴的预测的滑行位置和工具或工件的滑行位置。 移动禁止区域进入监视单元检查在滑行位置的手臂占用区域是否进入禁止运动区域，如果检查到手臂占用区域进入禁止移动区域，则输出另一个停止请求。
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公开(公告)号：US20060108960A1
公开(公告)日：2006-05-25
申请号：US10521549
申请日：2003-04-21
IPC分类号： B25J15/02
CPC分类号： B25J9/1676 , B25J9/1674 , B25J19/06 , B25J21/00 , G05B19/4061 , G05B19/416 , G05B2219/49138 , G05B2219/49152 , G05B2219/49158
摘要： A robot control apparatus with great safety is provided by detecting access of a teacher to a robot and automatically reducing the operating speed of the robot when the teacher accesses the robot. The robot control device equipped with a pendant (10) to be manipulated by a teacher, for controlling the operation of a robot on the basis of an operation command from the pendant (10), includes a detecting device (8) for detecting the position of the teacher; a signal processing unit (11) for receiving a signal from the detecting device to produce the position information of the teacher; and a limited speed selecting unit (12) for selecting the operating speed of the robot on the basis of the position information. The robot is controlled at the maximum speed set at the operating speed selected by the limited speed selecting unit (12) on the basis of the operation command from the pendant (10).
摘要翻译： 通过检测教师对机器人的访问并且当教师访问机器人时自动降低机器人的操作速度来提供具有极大安全性的机器人控制装置。 根据来自吊坠（10）的操作命令，配备有由教师操纵的用于控制机器人的操作的吊坠（10）的机器人控制装置包括：检测装置（8），用于检测位置 的老师 信号处理单元（11），用于从所述检测装置接收信号以产生所述教师的位置信息; 以及用于基于位置信息来选择机器人的操作速度的限速选择单元（12）。 基于来自吊坠（10）的操作命令，以由受限速度选择单元（12）选择的操作速度设定的最大速度控制机器人。
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公开(公告)号：US07391178B2
公开(公告)日：2008-06-24
申请号：US10521549
申请日：2003-04-21
IPC分类号： G05B19/04
CPC分类号： B25J9/1676 , B25J9/1674 , B25J19/06 , B25J21/00 , G05B19/4061 , G05B19/416 , G05B2219/49138 , G05B2219/49152 , G05B2219/49158
摘要： A robot control apparatus with great safety is provided by detecting access of a teacher to a robot and automatically reducing the operating speed of the robot when the teacher accesses the robot. The robot control device equipped with a pendant (10) to be manipulated by a teacher, for controlling the operation of a robot on the basis of an operation command from the pendant (10), includes a detecting device (8) for detecting the position of the teacher; a signal processing unit (11) for receiving a signal from the detecting device to produce the position information of the teacher; and a limited speed selecting unit (12) for selecting the operating speed of the robot on the basis of the position information. The robot is controlled at the maximum speed set at the operating speed selected by the limited speed selecting unit (12) on the basis of the operation command from the pendant (10).
摘要翻译： 通过检测教师对机器人的访问并且当教师访问机器人时自动降低机器人的操作速度来提供具有极大安全性的机器人控制装置。 根据来自吊坠（10）的操作命令，配备有由教师操纵的用于控制机器人的操作的吊坠（10）的机器人控制装置包括：检测装置（8），用于检测位置 的老师 信号处理单元（11），用于从所述检测装置接收信号以产生所述教师的位置信息; 以及用于基于位置信息来选择机器人的操作速度的限速选择单元（12）。 基于来自吊坠（10）的操作命令，以由受限速度选择单元（12）选择的操作速度设定的最大速度控制机器人。
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公开(公告)号：US08812159B2
公开(公告)日：2014-08-19
申请号：US13047818
申请日：2011-03-15
CPC分类号： B25J9/1676 , G05B2219/39098
摘要： A process includes defining, in a memory, arm-occupied regions including robot arms and a workpiece and tool attached to a robot wrist, a virtual safety protection barrier with which the arms are not allowed to come into contact, and movable ranges of robot axes; estimating the coasting angle of each robot axis for which the axis will coast when the robot is stopped due to an emergency stop while moving to a next target position, from an actually measured amount of coasting and the like; determining a post-coasting predicted position of the robot by adding the estimated coasting angles to the next target position; checking whether or not the arm-occupied regions at the post-coasting predicted position will come into contact with the virtual safety protection barrier, or whether or not the robot axes are within the movable ranges; and performing control to stop the robot immediately upon detection of abnormality.
摘要翻译： 一种过程包括在存储器中定义包括机器人手臂和连接到机器人手腕的工件和工具的手臂占用区域，臂不允许接触的虚拟安全防护屏障，以及机器人轴的可移动范围 ; 从实际测量的滑动量等估算当机器人由于紧急停止而移动到下一个目标位置时轴线将滑行的每个机器人轴的惯性角度; 通过将估计的滑行角加到下一个目标位置来确定机器人的随后滑行预测位置; 检查后滑行预测位置的手臂占用区域是否与虚拟安全防护屏障接触，或者机器人轴线是否在可动范围内; 并且在检测到异常时执行控制以立即停止机器人。
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公开(公告)号：US20110224826A1
公开(公告)日：2011-09-15
申请号：US13047818
申请日：2011-03-15
IPC分类号： B25J9/16
CPC分类号： B25J9/1676 , G05B2219/39098
摘要： A process includes defining, in a memory, arm-occupied regions including robot arms and a workpiece and tool attached to a robot wrist, a virtual safety protection barrier with which the arms are not allowed to come into contact, and movable ranges of robot axes; estimating the coasting angle of each robot axis for which the axis will coast when the robot is stopped due to an emergency stop while moving to a next target position, from an actually measured amount of coasting and the like; determining a post-coasting predicted position of the robot by adding the estimated coasting angles to the next target position; checking whether or not the arm-occupied regions at the post-coasting predicted position will come into contact with the virtual safety protection barrier, or whether or not the robot axes are within the movable ranges; and performing control to stop the robot immediately upon detection of abnormality.
摘要翻译： 一种过程包括在存储器中定义包括机器人手臂和连接到机器人手腕的工件和工具的手臂占用区域，臂不允许接触的虚拟安全防护屏障，以及机器人轴的可移动范围 ; 从实际测量的滑动量等估算当机器人由于紧急停止而移动到下一个目标位置时轴线将滑行的每个机器人轴的惯性角度; 通过将估计的滑行角加到下一个目标位置来确定机器人的随后滑行预测位置; 检查后滑行预测位置的手臂占用区域是否与虚拟安全防护屏障接触，或者机器人轴线是否在可动范围内; 并且在检测到异常时执行控制以立即停止机器人。
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公开(公告)号：US07363092B2
公开(公告)日：2008-04-22
申请号：US10516453
申请日：2003-05-26
CPC分类号： H01L21/67766 , B25J9/042 , Y10T74/20305
摘要： It is an object of the invention to provide an articulated robot capable of reducing a number of axes, making the robot light-weighted, reducing fabrication cost and promoting a working efficiency by mounting two or more of hands at a single unit of the robot and sharing portions of axes and its control apparatus. For that purpose, an articulated robot having a plurality of hands at a single unit thereof capable of sharing portions of axes (first axis, second axis) and attaching the hands respectively to tips of a plurality of axes (4A axis, 4B axis) connected to the axes (first axis, second axis) independently therefrom is provided with a control apparatus for subjecting a designated one of the hands to a CP control and switching the hand which is not designated to a PTP control.
摘要翻译： 本发明的目的是提供一种能够减少多个轴的关节式机器人，通过将两只或多只手安装在机器人的单个单元上，使机器人轻量化，降低制造成本并提高工作效率， 共享轴的部分及其控制装置。 为此目的，一种铰接机器人，其单个单元具有多个手，其能够共享轴的一部分（第一轴，第二轴）并将手分别附接到多个轴的尖端（4轴，4轴） ）具有独立于轴（第一轴，第二轴）的控制装置，用于对指定的一个手进行CP控制并切换未被指定为PTP控制的手。
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公开(公告)号：US06295484B1
公开(公告)日：2001-09-25
申请号：US09424561
申请日：1999-11-24
IPC分类号： G06F1900
CPC分类号： B25J9/163 , B25J9/1633 , B25J9/1641 , G05B19/19 , G05B2219/39186 , G05B2219/39326 , G05B2219/39353 , G05B2219/39355 , G05B2219/41195 , G05B2219/41398 , G05B2219/41443 , G05B2219/42156
摘要： When a multiaxial robot with a mechanism having spring elements between electric motors of respective axes and robot arms is controlled, the path precision of a tool tip is increased without causing vibrations produced by mechanical interference between axes and high-frequency vibrations of electric motors. A model controller (1) is supplied with position commands Xref—L, Xref—U with respect to the electric motors and outputs model motor position commands &thgr;Mm—L, &thgr;Mm—U, model motor speed commands {dot over (&thgr;)}Mm—L, {dot over (&thgr;)}Mm—U, and model feed-forward commands UFF—L, UFF—U to feedback controllers (10L, 10U) which actuate and control the electric motors and the robot arms. The model controller (1) includes therein corrective quantity calculators (3L, 3U) for calculating corrective quantities (corrective torques) in view of interfering forces acting between the axes from the other axes to cancel the interfering forces. The model controller (1) outputs the model feed-forward commands with the corrective quantities added thereto.
摘要翻译： 当具有在各轴的电动机和机器人臂之间具有弹簧元件的机构的多轴机器人被控制时，刀尖的路径精度增加，而不会引起轴之间的机械干扰和电动机的高频振动产生的振动。 向模型控制器（1）提供相对于电动机的位置指令Xref-L，Xref-U，并输出模型电动机位置指令θMm-L，θMm-U，模型电动机速度指令{dot over（theta）} Mm -L，{dot over（θ）} Mm-U，以及模型前馈命令UFF-L，UFF-U到启动和控制电动机和机器人臂的反馈控制器（10L，10U）。 考虑到作用在来自其他轴的轴之间的干涉力以消除干扰力，模型控制器（1）包括用于计算校正量（校正转矩）的校正量计算器（3L，3U）。 模型控制器（1）输出模型前馈命令与添加的校正量。
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公开(公告)号：US20050204848A1
公开(公告)日：2005-09-22
申请号：US10516453
申请日：2003-05-26
IPC分类号： B25J9/10 , B25J9/04 , B25J9/06 , H01L21/677 , B25J17/00
CPC分类号： H01L21/67766 , B25J9/042 , Y10T74/20305
摘要： It is an object of the invention to provide an articulated robot capable of reducing a number of axes, making the robot light-weighted, reducing fabrication cost and promoting a working efficiency by mounting two or more of hands at a single unit of the robot and sharing portions of axes and its control apparatus. For that purpose, an articulated robot having a plurality of hands at a single unit thereof capable of sharing portions of axes (first axis, second axis) and attaching the hands respectively to tips of a plurality of axes (4A axis, 4B axis) connected to the axes (first axis, second axis) independently therefrom is provided with a control apparatus for subjecting a designated one of the hands to a CP control and switching the hand which is not designated to a PTP control.
摘要翻译： 本发明的目的是提供一种能够减少多个轴的关节式机器人，通过将两只或多只手安装在机器人的单个单元上，使机器人轻量化，降低制造成本并提高工作效率， 共享轴的部分及其控制装置。 为此目的，一种铰接机器人，其单个单元具有多个手，其能够共享轴的一部分（第一轴，第二轴）并将手分别附接到多个轴的尖端（4轴，4轴） ）具有独立于轴（第一轴，第二轴）的控制装置，用于对指定的一个手进行CP控制并切换未指定为PTP控制的手。
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