-
公开(公告)号：US20140260526A1
公开(公告)日：2014-09-18
申请号：US14102082
申请日：2013-12-10
Applicant: Hitachi, Ltd.
Inventor： Yoshitaka TSUTSUI , Nobuaki NAKASU , Keiji SUZUKI , Kengo IWASHIGE , Mitsuru ONODA , Harumasa TSUCHIYA , Yasuaki KAGEYAMA
IPC: G01L5/00
CPC classification number: G01L5/0028 , G01L5/0038 , G01N3/30
Abstract: A fixing force measuring apparatus including a section for applying a predetermined controlled hammering force to a wedge surface to generate a hammering sound, a section for controlling the hammering sound generated, a section for obtaining plural kinds of feature quantities such as a feature quantity due to a hammering sound energy, and a feature quantity due to a frequency of the hammering sound from the hammering sound collected by an arithmetic operation, and a section for obtaining a fixing force corresponding to the plural kinds of feature quantities by using a correlative relationship between the wedge fixing force previously obtained, and the plural kinds of feature quantities.
Abstract translation: 一种固定力测量装置，包括：用于向楔形表面施加预定的受控锤击力以产生锤击声的部分，用于控制所产生的锤击声的部分，用于获得多种特征量的部分，所述特征量由于 锤击声能量和由于通过算术运算而收集的锤击声的锤击声的频率产生的特征量，以及通过使用相关关系来获得与多种特征量相对应的固定力的部分 预先获得的楔形固定力，以及多种特征量。
-
公开(公告)号：US20250010469A1
公开(公告)日：2025-01-09
申请号：US18746382
申请日：2024-06-18
Applicant: Hitachi, Ltd.
Inventor： Nobuaki NAKASU , Kaichiro NISHI
Abstract: A robot that attaches and removes a work with respect to a machining device is controlled to correct a deviation of the robot's posture. A robot control device includes a correcting part that corrects a posture of the robot based on a measured value of a sensor that measures a load on the robot; a robot posture obtaining part; a work attachment target posture generating part; and a path generating part. The correcting part corrects the posture of the robot to decrease the load on the robot to be smaller than a threshold when the robot grips the work after machining. The robot posture obtaining part obtains a removal posture that is the posture of the robot after the correction for a plurality of the works after machining. The work attachment target posture generating part generates a new work attachment target posture based on a plurality of the removal postures.
-
公开(公告)号：US20200306965A1
公开(公告)日：2020-10-01
申请号：US16678217
申请日：2019-11-08
Applicant: Hitachi, Ltd.
Inventor： Nobuaki NAKASU , Yuta YAMAUCHI
Abstract: A trajectory generation device generates a trajectory of a robot for conveying an object. A path condition acquisition unit acquires path condition information including at least coordinates of a first via point which is a position of a reference point of a suction nozzle of the robot when the suction nozzle comes into contact with the object, and a velocity, an acceleration, and a jerk of the suction nozzle at the first via point. A pressurization distance and coordinate calculation unit calculates coordinates of a second via point which is a position of the reference point when the suction nozzle is pushed into the object, based on the path condition information; and a trajectory generation unit generates the trajectory of the suction nozzle which satisfies the path condition information and reaches an end point from a predetermined start point via the first via point and the second via point.
-
公开(公告)号：US20190275675A1
公开(公告)日：2019-09-12
申请号：US16166255
申请日：2018-10-22
Applicant: HITACHI, LTD.
Inventor： Takashi SENO , Daisuke TSUTSUMI , Daiki KAJITA , Nobuaki NAKASU
Abstract: A trajectory planning apparatus including a joint axis classification unit for classifying a plurality of joint axes of a robot into axis groups, according to joint axis classification information for classifying into the axis groups including at least a path search axis group, a path search unit for searching for a path of an angle of the joint axis classified into the path search axis group that minimizes an evaluation function for evaluating a planed trajectory, based on trajectory start point information representing a posture of the robot at a start point of the planed trajectory and trajectory endpoint information representing a posture of the robot at an end point of the planned trajectory, and an axis group angle calculation unit for calculating an angle of the joint axis classified into each axis group other than the path search axis group during the search of the path.
-
公开(公告)号：US20240261980A1
公开(公告)日：2024-08-08
申请号：US18408963
申请日：2024-01-10
Applicant: Hitachi, Ltd.
Inventor： Kaichiro NISHI , Nobuaki NAKASU
CPC classification number: B25J13/02 , B25J9/161 , B25J13/006 , B25J9/163 , B25J13/085
Abstract: The computer is connected to a robot including a hand which grips a workpiece, and a machining device including a gripping mechanism which grips the workpiece, acquires first operation information regarding an operation state of the robot and second operation information regarding an operation state of the machining device; and controls the robot to cause the robot to grip the workpiece and install the workpiece in the gripping mechanism In the control of the robot, the computer determines whether or not to start correction processing of correcting a position and an orientation of the workpiece with respect to the gripping mechanism based on the second operation information, executes the correction processing using the first operation information and the second operation information, and determines whether or not to end the correction processing based on the second operation information.
-
Patent Agency Ranking
公开(公告)号：US20240269836A1
公开(公告)日：2024-08-15
申请号：US18540039
申请日：2023-12-14
Applicant: Hitachi, Ltd.
Inventor： Nobuaki NAKASU , Kaichiro NISHI
CPC classification number: B25J9/163 , B25J9/1697 , B25J19/023
Abstract: A first transition section is set in a first base track and includes a connection point between the first base track and a second base track. A first machine learning model and a second machine learning model are set for the first base track and the second base track, respectively. When the actual track or the predicted track at the predetermined point is within the error range, the control device controls the automatic machine using the first machine learning model set for the first base track in the transition section. When the actual track or the predicted track at the predetermined point is outside the error range, the control device controls the automatic machine in the transition section by a control method different from that of the first machine learning model.
-
公开(公告)号：US20230113622A1
公开(公告)日：2023-04-13
申请号：US17957567
申请日：2022-09-30
Applicant: Hitachi, Ltd.
Inventor： Kaichiro NISHI , Nobuaki NAKASU
IPC: B25J9/16
Abstract: A robot that performs work including gripping an object and moving the object is controlled with high accuracy. A computer for controlling the robot that performs the work including gripping the object and moving the object stores trajectory information, acquires operating state information including a value indicating an operating state of the robot during the work and work state information including a value for grasping a state of the object gripped by the robot, generates estimated work state information including a value for grasping a future state of the object gripped by the robot based on the trajectory information, the operating state information, and the work state information, and generates control information for controlling the robot based on the trajectory information, the operating state information, the work state information, and the estimated work state information.
-
公开(公告)号：US20220379473A1
公开(公告)日：2022-12-01
申请号：US17772524
申请日：2020-08-13
Applicant: Hitachi, Ltd.
Inventor： Yuta YAMAUCHI , Nobuaki NAKASU
Abstract: A trajectory plan generation device executes a first search process for searching for a plurality of position candidates which are movement destinations of the tip portion within a predetermined distance from first trajectory information indicating positions and postures of the tip portion between the start point and the end point, a second search process for searching for a plurality of posture candidates of the tip portion that change within an allowable range by spherical interpolation based on postures of the tip portion at the start point and the end point, a determination process for determining second trajectory information indicating positions and postures of movement destinations of the tip portion from the first trajectory information based on the plurality of position candidates searched for by the first search process and the plurality of posture candidates searched for by the second search process, and an output process.
-
公开(公告)号：US20220324099A1
公开(公告)日：2022-10-13
申请号：US17777651
申请日：2020-09-08
Applicant: HITACHI, LTD.
Inventor： Nobuaki NAKASU , Kaichiro NISHI
Abstract: Various gripped objects having different sizes, weights, centers of gravity, and the like are continuously and stably moved at a high speed. A control device includes: a state information generation unit that generates and updates state information on a robot and a gripped object; and a control information generation unit that generates, based on the state information and a base trajectory generated in advance on which the robot is configured to move the gripped object from a start point to an end point, control information for controlling the robot.
-
公开(公告)号：US20200338730A1
公开(公告)日：2020-10-29
申请号：US16843990
申请日：2020-04-09
Applicant: Hitachi, Ltd.
Inventor： Yuta YAMAUCHI , Nobuaki NAKASU
IPC: B25J9/16
Abstract: A trajectory planning device calculating the trajectory of the robot arm reads robot arm configuration information including a configuration of the robot arm, and a position and a posture of an axis configuring a joint, start joint angle information, target posture information, and via-point posture information in which via points including positions and postures through which the hand of the robot arm passes are set, and generates a trajectory from a start point of the hand of the robot arm to an end point by an interpolation between via points, calculates a joint angle of each axis from a posture and a position of the hand of the robot arm based on the robot arm configuration information, converts the trajectory generated in a physical space into a joint angle space by an inverse kinematics unit, and then smooths the trajectory.
-
-
-
-
-
-
-
-
-
Search Results
11
records
(took 0.017 seconds)
