公开(公告)号：US20090125146A1

公开(公告)日：2009-05-14

申请号：US11884809

申请日：2006-02-10

申请人： Hui Zhang ,  Torgny Brogardh ,  Jianjun Wang ,  George Zhang

发明人： Hui Zhang ,  Torgny Brogardh ,  Jianjun Wang ,  George Zhang

IPC分类号： G06F19/00

CPC分类号： G05B19/423 ,  B25J9/1664 ,  G05B2219/36404 ,  G05B2219/36409 ,  G05B2219/40385

摘要： A robot having a force sensor and a tool fixture for operating on a workpiece that may have a complex surface contour is programmed by an operator first teaching the robot by a suitable technique such as lead through teaching a few gross points of the contour. These points, known as guiding points, are used to generate a program to be followed by the robot under the control of the robot controller and using force control during which the robot finalizes the guiding points and teaches one or more points on the contour intermediate adjacent guiding points. The controller or other computing device uses the points so taught to generate the path the robot tool fixture will follow when the tool is to operate on the workpiece.

摘要翻译： 具有力传感器和用于在可能具有复杂表面轮廓的工件上操作的工具夹具的机器人由操作者编程，首先通过教导轮廓的几个总点的合适技术（例如导线）来教导机器人。 这些点被称为引导点，用于在机器人控制器的控制下产生机器人跟随的程序，并且使用力控制，在该控制期间，机器人完成引导点并且教导轮廓上的一个或多个点在中间相邻 指导点。 控制器或其他计算设备使用所教导的点来产生当工具在工件上操作时机器人工具夹具将遵循的路径。

公开(公告)号：US09207668B2

公开(公告)日：2015-12-08

申请号：US11884809

申请日：2006-02-10

申请人： Hui Zhang ,  Torgny Brogardh ,  Jianjun Wang ,  George Zhang

发明人： Hui Zhang ,  Torgny Brogardh ,  Jianjun Wang ,  George Zhang

IPC分类号： G05B19/18 ,  G05B19/423 ,  B25J9/16

CPC分类号： G05B19/423 ,  B25J9/1664 ,  G05B2219/36404 ,  G05B2219/36409 ,  G05B2219/40385

摘要： A robot having a force sensor and a tool fixture for operating on a workpiece that may have a complex surface contour is programmed by an operator first teaching the robot by a suitable technique such as lead through teaching a few gross points of the contour. These points, known as guiding points, are used to generate a program to be followed by the robot under the control of the robot controller and using force control during which the robot finalizes the guiding points and teaches one or more points on the contour intermediate adjacent guiding points. The controller or other computing device uses the points so taught to generate the path the robot tool fixture will follow when the tool is to operate on the workpiece.

摘要翻译： 具有力传感器和用于在可能具有复杂表面轮廓的工件上操作的工具夹具的机器人由操作者编程，首先通过教导轮廓的几个总点的合适技术（例如导线）来教导机器人。 这些点被称为引导点，用于在机器人控制器的控制下产生机器人跟随的程序，并且使用力控制，在该控制期间，机器人完成引导点并且教导轮廓上的一个或多个点在中间相邻 指导点。 控制器或其他计算设备使用所教导的点来产生当工具在工件上操作时机器人工具夹具将遵循的路径。

公开(公告)号：US20070225862A1

公开(公告)日：2007-09-27

申请号：US11653638

申请日：2007-01-16

申请人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

发明人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

IPC分类号： G05B19/00

CPC分类号： B25J9/1687 ,  B25J9/1633 ,  G05B2219/36437 ,  G05B2219/39339 ,  G05B2219/39529 ,  G05B2219/40032 ,  G05B2219/45058 ,  Y02P80/114 ,  Y10S414/136 ,  Y10T74/20317

摘要： An industrial robot that uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.

摘要翻译： 一种工业机器人，其使用模拟的力向量来允许由机器人末端执行器保持的工件与其机器人的位置和取向不是精确地知道的工件配合。 当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以使接触力最小化，并且还在所有方向和方向上提供搜索模式以使端部执行器带动 其工件与其他工件接触。 搜索模式和速度命令一直持续到两个工件交配。

公开(公告)号：US07181314B2

公开(公告)日：2007-02-20

申请号：US10720592

申请日：2003-11-24

申请人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

发明人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

IPC分类号： G05B19/04 ,  G05B19/18

CPC分类号： B25J9/1687 ,  B25J9/1633 ,  G05B2219/36437 ,  G05B2219/39339 ,  G05B2219/39529 ,  G05B2219/40032 ,  G05B2219/45058 ,  Y02P80/114 ,  Y10S414/136 ,  Y10T74/20317

摘要： An industrial robot that has uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.

摘要翻译： 一种工业机器人，其使用模拟的力向量来允许由机器人末端执行器保持的工件与其机器人的位置和取向不是精确地知道的工件配合。 当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以使接触力最小化，并且还在所有方向和方向上提供搜索模式以使端部执行器带动 其工件与其他工件接触。 搜索模式和速度命令一直持续到两个工件交配。

公开(公告)号：US20050113971A1

公开(公告)日：2005-05-26

申请号：US10720592

申请日：2003-11-24

申请人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

发明人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

IPC分类号： B25J9/16 ,  G06F19/00

CPC分类号： B25J9/1687 ,  B25J9/1633 ,  G05B2219/36437 ,  G05B2219/39339 ,  G05B2219/39529 ,  G05B2219/40032 ,  G05B2219/45058 ,  Y02P80/114 ,  Y10S414/136 ,  Y10T74/20317

摘要： An industrial robot that has uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.

摘要翻译： 一种工业机器人，其使用模拟的力向量来允许由机器人末端执行器保持的工件与其机器人的位置和取向不是精确地知道的工件配合。 当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以使接触力最小化，并且还在所有方向和方向上提供搜索模式以使端部执行器带动 其工件与其他工件接触。 搜索模式和速度命令一直持续到两个工件交配。

公开(公告)号：US07340323B2

公开(公告)日：2008-03-04

申请号：US11653638

申请日：2007-01-16

申请人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

发明人： Hui Zhang ,  Zhongxue Gan ,  Torgny Brogardh ,  Jianjun Wang

IPC分类号： G05B15/00

CPC分类号： B25J9/1687 ,  B25J9/1633 ,  G05B2219/36437 ,  G05B2219/39339 ,  G05B2219/39529 ,  G05B2219/40032 ,  G05B2219/45058 ,  Y02P80/114 ,  Y10S414/136 ,  Y10T74/20317

摘要： An industrial robot that uses a simulated force vector to allow a work piece held by the robot end effector to be mated with a work piece whose location and orientation is not precisely known to the robot. When the end effector makes contact with the location and orientation in which the other work piece is held the robot provides a velocity command to minimize the force of the contact and also provides a search pattern in all directions and orientations to cause the end effector to bring the work piece it is holding in contact with the other work piece. The search pattern and the velocity command are continued until the two work pieces mate.

摘要翻译： 一种工业机器人，其使用模拟的力向量来允许由机器人末端执行器保持的工件与其机器人的位置和取向不是精确地知道的工件配合。 当末端执行器与保持另一工件的位置和方向接触时，机器人提供速度命令以使接触力最小化，并且还在所有方向和方向上提供搜索模式以使端部执行器带动 其工件与其他工件接触。 搜索模式和速度命令一直持续到两个工件交配。

公开(公告)号：US09597802B2

公开(公告)日：2017-03-21

申请号：US14638179

申请日：2015-03-04

申请人： George Zhang ,  Hui Zhang ,  Jianmin He ,  Jianjun Wang

发明人： George Zhang ,  Hui Zhang ,  Jianmin He ,  Jianjun Wang

IPC分类号： G06F19/00 ,  B25J9/16 ,  G06F17/18

CPC分类号： B25J9/1687 ,  G05B2219/40032 ,  G06F17/18 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/41

摘要： A method and system to optimize the parameters of a robot used in an assembly process. The assembly process is categorized based on its nature which may be cylindrical, radial and multi-stage insertion. The search pattern and search parameters are specified. The parameters are optimized and the optimized parameter set are verified and when a predetermined criteria such as assembly cycle time set and/or success rate is met the optimization process stops. When the optimization stops the verified parameters are used to cause the robot to perform the categorized assembly process. If the parameters do not meet the predetermined criteria, another round of optimization using the same or other parameters can be performed.

公开(公告)号：US09469032B2

公开(公告)日：2016-10-18

申请号：US14637822

申请日：2015-03-04

申请人： George Zhang ,  Hui Zhang ,  Jianmin He ,  Jianjun Wang

发明人： George Zhang ,  Hui Zhang ,  Jianmin He ,  Jianjun Wang

IPC分类号： G06F19/00 ,  B25J9/16 ,  G06F17/18

CPC分类号： B25J9/1687 ,  G05B2219/40032 ,  G06F17/18 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/41

摘要： A method and system to optimize the parameters of a robot used in an assembly process. The assembly process is categorized based on its nature which may be cylindrical, radial and multi-stage insertion. The search pattern and search parameters are specified. The parameters are optimized and the optimized parameter set are verified and when a predetermined criteria such as assembly cycle time set and/or success rate is met the optimization process stops. When the optimization stops the verified parameters are used to cause the robot to perform the categorized assembly process. If the parameters do not meet the predetermined criteria, another round of optimization using the same or other parameters can be performed.

公开(公告)号：US20150217453A1

公开(公告)日：2015-08-06

申请号：US14638179

申请日：2015-03-04

申请人： George Zhang ,  Hui Zhang ,  Jianmin He ,  Jianjun Wang

发明人： George Zhang ,  Hui Zhang ,  Jianmin He ,  Jianjun Wang

IPC分类号： B25J9/16 ,  G06F17/18

CPC分类号： B25J9/1687 ,  G05B2219/40032 ,  G06F17/18 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/41

摘要： A method and system to optimize the parameters of a robot used in an assembly process. The assembly process is categorized based on its nature which may be cylindrical, radial and multi-stage insertion. The search pattern and search parameters are specified. The parameters are optimized and the optimized parameter set are verified and when a predetermined criteria such as assembly cycle time set and/or success rate is met the optimization process stops. When the optimization stops the verified parameters are used to cause the robot to perform the categorized assembly process. If the parameters do not meet the predetermined criteria, another round of optimization using the same or other parameters can be performed.

公开(公告)号：US20150217452A1

公开(公告)日：2015-08-06

申请号：US14637822

申请日：2015-03-04

申请人： George Zhang ,  Hui Zhang ,  Jianmin He ,  Jianjun Wang

发明人： George Zhang ,  Hui Zhang ,  Jianmin He ,  Jianjun Wang

IPC分类号： B25J9/16

CPC分类号： B25J9/1687 ,  G05B2219/40032 ,  G06F17/18 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/41

摘要： A method and system to optimize the parameters of a robot used in an assembly process. The assembly process is categorized based on its nature which may be cylindrical, radial and multi-stage insertion. The search pattern and search parameters are specified. The parameters are optimized and the optimized parameter set are verified and when a predetermined criteria such as assembly cycle time set and/or success rate is met the optimization process stops. When the optimization stops the verified parameters are used to cause the robot to perform the categorized assembly process. If the parameters do not meet the predetermined criteria, another round of optimization using the same or other parameters can be performed.

摘要翻译： 一种优化组装过程中使用的机器人参数的方法和系统。 组装过程根据其性质进行分类，可以是圆柱形，径向和多级插入。 指定搜索模式和搜索参数。 对参数进行了优化，并优化了参数集，并且当满足诸如组装循环时间设定和/或成功率等预定标准时，优化过程停止。 当优化停止时，验证的参数用于使机器人执行分类的组装过程。 如果参数不满足预定标准，则可以执行使用相同或其它参数的另一轮优化。