公开(公告)号：US10556353B2

公开(公告)日：2020-02-11

申请号：US15393602

申请日：2016-12-29

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Jui-Yiao Su ,  Yan-Chen Liu ,  Chang-Yi Chen ,  Ching-Shun Chen ,  Wen-Ching Ko ,  Hung-Hsiu Yu ,  Jwu-Sheng Hu

IPC: B25J19/06 ,  B25J13/08 ,  B25J9/16 ,  B25J9/12

Abstract: A robot arm control device includes a pressure sensing module, a workspace defining module and a control module. The pressure sensing module, arranged on a robot arm, detects whether an object hits or touches the robot arm to switch the operating mode of the robot arm. The workspace defining module includes a sensing region arranged on a peripheral area around the robot arm. The workspace defining module determines whether the object enters an operating space according to the position of the object in the sensing region, and sets the working range and the working mode of the robot arm according to which operating space the object has entered. The control module, connected to the robot arm, the pressure sensing module and the workspace defining module, switches the operating mode and outputs a motor driving signal to the robot arm according to the working mode of the robot arm.

公开(公告)号：US09784626B2

公开(公告)日：2017-10-10

申请号：US14573725

申请日：2014-12-17

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Chang-Yi Chen ,  Jui-Yiao Su ,  Yan-Chen Liu ,  Chang-Ho Liou

IPC: G01L1/00 ,  G01L17/00

CPC classification number: G01L1/005 ,  G01L17/005

Abstract: A pressure array sensor module, comprising an array electrode board, a plurality of pressure sensing elements, at least one first conductive structure and at least one second conductive structure is provided. The array electrode board comprises a substrate and an electrode array disposed on the substrate and having a first electrode pattern and a second electrode pattern. Each pressure sensing element is disposed at a sensing position on the array electrode board, and comprises a top electrode layer, a bottom electrode layer and at least one pressure sensing layer disposed between the top electrode layer and the bottom electrode layer. The top electrode layer has a first lead. The bottom electrode layer has a second lead. The first conductive structure electrically connects the first lead and the corresponding first electrode pattern. The second conductive structure electrically connects the second lead and the corresponding second electrode pattern.

公开(公告)号：US10144125B2

公开(公告)日：2018-12-04

申请号：US15392251

申请日：2016-12-28

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Jui-Yiao Su ,  Yan-Chen Liu ,  Ching-Shun Chen ,  Chang-Yi Chen ,  Cheng-Li Wu ,  Hung-Hsiu Yu

IPC: G05B15/00 ,  G05B19/00 ,  B25J9/00 ,  B25J13/08 ,  G05B19/423 ,  G05B19/425

Abstract: A control device of robot arm including a pressure sensing module and a control module is provided. The pressure sensing module, disposed on an operating portion of a robot arm, has a touch-sensing surface for detecting an operation command applied to the touch-sensing surface. The control module receives at least a pressure sensing signal outputted by the pressure sensing module and outputs a motor driving signal to the robot arm in response to the operation command. The touch-sensing surface includes a first touch-sensing region and a second touch-sensing region. The first touch-sensing region is for defining a first reference coordinate system satisfying a translational motion mode. The second touch-sensing region is for defining a second reference coordinate system satisfying a rotational motion mode. The control module controls the robot arm according to the operation command.

公开(公告)号：US08688308B2

公开(公告)日：2014-04-01

申请号：US13682638

申请日：2012-11-20

Applicant: Industrial Technology Research Institute

Inventor： Chien-Feng Wu ,  Yan-Chen Liu ,  Tsung-Liang Wu ,  Chun-Chieh Wang ,  Yu-Liang Chung

IPC: G01C3/00

CPC classification number: G05D1/0236

Abstract: A method for navigation of a movable platform is provided. The method includes the steps. First, a plurality of reflection devices is placed to mark a range. A coordinate location and a direction of the movable platform are received by a positioning system, At least one laser to measure relative positions and distances between the reflection devices and the movable platform are emitted by a laser range finder, respectively. Absolute locations of the reflection devices and the range are calculated by a processor according to the coordinate location and the direction of the movable platform, the relative positions and the distances between the reflection devices and the movable platform. The reflection devices are scanned and tracked by the processor, and the coordinate location and the direction of the movable platform and the absolute locations are calibrated by the processor to control the movable platform to move in the range.

Abstract translation: 提供了一种可移动平台的导航方法。 该方法包括步骤。 首先，放置多个反射装置来标记一个范围。 定位系统接收可移动平台的坐标位置和方向。用于测量反射装置与可移动平台之间的相对位置和距离的至少一个激光器分别由激光测距仪发射。 反射装置的绝对位置和范围由处理器根据可移动平台的坐标位置和方向，反射装置与可移动平台之间的相对位置和距离来计算。 反射装置由处理器进行扫描和跟踪，并且可移动平台的坐标位置和方向以及绝对位置由处理器进行校准，以控制可移动平台在该范围内移动。

公开(公告)号：US20180043549A1

公开(公告)日：2018-02-15

申请号：US15393602

申请日：2016-12-29

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Jui-Yiao Su ,  Yan-Chen Liu ,  Chang-Yi Chen ,  Ching-Shun Chen ,  Wen-Ching Ko ,  Hung-Hsiu Yu ,  Jwu-Sheng Hu

IPC: B25J19/06 ,  B25J9/12 ,  B25J9/16 ,  B25J13/08

CPC classification number: B25J19/063 ,  B25J9/12 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1676 ,  B25J13/081 ,  B25J13/084 ,  B25J19/06 ,  G05B2219/40201 ,  G05B2219/40202

Abstract: A robot arm control device includes a pressure sensing module, a workspace defining module and a control module. The pressure sensing module, arranged on a robot arm, detects whether an object hits or touches the robot arm to switch the operating mode of the robot arm. The workspace defining module includes a sensing region arranged on a peripheral area around the robot arm. The workspace defining module determines whether the object enters an operating space according to the position of the object in the sensing region, and sets the working range and the working mode of the robot arm according to which operating space the object has entered. The control module, connected to the robot arm, the pressure sensing module and the workspace defining module, switches the operating mode and outputs a motor driving signal to the robot arm according to the working mode of the robot arm.

公开(公告)号：US20130158775A1

公开(公告)日：2013-06-20

申请号：US13682638

申请日：2012-11-20

Applicant: Industrial Technology Research Institute

Inventor： Chien-Feng Wu ,  Yan-Chen Liu ,  Tsung-Liang Wu ,  Chun-Chieh Wang ,  Yu-Liang Chung

IPC: G05D1/02

CPC classification number: G05D1/0236

Abstract: A method for navigation of a movable platform is provided. The method includes the steps. First, a plurality of reflection devices is placed to mark a range. A coordinate location and a direction of the movable platform are received by a positioning system, At least one laser to measure relative positions and distances between the reflection devices and the movable platform are emitted by a laser range finder, respectively. Absolute locations of the reflection devices and the range are calculated by a processor according to the coordinate location and the direction of the movable platform, the relative positions and the distances between the reflection devices and the movable platform. The reflection devices are scanned and tracked by the processor, and the coordinate location and the direction of the movable platform and the absolute locations are calibrated by the processor to control the movable platform to move in the range.

Abstract translation: 提供了一种可移动平台的导航方法。 该方法包括步骤。 首先，放置多个反射装置来标记一个范围。 定位系统接收可移动平台的坐标位置和方向。用于测量反射装置与可移动平台之间的相对位置和距离的至少一个激光器分别由激光测距仪发射。 反射装置的绝对位置和范围由处理器根据可移动平台的坐标位置和方向，反射装置与可移动平台之间的相对位置和距离来计算。 反射装置由处理器进行扫描和跟踪，并且可移动平台的坐标位置和方向以及绝对位置由处理器进行校准，以控制可移动平台在该范围内移动。

公开(公告)号：US20180043525A1

公开(公告)日：2018-02-15

申请号：US15392251

申请日：2016-12-28

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Jui-Yiao Su ,  Yan-Chen Liu ,  Ching-Shun Chen ,  Chang-Yi Chen ,  Cheng-Li Wu ,  Hung-Hsiu Yu

IPC: B25J9/00 ,  B25J13/08

CPC classification number: B25J9/0081 ,  B25J13/081 ,  G05B19/423 ,  G05B19/425 ,  G05B2219/36417 ,  G05B2219/36433 ,  G05B2219/39548

Abstract: A control device of robot arm including a pressure sensing module and a control module is provided. The pressure sensing module, disposed on an operating portion of a robot arm, has a touch-sensing surface for detecting an operation command applied to the touch-sensing surface. The control module receives at least a pressure sensing signal outputted by the pressure sensing module and outputs a motor driving signal to the robot arm in response to the operation command. The touch-sensing surface includes a first touch-sensing region and a second touch-sensing region. The first touch-sensing region is for defining a first reference coordinate system satisfying a translational motion mode. The second touch-sensing region is for defining a second reference coordinate system satisfying a rotational motion mode. The control module controls the robot arm according to the operation command.

公开(公告)号：US09651434B2

公开(公告)日：2017-05-16

申请号：US14873949

申请日：2015-10-02

Applicant: Industrial Technology Research Institute

Inventor： Jui-Yiao Su ,  Yan-Chen Liu ,  Chang-Yi Chen ,  Ching-Shun Chen ,  Wen-Ching Ko

IPC: G01D7/00 ,  G01L1/20 ,  A61B5/103 ,  A61B5/00

CPC classification number: G01L1/205 ,  A61B5/1036 ,  A61B5/6807 ,  A61B5/6892 ,  A61B2562/0247 ,  A61B2562/046

Abstract: A pressure array sensor module including an array electrode board, a plurality of pressure sensing elements, at least one first conductive structure and at least one second conductive structure is provided. The array electrode board includes a substrate and an array electrode. The array electrode, disposed on the substrate, has a first electrode pattern and a second electrode pattern. Each pressure sensing element, disposed on a sensing position of the array electrode board, includes a top electrode layer, a bottom electrode layer and at least one pressure sensing layer disposed between the top and bottom electrode layers. The top electrode layer has a first lead. The bottom electrode layer has a second lead. The first conductive structure is electrically connected between each first lead and a corresponding first electrode pattern. The second conductive structure is electrically connected between each second lead and a corresponding second electrode pattern.

公开(公告)号：US20160097688A1

公开(公告)日：2016-04-07

申请号：US14573725

申请日：2014-12-17

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Chang-Yi Chen ,  Jui-Yiao Su ,  Yan-Chen Liu ,  Chang-Ho Liou

IPC: G01L1/00

CPC classification number: G01L1/005 ,  G01L17/005

Abstract: A pressure array sensor module, comprising an array electrode board, a plurality of pressure sensing elements, at least one first conductive structure and at least one second conductive structure is provided. The array electrode board comprises a substrate and an electrode array disposed on the substrate and having a first electrode pattern and a second electrode pattern. Each pressure sensing element is disposed at a sensing position on the array electrode board, and comprises a top electrode layer, a bottom electrode layer and at least one pressure sensing layer disposed between the top electrode layer and the bottom electrode layer. The top electrode layer has a first lead. The bottom electrode layer has a second lead. The first conductive structure electrically connects the first lead and the corresponding first electrode pattern. The second conductive structure electrically connects the second lead and the corresponding second electrode pattern.

Abstract translation: 一种压力阵列传感器模块，包括阵列电极板，多个压力感测元件，至少一个第一导电结构和至少一个第二导电结构。 阵列电极板包括衬底和布置在衬底上并具有第一电极图案和第二电极图案的电极阵列。 每个压力感测元件设置在阵列电极板上的感测位置，并且包括顶电极层，底电极层和设置在顶电极层和底电极层之间的至少一个压力感测层。 顶部电极层具有第一引线。 底部电极层具有第二引线。 第一导电结构电连接第一引线和相应的第一电极图案。 第二导电结构电连接第二引线和相应的第二电极图案。

公开(公告)号：US09073208B2

公开(公告)日：2015-07-07

申请号：US13894559

申请日：2013-05-15

Applicant: Industrial Technology Research Institute

Inventor： Wei-Der Chung ,  Yan-Chen Liu ,  Chwan-Hsen Chen ,  Cheng-Yen Li

IPC: B25J9/16 ,  B25J13/08 ,  B25J15/02

CPC classification number: B25J9/1612 ,  B25J13/082 ,  B25J15/0213 ,  G05B2219/39487 ,  G05B2219/39505

Abstract: A gripper apparatus and its control method are provided. The gripper apparatus includes at least one gripper unit, and each gripper unit is configured with a first connecting rod and a second connecting rod. In addition, there is an elastic part disposed at the joint of the first and the second connecting rods, an encoder and a controller. Thereby, the controller is enabled to control the gripper apparatus to move toward an object in a first mode so as to enable the gripper unit to engage the object and thus exert a force upon the object. Consequently, the elastic part is deformed and the deformation of the elastic part is measured and encoded by the encoder into a force information to be transmitted to the controller for enabling the controller to switch the control of the gripper apparatus into a second mode according to the force information.

Abstract translation: 提供夹具装置及其控制方法。 夹具装置包括至少一个夹持器单元，并且每个夹持单元构造有第一连接杆和第二连接杆。 此外，在第一和第二连杆的接头处设有弹性部分，编码器和控制器。 由此，控制器能够控制夹具装置以第一模式朝向物体移动，以使得夹持单元能够接合物体，从而对物体施加力。 因此，弹性部分变形，并且由编码器测量并编码弹性部分的变形为要传送到控制器的力信息，以使得控制器能够根据第二模式将夹具装置的控制切换到第二模式 强制信息。