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公开(公告)号：US11633318B2
公开(公告)日：2023-04-25
申请号：US17326874
申请日：2021-05-21
申请人： JTEKT CORPORATION
IPC分类号： A61H1/02
摘要： An assist device includes a first body-worn unit that is worn on at least shoulders or a chest of a user; a second body-worn unit that is worn on each of right and left legs or a waist of the user; a belt body provided to extend along a back side of the user, from the first body-worn unit to the second body-worn unit; an actuator provided in the first body-worn unit or the second body-worn unit and allows a part of the belt body to be reeled and unreeled; a battery configured to supply electricity to the actuator; and a controller configured to control the actuator. When a remaining charge level of the battery has decreased to a predetermined set value, the controller executes a vibrating motion process of causing the actuator to perform a vibrating motion of intermittently repeating reeling of a minute amount of the belt body.
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3.发明授权公开(公告)号：US09002519B2
公开(公告)日：2015-04-07
申请号：US13795967
申请日：2013-03-12
申请人： JTEKT Corporation
发明人： Hiromichi Ohta , Yasuharu Mukai , Kazuya Numazaki
CPC分类号： B25J9/1628 , B25J9/1633 , B25J9/1638 , B25J9/1641 , B25J9/1643 , G05B2219/40367 , G05B2219/40461 , Y10S901/09
摘要： A CPU of a robot control device calculates load torque based on the inertia force, centrifugal force or Coriolis force, gravity force, friction torque, and actuator inertia torque applied to a joint axis of each link, each time an orientation parameter indicative of the link position and orientation allowed by a redundant degree of freedom is sequentially changed, under a constraint of end-effector position and orientation as target values. The CPU obtains the link position and orientation at which the ratio of the load torque to the rated torque of a rotary actuator provided for each joint is minimized, while the orientation parameter is being changed, and provides a feed-forward value that gives rise to each load torque obtained when the ratio of the load torque to the rated torque of the rotary actuator is minimized, to a control command generated to the rotary actuator of each joint axis for achieving the end-effector position and orientation as target values.
摘要翻译： 机器人控制装置的CPU基于施加到每个链节的关节轴的惯性力，离心力或科里奥利力，重力，摩擦力矩和致动器惯性转矩来计算负载转矩，每次指示链接的取向参数 在作为目标值的末端执行器位置和方向的约束下，顺序地改变由冗余自由度允许的位置和取向。 在取向参数改变的同时，CPU获得链接位置和方向，在该位置和方向上，为每个接头设置的旋转致动器的负载转矩与额定转矩的比例最小化，并且提供一个前馈值， 当将负载转矩与旋转致动器的额定转矩的比率最小化时获得的每个负载转矩相对于为了实现末端执行器位置和方位而成为每个关节轴的旋转致动器的控制指令作为目标值。
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公开(公告)号：US10710237B2
公开(公告)日：2020-07-14
申请号：US15920502
申请日：2018-03-14
申请人： JTEKT CORPORATION
摘要： An assist device includes a body wearing unit and an actuator unit. The actuator unit includes an output link configured to pivot about a joint of an assist target body part and to be attached to the assist target body part; an actuator including an output shaft configured to generate an assist torque via the output link; a torque determination unit configured to determine a combined torque obtained by combining a user torque and the assist torque from the output shaft, the user torque being input from the output link when the user causes the assist target body part to pivot; a correction unit configured to calculate a correction amount for the determined combined torque; and a pivot angle control unit configured to control a pivot angle of the output shaft based on the determined combined torque and the calculated correction amount.
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公开(公告)号：US10386207B2
公开(公告)日：2019-08-20
申请号：US15431151
申请日：2017-02-13
申请人： JTEKT CORPORATION
发明人： Yoshitaka Yoshimi , Hiromichi Ohta
摘要： A frequency detector includes an oscillation related information output portion to which moving body position related information and a correction parameter are input, and which outputs a frequency adjustment parameter and estimated moving body position related information; a frequency estimating portion to which the frequency adjustment parameter is input, and which outputs an estimated frequency; and an adjusting portion to which the moving body position related information, the estimated moving body position related information, and the estimated frequency are input, and which outputs the correction parameter.
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公开(公告)号：US09014853B2
公开(公告)日：2015-04-21
申请号：US13785650
申请日：2013-03-05
申请人： JTEKT Corporation
发明人： Hiromichi Ohta , Yasuharu Mukai , Kazuya Numazaki
CPC分类号： B25J9/1674 , B25J9/1682 , B25J9/1692 , G05B2219/39048 , G05B2219/39049 , G05B2219/39051 , Y10S901/02
摘要： A pair of manipulators are caused to take a plurality of attitudes in a state where distal ends of the manipulators are coupled to each other, coordinates of joints between links at each attitude change are acquired on the basis of detection signals, at each attitude change, of rotary encoders provided for servomotors that drive the links of the manipulators, and a position and attitude of an installation point of a slave robot with reference to an installation point of a master robot are calculated on the basis of the joint coordinates acquired at the corresponding attitude change in a forward kinematics manner. A deviation vector for each attitude change between actual measured values of the installation point of the slave robot and the calculated values of the installation point of the slave robot is calculated, and robot constants of both manipulators are identified from the deviation vector.
摘要翻译： 在操纵器的远端彼此连接的状态下，使一对操纵器采取多种态度，在每个姿势变化时，基于检测信号获取每个姿势变化处的链节之间的关节的坐标， 为驱动机械手的连杆的伺服电动机提供的旋转编码器，参照主机器人的安装点，计算从机器人的安装点的位置和姿势， 以正向运动学方式改变态度。 计算从机器人的安装点的实际测量值与从机器人的安装点的计算值之间的每个姿态变化的偏差矢量，并根据偏差矢量识别两个操纵器的机器人常数。
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9.发明申请公开(公告)号：US20130245829A1
公开(公告)日：2013-09-19
申请号：US13795967
申请日：2013-03-12
申请人： JTEKT CORPORATION
发明人： Hiromichi Ohta , Yasuharu Mukai , Kazuya Numazaki
IPC分类号： B25J9/16
CPC分类号： B25J9/1628 , B25J9/1633 , B25J9/1638 , B25J9/1641 , B25J9/1643 , G05B2219/40367 , G05B2219/40461 , Y10S901/09
摘要： A CPU of a robot control device calculates load torque based on the inertia force, centrifugal force or Coriolis force, gravity force, friction torque, and actuator inertia torque applied to a joint axis of each link, each time an orientation parameter indicative of the link position and orientation allowed by a redundant degree of freedom is sequentially changed, under a constraint of end-effector position and orientation as target values. The CPU obtains the link position and orientation at which the ratio of the load torque to the rated torque of a rotary actuator provided for each joint is minimized, while the orientation parameter is being changed, and provides a feed-forward value that gives rise to each load torque obtained when the ratio of the load torque to the rated torque of the rotary actuator is minimized, to a control command generated to the rotary actuator of each joint axis for achieving the end-effector position and orientation as target values.
摘要翻译： 机器人控制装置的CPU基于施加到每个链节的关节轴的惯性力，离心力或科里奥利力，重力，摩擦力矩和致动器惯性转矩来计算负载转矩，每次指示链接的取向参数 在作为目标值的末端执行器位置和方向的约束下，顺序地改变由冗余自由度允许的位置和取向。 在取向参数改变的同时，CPU获得链接位置和方向，在该位置和方向上，为每个接头设置的旋转致动器的负载转矩与额定转矩的比例最小化，并且提供一个前馈值， 当将负载转矩与旋转致动器的额定转矩的比率最小化时获得的每个负载转矩相对于为了实现末端执行器位置和方位而成为每个关节轴的旋转致动器的控制指令作为目标值。
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