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    CONTROL METHOD FOR SYNCHRONOUS HIGH SPEED MOTION STOP FOR MULTI-TOP LOADERS ACROSS CONTROLLERS
    3.
    发明申请
    CONTROL METHOD FOR SYNCHRONOUS HIGH SPEED MOTION STOP FOR MULTI-TOP LOADERS ACROSS CONTROLLERS 有权
    同步高速运动停止控制方法多控制器多载荷装置

    公开(公告)号：US20080288109A1

    公开(公告)日：2008-11-20

    申请号：US11750082

    申请日：2007-05-17

    申请人： Jianming Tao ,  H. Dean McGee ,  Chi-Keng Tsai ,  Ho Cheung Wong ,  Ian Orr ,  Richard Motley

    发明人： Jianming Tao ,  H. Dean McGee ,  Chi-Keng Tsai ,  Ho Cheung Wong ,  Ian Orr ,  Richard Motley

    IPC分类号： B25J9/16 ,  B25J19/06

    CPC分类号： B25J9/1666 ,  G05B19/4061 ,  G05B2219/39088 ,  G05B2219/39097

    摘要： A synchronous high speed motion stop for a series of multi-top loaders residing on “n” controllers on one rail achieves effective detection of the servo-error status and shut off of the trailing controller's servo power within 3 ITP time. The control method reduces the unnecessary error recovery because it only shuts off its immediate trailing controller without aborting its leading controller, allowing the leading controller to complete the cycle tasks. The cascade control method produces a synchronous high-speed motion stop for the robots across the controllers and effectively prevents the collision between the robots.

    摘要翻译： 一个轨道上“n”个控制器上的一系列多顶装载机的同步高速运动停止可以有效检测伺服误差状态，并在3 ITP时间内关闭拖尾控制器的伺服电源。 控制方法减少了不必要的错误恢复，因为它只会在不中断其前导控制器的情况下关闭其直接拖动控制器，从而允许前台控制器完成循环任务。 级联控制方法为机器人跨越控制器产生同步高速运动停止，并有效防止机器人之间的碰撞。

    Control method for synchronous high speed motion stop for multi-top loaders across controllers
    4.
    发明授权
    Control method for synchronous high speed motion stop for multi-top loaders across controllers 有权
    跨控制器的多顶装载机的同步高速运动停止控制方法

    公开(公告)号：US08046102B2

    公开(公告)日：2011-10-25

    申请号：US11750082

    申请日：2007-05-17

    申请人： Jianming Tao ,  H. Dean McGee ,  Chi-Keng Tsai ,  Ho Cheung Wong ,  Ian Orr ,  Richard Motley

    发明人： Jianming Tao ,  H. Dean McGee ,  Chi-Keng Tsai ,  Ho Cheung Wong ,  Ian Orr ,  Richard Motley

    IPC分类号： B25J9/16 ,  B25J19/06

    CPC分类号： B25J9/1666 ,  G05B19/4061 ,  G05B2219/39088 ,  G05B2219/39097

    摘要： A synchronous high speed motion stop for a series of multi-top loaders residing on “n” controllers on one rail achieves effective detection of the servo-error status and shut off of the trailing controller's servo power within 3 ITP time. The control method reduces the unnecessary error recovery because it only shuts off its immediate trailing controller without aborting its leading controller, allowing the leading controller to complete the cycle tasks. The cascade control method produces a synchronous high-speed motion stop for the robots across the controllers and effectively prevents the collision between the robots.

    摘要翻译： 一个轨道上“n”个控制器上的一系列多顶装载机的同步高速运动停止可以有效检测伺服误差状态，并在3 ITP时间内关闭拖尾控制器的伺服电源。 控制方法减少了不必要的错误恢复，因为它只会在不中断其前导控制器的情况下关闭其直接拖动控制器，从而允许前台控制器完成循环任务。 级联控制方法为机器人跨越控制器产生同步高速运动停止，并有效防止机器人之间的碰撞。

    Lead-through teach handle assembly and method of teaching a robot assembly
    6.
    发明授权
    Lead-through teach handle assembly and method of teaching a robot assembly 失效
    引导式教学手柄组件和教学机器人组件的方法

    公开(公告)号：US06385508B1

    公开(公告)日：2002-05-07

    申请号：US09702571

    申请日：2000-10-31

    申请人： H. Dean McGee ,  Eric C. Lee ,  Robert V. Bauer ,  Peter J. Swanson ,  Sai-Kai Cheng ,  Chi-Keng Tsai ,  Yi Sun

    发明人： H. Dean McGee ,  Eric C. Lee ,  Robert V. Bauer ,  Peter J. Swanson ,  Sai-Kai Cheng ,  Chi-Keng Tsai ,  Yi Sun

    IPC分类号： G05B1904

    CPC分类号： G05B19/423 ,  B25J9/0081 ,  G05B2219/39409 ,  G05B2219/39466 ,  G05B2219/39529 ,  G05B2219/40562

    摘要： A method of teaching a robot a desired operating path and a lead-through teach handle assembly are disclosed. A mounting mechanism mounts the entire handle assembly to an arm of the robot. The handle assembly also includes a handle that is supported by the mounting mechanism. A robot operator utilizes the handle assembly and grasps the handle to apply an external force to move the robot arm, or the operator, without the handle assembly, directly holds a tool connected to the robot arm to apply the external force at the tool. The handle assembly is characterized by a universal joint that interconnects the handle and the mounting mechanism and that accommodates orientation changes of the handle relative to the mounting mechanism that result from translational and rotational movement of the robot arm as the user is teaching the robot. The external force applied at the tool is estimated with either a force sensor disposed on the handle assembly or by monitoring the torque of motors used to move the robot. Motion commands are generated in response to the estimated force to power assist the operator in moving the robot arm. During teaching of the robot, the operator selects either a translational operating mode which limits the movement imparted on the tool only to translational movement, or a rotational operating mode which limits the movement imparted on the tool only to rotational movement.

    摘要翻译： 公开了一种向机器人教导期望的操作路径和引导教导手柄组件的方法。 安装机构将整个手柄组件安装到机器人的臂上。 手柄组件还包括由安装机构支撑的手柄。 机器人操作者利用手柄组件并抓握手柄以施加外力以移动机器人手臂或操作者而不用手柄组件，直接夹持连接到机器人手臂的工具以将外力施加在工具上。 手柄组件的特征在于，万向节将手柄和安装机构相互连接，并且当使用者正在教导机器人时，该手柄与安装机构相互相对于由机器人手臂的平移和旋转移动而相对于安装机构的方位变化。 通过设置在手柄组件上的力传感器或通过监测用于移动机器人的电动机的扭矩估计在工具处施加的外力。 响应于估计的动力来产生运动命令，以帮助操作者移动机器人手臂。 在机器人的教导期间，操作者选择将仅在刀具上施加的运动仅限于平移运动的平移操作模式，或仅将赋予刀具的运动限制为旋转运动的旋转操作模式。

    Method of controlling a robot through a singularity
    7.
    发明授权
    Method of controlling a robot through a singularity 有权
    通过奇点控制机器人的方法

    公开(公告)号：US06845295B2

    公开(公告)日：2005-01-18

    申请号：US10382387

    申请日：2003-03-06

    申请人： Sai-Kai Cheng ,  Di Xiao ,  Chi-Keng Tsai ,  H. Dean McGee ,  Min-Ren Jean

    发明人： Sai-Kai Cheng ,  Di Xiao ,  Chi-Keng Tsai ,  H. Dean McGee ,  Min-Ren Jean

    IPC分类号： B25J9/18 ,  G05B19/4103 ,  G06F19/00

    CPC分类号： G05B19/4103 ,  G05B2219/34169 ,  G05B2219/40333

    摘要： A method of controlling a robot (32) includes the steps of selecting an initial configuration from at least one of a first, second, and third sets to position a TCP at a starting point (44) along a path (33) and selecting a final configuration different than the initial configuration to position the TCP at an ending point (46). Next, the TCP moves from the starting point (44) while maintaining the initial configuration, approaches the singularity between a first point (48) and a second point (50), and selects one of the axes in response to reaching the first point (48). The angle for the selected axis is interpolated from the first point (48) to the second point (50). After the interpolation, the angles about the remaining axes are determined and positions the arms in the final configuration when the TCP reaches the second point (50) and moves to the ending point (46) while maintaining the final configuration.

    摘要翻译： 一种控制机器人（32）的方法包括以下步骤：从第一，第二和第三组中的至少一个中选择初始配置，以沿着路径（33）在起点（44）定位TCP，并选择一个 最终配置与初始配置不同，以将TCP定位在终点（46）。 接下来，TCP在保持初始配置的同时从起始点（44）移动，接近第一点（48）和第二点（50）之间的奇异点，并且响应于到达第一点而选择一个轴 48）。 所选择的轴的角度从第一点（48）插入第二点（50）。 在插补之后，当TCP到达第二点（50）并移动到终点（46）同时保持最终配置时，确定关于剩余轴的角度并将臂定位在最终配置中。

    Robot calibration system
    8.
    发明授权
    Robot calibration system 失效
    机器人校准系统

    公开(公告)号：US6070109A

    公开(公告)日：2000-05-30

    申请号：US37446

    申请日：1998-03-10

    申请人： H. Dean McGee ,  Hadi A. Akeel ,  Chi-Keng Tsai ,  Eric Lee ,  Min-Ren Jean ,  Sai-Kai Cheng

    发明人： H. Dean McGee ,  Hadi A. Akeel ,  Chi-Keng Tsai ,  Eric Lee ,  Min-Ren Jean ,  Sai-Kai Cheng

    IPC分类号： B25J9/16 ,  G05B15/00 ,  G05B19/00

    CPC分类号： B25J9/1692 ,  G05B2219/39009 ,  G05B2219/40621

    摘要： A robot calibration system includes a calibration sensor that provides an indication of when a first reference point that remains fixed relative to a robot base is a fixed distance from a second reference point that is located on the robot arm. The robot arm is moved through a plurality of orientations and each time that the fixed distance between the two reference points is achieved, robot joint position information is determined. The preferred calibration sensor includes a string that extends between the two reference points and activates a signal generator each time that the string is taut as caused by the orientation of the robot arm. The generated signal indicates that the two reference points are separated by the fixed distance. The determined robot joint positions are then used to determine a calibration factor which varies depending on the needs of a particular situation. Example calibration factors are useful for correcting errors in robot kinematic information, locating the workcell reference frame and locating the tool center point reference frame.

    摘要翻译： 机器人校准系统包括校准传感器，其提供关于何时相对于机器人基座保持固定的第一参考点与位于机器人手臂上的第二参考点的固定距离的指示。 机器人臂移动多个取向，并且每当实现两个参考点之间的固定距离时，确定机器人关节位置信息。 优选的校准传感器包括在两个参考点之间延伸的弦线，并且每当由于机器人手臂的取向引起弦线拉紧时激活信号发生器。 生成的信号表示两个参考点被分开固定距离。 然后，所确定的机器人关节位置用于确定根据特定情况的需要而变化的校准因子。 示例校准因子可用于校正机器人运动信息中的错误，定位工作单元参考系和定位刀具中心点参考系。

    Method and system for path planning in cartesian space
    10.
    发明授权
    Method and system for path planning in cartesian space 失效
    笛卡尔空间路径规划方法与系统

    公开(公告)号：US5434489A

    公开(公告)日：1995-07-18

    申请号：US100475

    申请日：1993-07-30

    申请人： Sai-Kai Cheng ,  Chi-Keng Tsai

    发明人： Sai-Kai Cheng ,  Chi-Keng Tsai

    IPC分类号： B25J9/10 ,  B25J9/16 ,  G05B19/18 ,  G05B19/4103 ,  G05B19/416 ,  G05B19/418 ,  G05B19/42

    CPC分类号： B25J9/1656 ,  G05B19/416 ,  G05B19/4182 ,  G05B2219/40523 ,  G05B2219/43005 ,  G05B2219/43009 ,  G05B2219/43105 ,  Y02P90/083 ,  Y02P90/20

    摘要： Method and system for trajectory or path planning to move a device such as a robot along a Cartesian path to achieve high path accuracy and ease of programming. Cascaded linear filters are utilized to perform acceleration/deceleration control in Cartesian space having six Cartesian components. Generally, six sets of such linear filters are used, three for location components and three for orientation components. Cartesian path blending is also provided. First and second path segments are planned and blended together and a corner distance is formed at a transition between the first and second path segments. A method is also provided for adjusting the corner distance. The corner distance is adjusted by corner distance variables which are independent of program speed so that the resultant Cartesian path can be maintained regardless of program speed changes.

    摘要翻译： 用于轨迹或路径规划的方法和系统，用于沿笛卡尔路径移动诸如机器人的设备，以实现高路径精度和易于编程。 级联线性滤波器用于在具有六个笛卡尔分量的笛卡尔空间中执行加速/减速控制。 通常使用6组这种线性滤波器，3组用于定位组件，3组用于定向组件。 还提供笛卡尔路径混合。 第一和第二路径段被计划并混合在一起，并且在第一和第二路径段之间的过渡处形成拐角距离。 还提供了一种用于调节拐角距离的方法。 通过与程序速度无关的角距离变量来调整拐角距离，以便无论程序速度变化如何，都可以维持所得到的直角轨迹。