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公开(公告)号：US20210339392A1
公开(公告)日：2021-11-04
申请号：US17369965
申请日：2021-07-08
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Hiroyuki HANDA , Koji SOKABE , Keita SHIMAMOTO , Masaru ADACHI , Ryokichi HIRATA
IPC: B25J9/16
Abstract: A robot control system includes circuitry configured to: determine a necessity of assisting a robot to complete an automated work, based on environment information of the robot; select a remote operator from candidate remote operators based on stored operator data in response to determining that it is necessary to assist the robot to complete the automated work; transmit the environment information to the selected remote operator via a communication network; receive an operation instruction based on the environment information from the selected remote operator via the communication network; and control the robot to complete the automated work based on the operation instruction.
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公开(公告)号：US20240383142A1
公开(公告)日：2024-11-21
申请号：US18788129
申请日：2024-07-30
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Akihiro YAMAMOTO , Shingo ANDO , Masaru ADACHI , Keita SHIMAMOTO , Jiro MURAOKA
Abstract: A robot system includes: a first link that is a part of a robotic arm; a first motor that moves according to a rotation of the first link; a first sensor having a fixed location with respect to the first motor; and a memory configured to store first position information indicating a relative position of the first sensor with respect to a first reference position of the first motor.
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公开(公告)号：US20210359625A1
公开(公告)日：2021-11-18
申请号：US17386539
申请日：2021-07-28
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Keita SHIMAMOTO , Koji UEMURA
Abstract: A motor control system includes a motor, an encoder, and a controller including a controller transmitter configured to transmit a torque command to control the motor. The encoder includes a position detector configured to detect a rotational position of the motor, an encoder receiver configured to receive the torque command from the controller transmitter, first disturbance estimating circuitry configured to estimate a first disturbance torque based on the rotational position and the torque command, and an encoder transmitter configured to transmit the rotational position and the first disturbance torque to the controller.
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公开(公告)号：US20230249339A1
公开(公告)日：2023-08-10
申请号：US18164627
申请日：2023-02-06
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Keita SHIMAMOTO , Toshiyuki MURAKAMI
IPC: B25J9/16
CPC classification number: B25J9/1607 , B25J9/1653 , B25J9/1633
Abstract: A robot control system includes circuitry configured to: acquire velocity of a robot in a working space in which the robot processes a workpiece based on a force control axis and a position control axis, the velocity being along the force control axis; select an equivalent mass matrix representing a relationship between acceleration and force in the working space, based on the acquired velocity, from a first equivalent mass matrix corresponding to the velocity being zero and a second equivalent mass matrix corresponding to the velocity not being zero; and generate a control signal for controlling the robot based on the selected equivalent mass matrix.
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公开(公告)号：US20220371203A1
公开(公告)日：2022-11-24
申请号：US17816727
申请日：2022-08-02
Inventor： Masayuki FUJITA , Takeshi HATANAKA , Junya YAMAUCHI , Kosei NODA , Keita SHIMAMOTO , Koji SOKABE , Ryokichi HIRATA , Masaru ADACHI
Abstract: A robot control system includes circuitry configured to: acquire an input command value indicating a manipulation of a robot by a subject user; acquire a current state of the robot and a target state associated with the manipulation of the robot; determine a state difference between the current state and the target state; acquire from a learned model, a degree of distribution associated with a motion of the robot, based on the state difference, wherein the learned model is generated based on a past robot manipulation; set a level of assistance to be given during the manipulation of the robot by the subject user, based on the degree of distribution acquired; and generate an output command value for operating the robot, based on the input command value and the level of assistance.
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Patent Agency Ranking
公开(公告)号：US20190044467A1
公开(公告)日：2019-02-07
申请号：US16053807
申请日：2018-08-03
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Keita SHIMAMOTO , Shinya MORIMOTO
Abstract: A control device includes an estimation module configured to repeatedly calculate an angle estimation value correlated with a magnetic pole position of a rotating electric machine, and a storage module configured to store the angle estimation value. The estimation module includes a response information calculation module configured to calculate response information indicating a current change resulting from a change in an output voltage to the rotating electric machine or a voltage change resulting from a change in an output current to the rotating electric machine, a coefficient calculation module configured to calculate an interference coefficient correlated with electromagnetic mutual interference between coordinate axes of an orthogonal coordinate system of the rotating electric machine based on a past angle estimation value stored in the storage module, and an angle calculation module configured to calculate an angle estimation value based on the response information and the interference coefficient.
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公开(公告)号：US20240030850A1
公开(公告)日：2024-01-25
申请号：US18481267
申请日：2023-10-05
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Keita SHIMAMOTO , Shinya MORIMOTO
CPC classification number: H02P21/14 , G01R27/2611
Abstract: A power conversion device includes a power conversion circuit that converts primary-side power to secondary-side power and supplies the secondary-side power to an electric motor, and circuitry including a voltage command generator that generates a voltage command in a rotating coordinate system that rotates in synchronization with a magnetic pole position of the electric motor, based on a current command in the rotating coordinate system and a mutual inductance between a first coordinate axis and a second coordinate axis of the rotating coordinate system, and a controller that controls the power conversion circuit to apply a secondary-side voltage corresponding to the voltage command to the electric motor.
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公开(公告)号：US20230010302A1
公开(公告)日：2023-01-12
申请号：US17932298
申请日：2022-09-15
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Keita SHIMAMOTO , Koji SOKABE , Ryokichi HIRATA , Masaru ADACHI
Abstract: A robot control system includes circuitry configured to: generate a command to a robot; receive a frame image in which a capture position changes according to a motion of the robot based on the command; extract a partial region from the frame image according to the command; superimpose a delay mark on the partial region to generate an operation image; and display the operation image on a display device, so as to represent a delay of the motion of the robot with respect to the command.
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公开(公告)号：US20230006590A1
公开(公告)日：2023-01-05
申请号：US17574581
申请日：2022-01-13
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Keita SHIMAMOTO , Tsuyoshi YOKOYA
IPC: H02P23/14
Abstract: A control system may include: a motor configured to power a driven object; and circuitry configured to: generate a first driving force command to drive the motor during a first control; estimate a first force acting on the motor during the first control based, at least in part, on the first driving force command; generate a second driving force command to drive the motor during a second control after the first control; estimate a second force acting on the motor during the second control based, at least in part, on the second driving force command; and estimate an external force acting on the driven object during the second control based, at least in part, on a comparison between the first force and the second force.
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公开(公告)号：US20220134553A1
公开(公告)日：2022-05-05
申请号：US17574577
申请日：2022-01-13
Applicant: KABUSHIKI KAISHA YASKAWA DENKI
Inventor： Keita SHIMAMOTO , Koji UEMURA
Abstract: A robot system includes: a robot comprising a joint driven by a motor; and a circuitry configured to: execute position control of the motor based on position commands; store torque commands generated based on the position commands during execution of the position control of the motor; and execute torque control of the motor based on the stored torque commands.
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