公开(公告)号：US11757385B2

公开(公告)日：2023-09-12

申请号：US17386539

申请日：2021-07-28

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Keita Shimamoto ,  Koji Uemura

IPC: H02P6/10 ,  H02P6/17 ,  H02P29/40 ,  G01D5/245 ,  H02P23/00 ,  H02P23/04 ,  H02P23/14

CPC classification number: H02P6/10 ,  G01D5/2454 ,  H02P6/17 ,  H02P23/0004 ,  H02P23/04 ,  H02P23/14 ,  H02P29/40

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.

公开(公告)号：US11750133B2

公开(公告)日：2023-09-05

申请号：US17574581

申请日：2022-01-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Keita Shimamoto ,  Tsuyoshi Yokoya

IPC: H02P23/14

CPC classification number: 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.

公开(公告)号：US10135375B2

公开(公告)日：2018-11-20

申请号：US15461485

申请日：2017-03-17

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingo Fukumaru ,  Keita Shimamoto ,  Shinya Morimoto

IPC: H02P6/16 ,  H02P21/22 ,  H02P6/14 ,  H02P27/08 ,  H02M7/5387

Abstract: A rotation controller for an AC electric motor includes a space vector generator, a current change ratio obtainer, and a rotational angle calculator. The space vector generator generates at least a first magnetic field in a first direction and a second magnetic field in a second direction crossing the first direction in a rotation plane of a saliency-exhibiting rotor. The space vector generator synthesizes the first magnetic field and the second magnetic field into a synthesized magnetic field. The current change ratio obtainer acquires a first current change ratio of a first current generated in the first direction in a stator and a second current change ratio of a second current generated in the second direction in the stator. The rotational angle calculator calculates a rotational angle of the saliency-exhibiting rotor based on at least the first and second current change ratios and the first and second directions.

公开(公告)号：US11931895B2

公开(公告)日：2024-03-19

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

CPC classification number: B25J9/163 ,  B25J9/1689 ,  B25J9/161 ,  B25J9/1664 ,  G05B2219/39212 ,  G05B2219/40153

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.

公开(公告)号：US10666178B2

公开(公告)日：2020-05-26

申请号：US16053807

申请日：2018-08-03

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Keita Shimamoto ,  Shinya Morimoto

IPC: H02P21/00 ,  H02P21/09 ,  H02P21/18 ,  H02P6/18 ,  H02P21/24

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.

公开(公告)号：US12290926B2

公开(公告)日：2025-05-06

申请号：US18164627

申请日：2023-02-06

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Keita Shimamoto ,  Toshiyuki Murakami

IPC: B25J9/16

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.

公开(公告)号：US12226914B2

公开(公告)日：2025-02-18

申请号：US17932298

申请日：2022-09-15

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Keita Shimamoto ,  Koji Sokabe ,  Ryokichi Hirata ,  Masaru Adachi

IPC: B25J9/16 ,  B25J13/08 ,  B25J19/02 ,  G06V20/40

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.

公开(公告)号：US12138796B2

公开(公告)日：2024-11-12

申请号：US17574577

申请日：2022-01-13

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Keita Shimamoto ,  Koji Uemura

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

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.

公开(公告)号：US12109682B2

公开(公告)日：2024-10-08

申请号：US17816727

申请日：2022-08-02

Applicant: TOKYO INSTITUTE OF TECHNOLOGY ,  KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Masayuki Fujita ,  Takeshi Hatanaka ,  Junya Yamauchi ,  Kosei Noda ,  Keita Shimamoto ,  Koji Sokabe ,  Ryokichi Hirata ,  Masaru Adachi

IPC: B25J13/00 ,  B25J9/16 ,  B25J13/06

CPC classification number: B25J13/06 ,  B25J9/163

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.