公开(公告)号：US20230249347A1

公开(公告)日：2023-08-10

申请号：US18164631

申请日：2023-02-06

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takahiro MAEDA ,  Motoharu MARUNO ,  Yuta ARITA

IPC: B25J9/16

CPC classification number: B25J9/1666 ,  B25J9/1671

Abstract: A robot system include: a robot; and circuitry configured to: sequentially call a plurality of commands representing an operation path of the robot including an undetermined section; generate an additional path for the undetermined section; and operate the robot based on a command called from the plurality of commands and the additional path, wherein the circuitry is configured to generate the additional path based on surrounding environment information of the robot during operation of the robot based on the called command.

公开(公告)号：US20230286153A1

公开(公告)日：2023-09-14

申请号：US18178536

申请日：2023-03-06

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takahiro MAEDA ,  Yuta ARITA ,  Motoharu MARUNO

IPC: B25J9/16 ,  B25J9/00 ,  G05B19/425

CPC classification number: B25J9/1664 ,  B25J9/0081 ,  G05B19/425 ,  G05B2219/39001

Abstract: A robot system includes: a robot; a robot controller configured to control the robot based on sequential taught positions; and a teaching device communicative with the robot controller and configured to receive operations by an operator, wherein the robot controller includes circuitry configured to: generate, in response to determining that a target position is designated by the operator on the teaching device, a path from a current position of the robot to the target position by simulation of moving the robot based on surrounding environmental information of the robot; and move the robot toward the target position along the generated path.

公开(公告)号：US20150375391A1

公开(公告)日：2015-12-31

申请号：US14535322

申请日：2014-11-07

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takahiro MAEDA

IPC: B25J9/16

CPC classification number: B25J9/163 ,  B25J9/1679 ,  G05B19/425 ,  G05B2219/39246 ,  Y10S901/03

Abstract: A teaching system according to embodiments includes a data acquiring unit and a job generating unit. The data acquiring unit acquires data including an initial attitude of a tool, a final attitude of the tool, a rotation center axis of a handled object, and a rotation angle of the handled object about the rotation center axis, in a robot that performs an operation of holding and rotating the handled object with the tool. Based on the data acquired by the data acquiring unit, the job generating unit generates a job program that operates the actual robot so that the tool is brought into the initial attitude, and then brought into the final attitude after the handled object is rotated by the rotation angle about the rotation center axis.

Abstract translation: 根据实施例的教学系统包括数据获取单元和作业生成单元。 数据获取单元在执行工具的机器人中获取包括工具的初始姿态，工具的最终姿势，被处理对象的旋转中心轴和被处理对象围绕旋转中心轴的旋转角度的数据 用工具握住和旋转被处理物体的操作。 基于由数据获取单元获取的数据，作业生成单元生成操作实际机器人的作业程序，使得工具进入初始姿态，然后在被处理对象旋转之后进入最终姿态 围绕旋转中心轴的旋转角度。

公开(公告)号：US20230286143A1

公开(公告)日：2023-09-14

申请号：US18178533

申请日：2023-03-06

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Motoharu MARUNO ,  Takahiro MAEDA ,  Yuta ARITA

IPC: B25J9/16

CPC classification number: B25J9/163 ,  B25J9/1661 ,  B25J9/1633 ,  B25J9/1697 ,  B25J9/161 ,  B25J9/1666

Abstract: A robot system includes a storage device configured to store a predefined work requirement that indicates a processing target region of a workpiece to be processed by a robot, and circuitry configured to recognize an environment of a working space in which the workpiece is placed, as a work environment. The work environment includes a position and a posture of the workpiece placed in the working space. The circuitry is further configured to identify the processing target region of the workpiece placed in the working space, based on the position and posture of the workpiece placed in the working space. The circuitry is further configured to generate, in real-time, a path of the robot to operate on the identified processing target region based on the work requirement and the identified processing target region; and control the robot based on the generated path.

公开(公告)号：US20220274253A1

公开(公告)日：2022-09-01

申请号：US17679156

申请日：2022-02-24

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takahiro MAEDA

IPC: B25J9/16

Abstract: A robot control system includes robot controller circuitry that controls a robot, and host controller circuitry that communicates with the robot controller circuitry. The host controller circuitry further executes a control program, and transmits a command according to an execution result of the control program to the robot controller circuitry, and the robot controller circuitry further receives the command from the host controller circuitry, and executes pre-processing according to the command.

公开(公告)号：US20140114476A1

公开(公告)日：2014-04-24

申请号：US13759050

申请日：2013-02-05

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takahiro MAEDA

IPC: G05B19/418

CPC classification number: G05B19/418 ,  B25J9/1682 ,  G01N1/312

Abstract: A robot controller includes queues, a storage unit, and an execution control unit. The queues are provided for respective controlled groups serving as controlled units. The storage unit stores therein instructions directed to the respective controlled groups, one at a time, from a bottom end of each of the queues. When having accepted a predetermined operation request, the execution control unit simultaneously fetches the instructions directed to the controlled groups, one for each of the controlled groups at a time, from tops of the queues, and makes all of the controlled groups simultaneously start the operations based on such instructions. If there is any controlled group to which no corresponding instruction exists, the storage unit stores therein a no-operation instruction. If the fetched instruction is the no-operation instruction, the execution control unit keeps the controlled group from operating until an instruction is fetched next time.

Abstract translation: 机器人控制器包括队列，存储单元和执行控制单元。 为作为受控单位的各个受控组提供队列。 存储单元从每个队列的底端存储指向每个受控组的指令，每次一个。 当接受预定的操作请求时，执行控制单元同时从队列顶部取出指向受控组的指令，每一个受控组一个，并使所有受控组同时开始操作 基于这样的指示。 如果存在没有对应指令的任何受控组，则存储单元存储无操作指令。 如果获取的指令是无操作指令，则执行控制单元保持受控组不工作，直到下一次获取指令。

公开(公告)号：US20240424677A1

公开(公告)日：2024-12-26

申请号：US18826463

申请日：2024-09-06

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Yuta ARITA ,  Takahiro MAEDA ,  Hiroshi KUMAGAI

IPC: B25J9/16

Abstract: A control system include: a robot controller configured to control a robot; and a computation circuitry configured to communicate with the robot controller, wherein the robot controller includes a first memory in which state information of the robot is stored, and wherein the computation circuitry includes: a second memory a content of which is synchronized with a content of the first memory; and a processor configured to execute an application that performs a computation related to control of the robot based on the content of the second memory.

公开(公告)号：US20130213172A1

公开(公告)日：2013-08-22

申请号：US13845295

申请日：2013-03-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Ken'ichi YASUDA ,  Takahiro MAEDA

IPC: B25J9/16 ,  B25J17/00 ,  B25J18/00

CPC classification number: B25J9/1674 ,  B25J17/00 ,  B25J18/00 ,  G05B15/00 ,  Y10S901/02 ,  Y10S901/27 ,  Y10T74/20329

Abstract: From a desired wrist joint position and a desired elbow rotation angle, a temporary elbow joint position is calculated on the assumption that a distance between a shoulder joint and an elbow joint is fixed. The shoulder joint has a first axis, a second axis, and a third axis, and the elbow joint has a fourth axis. From the calculated temporary elbow joint position, temporary angles of the first and second axes or temporary angles of the first to fourth axes are determined. The temporary angles are corrected in accordance with at least one evaluation function calculated from the temporary angles.

Abstract translation: 根据期望的腕关节位置和期望的肘关节旋转角度，假设肩关节和肘关节之间的距离是固定的，则计算临时肘关节位置。 肩关节具有第一轴线，第二轴线和第三轴线，并且肘关节具有第四轴线。 从计算出的临时肘关节位置，确定第一轴和第二轴的临时角度或第一至第四轴的临时角度。 临时角度根据从临时角度计算的至少一个评估函数进行校正。