公开(公告)号：US08826766B2

公开(公告)日：2014-09-09

申请号：US13845295

申请日：2013-03-18

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Ken'ichi Yasuda ,  Takahiro Maeda

IPC: B25J9/00 ,  G05B15/00 ,  B25J17/00 ,  B25J18/00 ,  B25J9/16

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。

公开(公告)号：US08892254B2

公开(公告)日：2014-11-18

申请号：US13759050

申请日：2013-02-05

Applicant: Kabushiki Kaisha Yaskawa Denki

Inventor： Takahiro Maeda

IPC: G06F19/00 ,  B25J9/16 ,  G05B19/418 ,  G01N1/31

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：US12138799B2

公开(公告)日：2024-11-12

申请号：US17679156

申请日：2022-02-24

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Takahiro Maeda

IPC: B25J9/16 ,  G05B19/4155

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.