公开(公告)号：US09156164B2

公开(公告)日：2015-10-13

申请号：US14085794

申请日：2013-11-21

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Shingo Ando ,  Ryoichi Nagai ,  Yasuyuki Inoue

IPC: B25J9/16 ,  B25J13/08

CPC classification number: B25J9/1633 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1664 ,  B25J13/085 ,  G05B2219/36429 ,  G05B2219/37357 ,  G05B2219/39188 ,  G05B2219/39325 ,  G05B2219/39343 ,  G05B2219/39347 ,  G05B2219/39348 ,  G05B2219/41387

Abstract: In a method for adjusting parameters of impedance control, an overshoot amount allowable value is set as an allowable maximum value of an overshoot amount of a time response of a force feedback from a force sensor provided for an end effector of a robot manipulator, and a setting time allowable value is set as an allowable maximum value of a setting time of the time response of the force feedback. A viscosity parameter with which the setting time is shortest is calculated while fixing the inertia parameter. An overshoot amount adjustment value and a setting time adjustment value which are obtained from a result of the calculating of the viscosity parameter are compared with the overshoot amount allowable value and the setting time allowable value, respectively, to determine whether a repeating process is finished or continued.

Abstract translation: 在调整阻抗控制参数的方法中，将过冲量允许值设定为来自设置在机器人机械手的端部执行器的力传感器的力反馈的时间响应的过冲量的容许最大值， 设定时间容许值被设定为力反馈的时间响应的设定时间的容许最大值。 在固定惯性参数的同时计算设定时间最短的粘度参数。 将从粘度参数的计算结果得到的过冲量调整值和设定时间调整值分别与过冲量允许值和设定时间容许值进行比较，以判断重复处理是否结束， 继续。

公开(公告)号：US09073215B2

公开(公告)日：2015-07-07

申请号：US14183378

申请日：2014-02-18

Applicant: KABUSHIKI KAISHA YASKAWA DENKI

Inventor： Hideo Nagata ,  Tomoyuki Sekiyama ,  Yasuyuki Inoue

IPC: G05B15/00 ,  G06F7/00 ,  G06F19/00 ,  B25J9/16

CPC classification number: B25J9/1697 ,  G05B2219/39057 ,  G05B2219/40053 ,  G05B2219/40575 ,  G05B2219/40613

Abstract: A robot system includes: a robot including a camera unit shooting an object in a container, a hand gripping the object, and a contact detector detecting that the hand contacts the container; and a robot control device, which includes a control unit causing the hand to contact the container; a contact detection unit detecting by the contact detector that the hand contacts the container, and finding a contact position thereof; a first processing unit calculating a position of the container from a stereo image of the container acquired by the camera unit; a second processing unit calculating a difference between the position of the container calculated by the first processing unit and the contact position found by the contact detection unit as a correction amount; and a third processing unit correcting information on a position in a height direction of the object in the container based on the correction amount.

Abstract translation: 机器人系统包括：机器人，其包括拍摄容器内的物体的相机单元，夹持物体的手和检测到手接触容器的接触检测器; 以及机器人控制装置，其包括使所述手接触所述容器的控制单元; 接触检测单元，由接触检测器检测到手接触容器，并找到其接触位置; 第一处理单元，从由所述照相机单元获取的容器的立体图像计算所述容器的位置; 第二处理单元，计算由第一处理单元计算的容器的位置与由接触检测单元找到的接触位置之间的差作为校正量; 以及第三处理单元，基于校正量来校正在容器中的物体的高度方向上的位置的信息。