公开(公告)号：US4730258A

公开(公告)日：1988-03-08

申请号：US793229

申请日：1985-10-31

申请人： Kenji Takeda ,  Shunji Mohri ,  Kichie Matsuzaki ,  Seiji Hata ,  Kenji Suzuki

发明人： Kenji Takeda ,  Shunji Mohri ,  Kichie Matsuzaki ,  Seiji Hata ,  Kenji Suzuki

IPC分类号： G05B15/02 ,  B25J9/16 ,  G05B19/4093 ,  G05B19/418 ,  G06F1/00 ,  G06F15/46

CPC分类号： G05B19/41845 ,  G05B19/40936 ,  G05B19/4185 ,  G05B2219/13019 ,  G05B2219/13022 ,  G05B2219/36016 ,  Y02P90/16 ,  Y02P90/18 ,  Y02P90/265

摘要： A system for carrying out a cooperative control operation for a plurality of automated devices connected together in which the individual operations of the automated device can be controlled individually in accordance with a program. In the control method in this system, the controlling of various automated devices is practiced by inputting a program described in a language which has a unified system, and translating this program in accordance with the combination of the automated devices.

摘要翻译： 一种用于对连接在一起的多个自动化装置进行协同控制操作的系统，其中可以根据程序单独地控制自动装置的各个操作。 在该系统的控制方法中，通过输入以具有统一系统的语言描述的程序，并根据自动化装置的组合来翻译该程序来实现各种自动化装置的控制。

公开(公告)号：US4670849A

公开(公告)日：1987-06-02

申请号：US595363

申请日：1984-03-30

申请人： Takushi Okada ,  Shunji Mohri

发明人： Takushi Okada ,  Shunji Mohri

IPC分类号： B25J9/18 ,  G05B19/408 ,  G06F15/46 ,  G05B13/00

CPC分类号： G05B19/4083

摘要： A position error correcting method and apparatus suitable for operating an industrial robot with high accuracy, in which, after the industrial robot disposed on a working site is moved according to position command values, the moved position of a measurement point on the industrial robot is measured three-dimensionally, and a position error of the industrial robot between the robot coordinate system relating to the operation of the industrial robot and the absolute coordinate system of the industrial robot on its working site is computed by comparing the measured position values of the measurement point with the position command values. The work program prepared for the operation of the industrial robot is modified on the basis of the computed position error so that the industrial robot can be operated in accordance with the work program from which the source of the position error has been eliminated.

摘要翻译： 一种位置误差校正方法和装置，适用于高精度地操作工业机器人，其中，根据位置指令值移动设置在工作现场的工业机器人后，测量工件机器人上的测量点的移动位置 通过将测量点的测量位置值进行比较，计算工业机器人在与工业机器人的操作有关的机器人坐标系与其工作场所的绝对坐标系之间的位置误差 与位置命令值。 基于计算出的位置误差修改为工业机器人的操作准备的工作程序，使得可以根据消除了位置误差源的工作程序来操作工业机器人。

公开(公告)号：US07241044B1

公开(公告)日：2007-07-10

申请号：US08483885

申请日：1995-06-07

申请人： Koichi Kitamura ,  Shigeru Masuda ,  Shunji Mohri ,  Tadamasa Kamikubo

发明人： Koichi Kitamura ,  Shigeru Masuda ,  Shunji Mohri ,  Tadamasa Kamikubo

IPC分类号： G06F19/00

CPC分类号： G05B19/41865 ,  G05B2219/32256 ,  G05B2219/32272 ,  G05B2219/32277 ,  G05B2219/32283 ,  G05B2219/32326 ,  Y02P90/20 ,  Y02P90/285

摘要： An autonomous and decentralized production control system comprising a plurality of production cells for performing the assembly and machining work. Each production cell proceeds with the production procedure by performing jobs in accordance with the works charged thereinto. A first embodiment comprises working cells each including a device for determining the working cell for executing an intended job. A second embodiment comprises a pallet for carrying an object of a job, and a device for determining the order of job priority in order to meet the product delivery time. Each working cell decides on the advisability and time of performing the job on the object, thereby autonomously implementing the production control.

摘要翻译： 一种自主和分散的生产控制系统，包括用于执行组装和加工工作的多个生产单元。 每个生产单元根据其中填写的工程进行工作。 第一实施例包括工作单元，每个单元包括用于确定用于执行预期作业的工作单元的设备。 第二实施例包括用于承载作业对象的托盘，以及用于确定作业优先顺序以便满足产品交付时间的装置。 每个工作单元决定在对象上执行作业的可行性和时间，从而自主实施生产控制。

公开(公告)号：US5021970A

公开(公告)日：1991-06-04

申请号：US253154

申请日：1988-10-04

申请人： Shunji Mohri ,  Akira Ashida

发明人： Shunji Mohri ,  Akira Ashida

IPC分类号： B25J9/22 ,  G05B19/18 ,  G05B19/404 ,  G05B19/408 ,  G05B19/42 ,  G05B19/425

CPC分类号： G05B19/4083 ,  G05B19/425

摘要： In a robot having a servo control section for driving an actuator, an arithmetic operating unit, memories, and input and output devices, a method and apparatus provide teaching data from one robot to another. First, there is detection of mechanism errors peculiar to a particular robot of interest. Standard position information obtained from the result of a teaching operation and compensation of the mechanism errors of another robot is used with the mechanism errors of the particular robot to calculate the corrected standard position information (teaching data for the particular robot). This information is derived by subtracting the mechansim errors of the particular robot from that standard position information to produce the teaching data for the particular robot.

公开(公告)号：US4831548A

公开(公告)日：1989-05-16

申请号：US922454

申请日：1986-10-23

申请人： Hideaki Matoba ,  Shunji Mohri ,  Masaru Ishikawa

发明人： Hideaki Matoba ,  Shunji Mohri ,  Masaru Ishikawa

IPC分类号： G05B19/42 ,  B25J9/18 ,  G05B19/4063 ,  G05B19/4093 ,  G05B19/425

CPC分类号： G05B19/425 ,  G05B2219/35461 ,  G05B2219/36017

摘要： Disclosed is a teaching apparatus for a robot comprising a graphic display capable of displaying characters, symbols, and figures, a pointing device capable of indicating any point on the display screen, a storage for storing character, symbol, and graphic information, and an arithmetic and logic unit for taking in three dimensional data and data of hand coordinates system stored in the storage, calculating a conversion matrix t.sub.v for conversion to data of hand coordinates system and a conversion matrix T.sub.p for projection to the hand coordinates system, converting three dimensional data to two dimensional data according to the thus calculated conversion matrices T.sub.v and T.sub.p, and allowing a display of surroundings viewed from a view point of the robot in motion or at rest to be made on the graphic display.

摘要翻译： 公开了一种用于机器人的教学装置，其包括能够显示字符，符号和图形的图形显示器，能够指示显示屏幕上的任何点的指示设备，用于存储字符，符号和图形信息的存储器，以及算术 以及用于获取存储在存储器中的手坐标系的三维数据和数据的逻辑单元，计算用于转换为手坐标系数据的转换矩阵tv和用于投影到手坐标系的转换矩阵Tp，将三维数据 根据如此计算出的转换矩阵Tv和Tp的二维数据，并且允许从机器人的运动或静止的视点观看的环境的显示在图形显示器上进行。

公开(公告)号：US4712189A

公开(公告)日：1987-12-08

申请号：US663944

申请日：1984-10-23

申请人： Shunji Mohri

发明人： Shunji Mohri

IPC分类号： G06F9/45 ,  G06F9/00

CPC分类号： G06F8/427 ,  G06F8/41

摘要： A table driven translator is provided which is capable of translating an input language into a machine-oriented language and handing changes in the syntax of the language inputted to a computer by rewriting a translation rule table. The translator comprises an input device for inputting an input language to the computer, an internal storage for storing a name table for registering keywords associated with the syntax of the input language and characteristics of variable contained in the input language, and for storing an interpretation table for indicating procedures to control a flow of processing for interpreting the input language, and a control device for searching the name table to obtain an address of a location in the internal store device at which desired reserved words or a keyword is stored and to obtain from the name table an attribute of the keyword and variable and for checking whether or not the reserved word coincides with the input language syntax by a comparator comparing the attribute with an attribute stored in a field at a location indicated by a table pointer in the interpretation table, that is, the reserved word is assumed to be conforming to the input language syntax if these attributes are equal to each other, thereby to execute an interpretation processing and to translate the input language into a machine-oriented language suitable for a desired computer. The maintainability and expandability of language processing in the computer is improved.

摘要翻译： 提供了一种表驱动的翻译器，其能够将输入语言翻译成面向机器的语言，并且通过重写翻译规则表来处理输入到计算机的语言的语法的改变。 翻译器包括用于向计算机输入输入语言的输入设备，用于存储用于登记与输入语言的语法相关联的关键字的名称表和包含在输入语言中的变量的特征的内部存储器，以及用于存储解释表 用于指示用于控制用于解释输入语言的处理流程的过程;以及控制设备，用于搜索该名称表以获得内部存储设备中存储期望的保留字或关键字的位置的地址，并从 名称表是关键字和变量的属性，并且用于通过比较器来检查保留字是否与输入语言语法一致，比较该属性与存储在解释表中的表指针所指示的位置处的字段中的属性 ，也就是说，如果这些属性是保留字，则假定它符合输入语言语法 彼此相等，从而执行解释处理并将输入语言转换成适合于期望计算机的面向机器的语言。 计算机语言处理的可维护性和可扩展性得到提高。

公开(公告)号：US5162713A

公开(公告)日：1992-11-10

申请号：US599020

申请日：1990-10-17

申请人： Shunji Mohri ,  Akira Miyakawa

发明人： Shunji Mohri ,  Akira Miyakawa

IPC分类号： B25J9/10 ,  B25J9/16 ,  G05B19/18

CPC分类号： B25J9/1692 ,  G05B2219/39233

摘要： An origin of a robot coordinate system is determined exactly as a center of a circular arc described by actuating a first axis only thereof and marking at least three points on a horizontally arranged sheet, at which an origin of an absolute coordinate system is set. In order to obtain the relationship between two coordinate system, making the both origin coincide with each other, then two y axis symmetrical points are measured to determine y axis. Then another two points are measured to obtain structural errors. Using structural errors, compensation of a numerical instructed point is carried out to make the robot position with high accuracy. Further, in order to remove backlash of the driving system, an intermediate point is set on a route toward a certain positioning point so that the driving system always rotates in one direction by some amount when moved to the final, aimed point.

摘要翻译： 机器人坐标系的原点确定为圆弧的中心，通过仅驱动第一轴并标记设置绝对坐标系的原点的水平布置的片上的至少三个点来描述。 为了获得两个坐标系之间的关系，使两个原点相互重合，然后测量两个y轴对称点以确定y轴。 然后测量另外两点以获得结构误差。 使用结构误差，进行数字指示点的补偿，使机器人的位置精度高。 此外，为了消除驱动系统的间隙，将中间点设置在朝向某一定位点的路线上，使得当移动到最终目标点时，驱动系统总是在一个方向上旋转一定量。

公开(公告)号：USRE33706E

公开(公告)日：1991-10-01

申请号：US304118

申请日：1989-01-31

申请人： Shunji Mohri

发明人： Shunji Mohri

IPC分类号： G06F9/45

CPC分类号： G06F8/427 ,  G06F8/41

摘要： A table driven translator is provided which is capable of translating an input language into a machine-oriented language and handing changes in the syntax of the language inputted to a computer by rewriting a translation rule table. The translator comprises an input device for inputting an input language to the computer, an internal storage for storing a name table for registering keywords associated with the syntax of the input language and characteristics of variable contained in the input language, and for storing an interpretation table for indicating procedures to control a flow of processing for interpreting the input language, and a control device for searching the name table to obtain an address of a location in the internal store device at which desired reserved words or a keyword is stored and to obtain from the name table an attribute of the keyword and variable and for checking whether or not the reserved word coincides with the input language syntax by a comparator comparing the attribute with an attribute stored in a field at a location indicated by a table pointer in the interpretation table, that is, the reserved word is assumed to be conforming to the input language syntax if these attributes are equal to each other, thereby to execute an interpretation processing and to translate the input language into a machine-oriented language suitable for a desired computer. The maintainability and expandability of language processing in the computer is improved.