公开(公告)号：US20030120391A1

公开(公告)日：2003-06-26

申请号：US10154961

申请日：2002-05-28

Applicant: National Inst. of Advanced Ind. Science and Tech.

Inventor： Fuminori Saito

IPC: G06F019/00

CPC classification number: B25J9/1671 ,  G05B19/425 ,  G05B2219/39449 ,  G05B2219/40097 ,  G05B2219/40125 ,  G05B2219/40323 ,  G05B2219/40503

Abstract: A robot operation teaching method and apparatus includes a three-dimensional measuring system that can measure spatial coordinates corresponding to points designated on camera images, a display able to show a space image from a camera or cameras overlaid by an image of a geometric model corresponding to the space image. A pointing device having at least two degrees of freedom is used to define work trajectories by preparing, in a model space, simple geometric elements corresponding to the actual space image. By using parametric modelling to supply definitions of geometric elements in advance, the geometric elements can be adapted for other tasks by modifying some of the geometric element assignments and parameters associated with the definitions.

Abstract translation: 机器人操作教学方法和装置包括：三维测量系统，其可以测量对应于在相机图像上指定的点的空间坐标，能够显示来自照相机的空间图像的显示器或由对应于 空间图像。 具有至少两个自由度的指示装置用于通过在模型空间中准备对应于实际空间图像的简单几何元素来定义工作轨迹。 通过使用参数建模提前提供几何元素的定义，可以通过修改与定义相关联的几个元素分配和参数中的某些几何元素来适应其他任务。

公开(公告)号：US20030102640A1

公开(公告)日：2003-06-05

申请号：US10099979

申请日：2002-03-19

Applicant: National Inst. of Advanced Ind. Science and Tech.

Inventor： Fuminori Saito

IPC: B23B031/16

CPC classification number: B25J9/104 ,  B23B31/16275 ,  B25J15/10 ,  Y10S294/902 ,  Y10T279/19 ,  Y10T279/1986

Abstract: A holding device includes a support frame; multiple pairs of holding fixtures mounted on the support frame; a holding fixture pulley attached to one holding fixture of each one pair of holding fixtures; at least one frame pulley attached to the support frame; a drive rope bridging between the holding fixture pulley and the frame pulley and having one end pulled in one direction and the other end fixed to the support frame; and a drive source that pulls the drive rope. With this configuration, when the drive rope is pulled by the drive source, holding fixtures constituting each one pair of holding fixtures are linked to move symmetrically to each other in a direction that holds an object to be held, each one pair of holding fixtures move independently of other pairs of holding fixtures, and the holding fixtures of each one pair of holding fixtures are movable toward and away from each other on a straight line or on two parallel straight lines on a plane of the support frame. The multiple pairs of holding fixtures have contact parts that contact the object when the object is being held, and at least one of the contact parts is disposed so that it is rotatable about an axis parallel to a line normal to the plane of the support frame to maintain a rolling contact with the object when holding the object.