公开(公告)号：US20140343729A1

公开(公告)日：2014-11-20

申请号：US14446945

申请日：2014-07-30

Applicant: Panasonic Corporation

Inventor： Yudai FUDABA ,  Yuko TSUSAKA ,  Jun OZAWA

IPC: B25J9/16

CPC classification number: B25J9/1633 ,  B25J13/00 ,  B25J13/06 ,  G05B2219/36429 ,  G05B2219/39427 ,  G06F3/041 ,  G06F2203/04105 ,  Y10S901/09

Abstract: In a touch panel display with an arm, a torque calculating unit calculates a torque to be loaded on a touch panel display based on a position acquired by a touch position information acquiring unit and a force acquired by a touch force information acquiring unit, and a stiffness parameter information generating unit generates information about a stiffness parameter for controlling an arm so that the position and the orientation of the touch panel display do not change based on the calculated torque. An arm control unit controls the arm based on the generated information about the stiffness parameter.

Abstract translation: 在具有臂的触摸面板显示器中，扭矩计算单元基于由触摸位置信息获取单元获取的位置和由触摸力信息获取单元获取的力来计算要加载在触摸面板显示器上的扭矩，以及 刚度参数信息生成单元生成关于用于控制臂的刚度参数的信息，使得触摸面板显示器的位置和取向基于计算出的扭矩而不变化。 臂控制单元根据关于刚度参数的生成信息控制臂。

公开(公告)号：US20130030569A1

公开(公告)日：2013-01-31

申请号：US13630430

申请日：2012-09-28

Applicant: PANASONIC CORPORATION

Inventor： Yudai FUDABA ,  Masaki YAMAMOTO ,  Yuko TSUSAKA ,  Taichi SATO

IPC: G06F19/00

CPC classification number: G05B19/423 ,  G05B2219/36453 ,  G05B2219/39209 ,  Y02P90/083 ,  Y10T74/20305

Abstract: There is provided a control apparatus and control method for robot arm, robot, control program for robot arm, and integrated electronic circuit, which can improve robot arm operability upon performing tasks such as cooperative conveyance and direct teaching. The grip portion separated from the end effector attached to the robot arm is provided. When a person grips and shifts the grip portion, a tracking control unit controls so that the robot arm follows the shift. A fixing switch unit switches between a fixing state where, upon switching to “playback mode”, a fixing portion is located at a fixed position to fix the end effector and the grip portion to maintain a gap distance therebetween and a relatively shiftable state where, upon switching to “teaching mode”, the fixing portion is located at an accommodated position to relatively shift them from each other without maintaining the gap distance.

Abstract translation: 提供了一种用于机器人臂，机器人，机器人手臂控制程序和集成电子电路的控制装置和控制方法，其可以在执行协作传送和直接教学等任务时提高机器人手臂的可操作性。 提供与附接到机器人臂的端部执行器分离的把持部分。 当一个人握住并移动把手部分时，跟踪控制单元进行控制，使得机器人臂跟随移位。 定影开关单元在切换到重放模式之间的固定状态下切换固定部位于固定位置以固定末端执行器和握持部分以保持它们之间的间隙距离和相对可移位状态的切换状态 在教学模式中，固定部位于容纳位置，以使它们彼此相对移动，而不保持间隙距离。

公开(公告)号：US20150073596A1

公开(公告)日：2015-03-12

申请号：US14475807

申请日：2014-09-03

Applicant: Panasonic Corporation

Inventor： Yudai FUDABA ,  Yuko TSUSAKA

IPC: B25J3/00 ,  G05B15/02

CPC classification number: G05B15/02 ,  B25J3/04 ,  B25J9/1689 ,  Y10S901/08 ,  Y10S901/47

Abstract: A master slave robot is that receives force presentation according to a picture watched by an operator operating the master slave robot. The control apparatus for the master slave robot causes a force information correcting unit to correct force information in accordance with magnification percentage information acquired by a displayed information acquiring unit such that the force information is increased accordingly as the magnification percentage information is larger. An operator can thus apply appropriate force while watching the picture projected on a display to perform a task.

Abstract translation: 主从机器人是根据操作主从机器人的操作员观看的图像接收力显示。 用于主从机器人的控制装置使得力信息校正单元根据由显示信息获取单元获取的倍率信息来校正力信息，使得随着倍率百分比信息的增加，力信息相应增加。 因此，操作者可以在观看投影在显示器上的图像上施加适当的力来执行任务。

公开(公告)号：US20140172143A1

公开(公告)日：2014-06-19

申请号：US14186230

申请日：2014-02-21

Applicant: Panasonic Corporation

Inventor： Yudai FUDABA ,  Yuko TSUSAKA ,  Taichi SATO

IPC: B25J9/16

CPC classification number: B25J9/1656 ,  B25J9/1697 ,  G05B2219/34406 ,  G05B2219/36433 ,  G05B2219/39469 ,  G05B2219/40032 ,  G05B2219/40059 ,  G05B2219/40116 ,  G05B2219/40391 ,  Y10S901/03

Abstract: In a control apparatus for a robot arm, the feedback rule generating section generates a feedback rule in accordance with relationship between a time point of generation of a stimulus and variation in behavior after elapse of a reaction time in taught data as detected by the information variation point detecting section and the behavior variation point detecting section. The motion generating section generates a motion of the robot arm based on motion information, an information variation point, a behavior variation point, and the feedback rule. The controller controls the motion of the robot arm.

Abstract translation: 在机器人手臂的控制装置中，反馈规则生成部根据信息变化检测到的教导数据中的反应时间经过反应时间后的生成刺激的时刻和动作的变化之间的关系，生成反馈规则 点检测部和行为变化点检测部。 运动产生部分基于运动信息，信息变化点，行为变化点和反馈规则产生机器人手臂的运动。 控制器控制机器人手臂的运动。

公开(公告)号：US20130297072A1

公开(公告)日：2013-11-07

申请号：US13934529

申请日：2013-07-03

Applicant: Panasonic Corporation

Inventor： Yudai FUDABA ,  Yuko TSUSAKA ,  Taichi SATO

IPC: B25J9/16

CPC classification number: B25J9/1633 ,  B25J3/04

Abstract: A control apparatus for a master-slave robot includes a force correction section detecting unit that detects a section at which force information from at least one of force information and speed information is corrected, and a force correcting unit that corrects the force information at a section detected as a force correction section by the force correction section detecting unit. A small external force applied to a slave manipulator is magnified and transmitted to a master manipulator, or an excessive manipulation force applied to the master manipulator is reduced and transmitted to the slave manipulator.

Abstract translation: 用于主从机器人的控制装置包括：力校正部检测单元，其检测来自力信息和速度信息中的至少一个的力信息被校正的部分;以及力校正单元，其在部分 由力校正部检测单元检测为力校正部。 施加到从动操纵器的小的外力被放大并传递到主操纵器，或者减小施加到主操纵器的过度的操纵力并将其传送到从动操纵器。

公开(公告)号：US20140350726A1

公开(公告)日：2014-11-27

申请号：US14285886

申请日：2014-05-23

Applicant: Panasonic Corporation

Inventor： Yuko TSUSAKA ,  Atsushi ONO ,  Yudai FUDABA

IPC: B25J3/04

CPC classification number: B25J3/04 ,  B25J13/02

Abstract: A master device is provided to a master slave apparatus in which a hand mechanism opens/closes to grip a target object and a slave mechanism performs a task on a target article. The master device includes a hand manipulation mechanism for manipulating the hand mechanism. A person remotely manipulates the slave mechanism by a master mechanism and the hand manipulation mechanism manipulates to cause the hand mechanism to perform the task. In the hand manipulation mechanism, a hand manipulation portion having a pair of open/close manipulation portions manipulated by the person moves forward/backward on a slider, the pair of open/close manipulation portions is opened/closed to change the angle therebetween so that the hand mechanism is opened/closed. A master hand control device transmits, to the slave mechanism, motion information used for manipulating the hand mechanism based on a position of the hand manipulation portion relative to the slider or the angle.

Abstract translation: 主设备被提供给主从设备，其中手机构打开/关闭以夹持目标对象，并且从机构对目标物品执行任务。 主装置包括用于操纵手机构的手操纵机构。 一个人通过主机构远程操纵从机构，并且手操纵机构被操纵以使手机执行任务。 在手动操作机构中，具有由人操作的一对打开/关闭操作部分的手动操作部分在滑块上向前/向后移动，所述一对打开/关闭操作部分被打开/关闭以改变它们之间的角度，使得 手动机构打开/关闭。 主手控制装置基于手操作部相对于滑块的位置或角度将从动机构中的运动信息传送到从动机构。

公开(公告)号：US20140336820A1

公开(公告)日：2014-11-13

申请号：US14445588

申请日：2014-07-29

Applicant: Panasonic Corporation

Inventor： Yudai FUDABA ,  Yuko TSUSAKA ,  Jun OZAWA

IPC: B25J9/16

CPC classification number: B25J9/1633 ,  G05B2219/36168 ,  G05B2219/36249 ,  G06F1/16 ,  G06F3/041 ,  G06F3/0488 ,  G06F2203/04108 ,  G06F2203/04808 ,  G09F9/00 ,  Y10S901/02 ,  Y10S901/50

Abstract: There is provided a display information acquiring unit for acquiring display information on a screen of a touch panel display, a touch pattern estimating unit for estimating a region on the screen likely to be touched by a person and a motion direction of the touch based on the display information, a load estimating unit for estimating a load or a torque to the display based on the estimated region and the motion direction, a stiffness parameter information generating unit for generating information for controlling the arm so that the position and the orientation of the display do not change along the touching direction at the time of touch panel input based on the estimated load or torque, and an arm control unit for controlling a stiffness parameter of the arm based on the generated information.

Abstract translation: 提供了一种显示信息获取单元，用于获取触摸面板显示屏幕上的显示信息，触摸模式估计单元，用于估计人可能触摸的屏幕上的区域和触摸的运动方向，基于 显示信息，负载估计单元，用于基于所估计的区域和运动方向估计对显示器的负载或转矩;刚度参数信息产生单元，用于产生用于控制所述臂的信息，使得所述显示器的位置和方位 基于估计的负载或扭矩在触摸面板输入时不沿着触摸方向改变;以及臂控制单元，用于基于生成的信息来控制臂的刚度参数。

公开(公告)号：US20140171778A1

公开(公告)日：2014-06-19

申请号：US14021253

申请日：2013-09-09

Applicant: Panasonic Corporation

Inventor： Yuko TSUSAKA ,  Yudai FUDABA ,  Jun OZAWA

IPC: A61B19/00 ,  A61B5/06

CPC classification number: A61B19/46 ,  A61B5/06 ,  A61B5/6843 ,  A61B34/30 ,  A61B90/06 ,  A61B2090/065

Abstract: A force measurement apparatus includes a force detection unit that measures a force generated when a forceps is brought into contact with an inside of a body when an operator inserts a forceps or an endoscope into the body and measures a force generated when the forceps acts on a living body from outside the body, a reference information generating unit that generates reference information serving as information of a force acquired by the force detection unit when the forceps is located at a predetermined position, and an individual force calculation unit that individually calculates a force generated when the forceps acts on the living body in the body based on the reference information.

Abstract translation: 力测量装置包括力检测单元，其当操作者将镊子或内窥镜插入身体时测量当镊子与身体内部接触时产生的力，并且测量当镊子作用在身体上时产生的力 参考信息生成单元，其生成用于当镊子位于预定位置时由力检测单元获取的力的信息的参考信息;以及个体力计算单元，其分别计算产生的力 当镊子基于参考信息作用于身体中的生物体时。

公开(公告)号：US20140100484A1

公开(公告)日：2014-04-10

申请号：US14021082

申请日：2013-09-09

Applicant: Panasonic Corporation

Inventor： Yuko TSUSAKA ,  Mikiya NAKATA ,  Yudai FUDABA ,  Jun OZAWA

IPC: A61B5/00

CPC classification number: A61B18/1492 ,  A61B5/6885 ,  A61B2018/00577

Abstract: Upon insertion of an insertion member into a living body vessel by an operator, a force individually applied to the living body vessel by the insertion member is measured by a force measuring unit, and based upon the force measured by the force measuring unit, information to be presented to an experiencing person is determined by a determination unit so that based upon the determined information, the corresponding force is presented to the experiencing person by a force presentation unit.

Abstract translation: 在由操作者将插入构件插入生物体容器时，通过力测量单元测量通过插入构件分别施加到生物体容器的力，并且基于由力测量单元测量的力，将信息 被呈现给经验者由确定单元确定，使得基于所确定的信息，通过力呈现单元将对应的力呈现给体验者。

公开(公告)号：US20130184871A1

公开(公告)日：2013-07-18

申请号：US13785324

申请日：2013-03-05

Applicant: Panasonic Corporation

Inventor： Yudai FUDABA ,  Masaki YAMAMOTO ,  Yuko TSUSAKA ,  Taichi SATO

IPC: B25J13/02

CPC classification number: B25J13/02 ,  B25J13/081 ,  G05B19/423 ,  G05B2219/36453 ,  Y10S901/02 ,  Y10S901/03 ,  Y10S901/04 ,  Y10S901/09 ,  Y10S901/20 ,  Y10S901/30 ,  Y10S901/33 ,  Y10S901/46

Abstract: A robot arm includes a grip part which is structured to be separated from an end effector attached to the robot arm. When the grip part is gripped by the user and shifted, the robot arm shifts tracking the grip part. Further, the grip part includes contact sensors, and a tracking control method is switched according to the value of the contact sensors.

Abstract translation: 机器人手臂包括夹持部，其构造成与附接到机器人臂的末端执行器分离。 当抓握部分被使用者抓住并移动时，机器人手臂移动跟踪抓握部分。 此外，握持部包括接触传感器，并且根据接触传感器的值切换跟踪控制方法。