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Patent Agency Ranking
公开(公告)号：US11926054B2
公开(公告)日：2024-03-12
申请号：US17531267
申请日：2021-11-19
Inventor： Hiroyoshi Ueda , Hiroyuki Nakata , Atsumi Hashimoto , Ryosuke Yamamoto , Masayoshi Iwatani
CPC classification number: B25J9/1641 , B25J9/1638 , G05B19/19 , G05B2219/39176 , G05B2219/39195
Abstract: A determination value calculated based on a distance from a work point of a tip of robot arm (10) to virtual straight line (30) passing through an axis of second joint (J2) and an axis of third joint (J3) is compared with a predetermined threshold. A method of calculating deflection compensation amounts for second joint (J2) and third joint (J3) is changed depending on whether the determination value is larger or smaller than the threshold. Second joint (J2) and third joint (J3) are caused to pivot based on the calculated deflection compensation amounts.
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公开(公告)号：US12145275B2
公开(公告)日：2024-11-19
申请号：US17676904
申请日：2022-02-22
Inventor： Hiroyuki Nakata , Hiroyoshi Ueda , Ryosuke Yamamoto , Atsumi Hashimoto , Yasuyoshi Honuchi , Masayoshi Iwatani
Abstract: Stop and start detection block (63) determines whether or not a joint portion is in a stopped state before a rotation direction of the joint portion is inverted based on stop flag signal (Stop_Flg). When it is determined that the joint portion is in the stopped state, filter processing block (65) changes a frequency component of a correction amount for correcting backlash to a low frequency lower than a predetermined threshold value.
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公开(公告)号：US12280504B2
公开(公告)日：2025-04-22
申请号：US17674902
申请日：2022-02-18
Inventor： Masayoshi Iwatani , Hiroyuki Nakata , Hiroyoshi Ueda , Atsumi Hashimoto , Yasuyoshi Honuchi , Ryosuke Yamamoto
IPC: B25J9/16
Abstract: When workpiece (W) is brought into a non-gripping state after deflection compensation of robot arm (10) is performed in a gripping state of workpiece (W), the deflection compensation of robot arm (10) is performed in a non-gripping state of workpiece (W). Here, the deflection compensation of robot arm (10) in the non-gripping state of workpiece (W) is performed while a compensation amount is changed to gradually decrease, while hand (18) is moved from a first teaching point to a second teaching point.
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公开(公告)号：US11890759B2
公开(公告)日：2024-02-06
申请号：US17083591
申请日：2020-10-29
Inventor： Ryosuke Yamamoto , Hiroyuki Nakata , Hiroyoshi Ueda , Atsumi Hashimoto , Masayoshi Iwatani
IPC: B25J9/16
CPC classification number: B25J9/1666 , B25J9/1602
Abstract: Load information on a tool to be attached to a robot arm and collision sensitivity are input. Gravitational torque is calculated based on the input load information. A deflection amount of the robot arm is calculated based on the gravitational torque. A correction amount is calculated based on the collision sensitivity input. The deflection amount is corrected while the robot arm moves.
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公开(公告)号：US11717961B2
公开(公告)日：2023-08-08
申请号：US17136344
申请日：2020-12-29
Inventor： Hiroyuki Nakata , Hiroyoshi Ueda , Atsumi Hashimoto , Ryosuke Yamamoto , Masayoshi Iwatani
CPC classification number: B25J9/1641 , B25J9/1638 , B25J9/1664 , B25J13/088
Abstract: In an angular velocity calculation block, an angular velocity component is calculated based on a position command for a joint portion. In a kinetic calculation block, a kinetic torque is calculated based on the position command for the joint portion. In a command velocity component reversal detection block, a reversal timing is calculated based on the angular velocity component. In a reverse torque detection block, a reverse torque is calculated based on the kinetic torque and the reversal timing. In a backlash correction amount calculation block, the correction amount of the joint portion is calculated based on the kinetic torque, the reverse torque, and the reversal timing.
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