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公开(公告)号：US10751880B2
公开(公告)日：2020-08-25
申请号：US16069900
申请日：2017-03-17
Inventor： Yasuyoshi Honuchi , Hiroyuki Nakata , Atsumi Hashimoto , Ryosuke Yamamoto
Abstract: A first acquisition unit acquires first data on first malfunction of a robot. A second acquisition unit acquires second data on second malfunction of the robot. A first determination unit determines whether or not to store the first data in accordance with the first data. A second determination unit determines whether or not to store the second data in accordance with the second data. A memory stores the first data and the second data. A controller stores the first data in the memory at a first period when the first determination unit determines to store the first data. The controller further stores the second data in the memory at a second period longer than the first period, when the first determination unit determines not to store the first data and the second determination unit determines to store the second data.
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公开(公告)号：US10690558B2
公开(公告)日：2020-06-23
申请号：US15580832
申请日：2016-08-24
Inventor： Hiroyuki Nakata , Atsumi Hashimoto , Ryosuke Yamamoto , Yasuyoshi Honuchi
Abstract: An external force torque due to a collision as a collision torque estimation value is estimated by subtracting a dynamic torque obtained by an inverse dynamic calculation of a robot from a torque output to a gear reducer by a motor. It is determined that the robot receives an external force if the collision torque estimation value is greater than a predetermined collision detection threshold.
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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：US11613013B2
公开(公告)日：2023-03-28
申请号：US16726302
申请日：2019-12-24
Inventor： Hiroyuki Nakata , Hiroyoshi Ueda , Atsumi Hashimoto , Ryosuke Yamamoto , Yasuyoshi Honuchi
IPC: B25J9/16
Abstract: A robot control device includes the following: a main control unit; a servo control unit, which receives a position command θc from the main control unit; and a bending correction block (24), which corrects the bending of the reduction gear connected to the servo motor. The bending correction block (24) includes the following: a first position-correction-value calculation means (63), which finds a first position-command correction value θsgc based on the position command θc; and a second position-command-correction-value calculation means (64), which finds a second position-command correction value θskc based on the interference torque τa. The servo control unit drives the servo motor based on a new position command obtained by adding the first position-command correction value θsgc and the second position-command correction value θskc to the position command θc.
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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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Patent Agency Ranking
公开(公告)号：US10606235B2
公开(公告)日：2020-03-31
申请号：US16310494
申请日：2017-04-07
Inventor： Atsumi Hashimoto , Hiroyuki Nakata , Yasuyoshi Honuchi , Ryosuke Yamamoto
Abstract: A motor control device includes a movement command generation unit, a movement command processing unit, and a control unit. The movement command generation unit outputs a movement command of a motor. The movement command processing unit includes a buffer, a filter, and a processing unit. The buffer holds the movement command. The filter performs filter processing of a constant and generates a new constant. The processing unit performs arithmetic processing based on the movement command held in the buffer and the new constant generated by the filter, and generates and outputs a new movement command proportional to the new constant. The control unit controls the motor based on the new movement command.
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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：US10355635B2
公开(公告)日：2019-07-16
申请号：US15574004
申请日：2016-06-29
Inventor： Atsumi Hashimoto , Hiroyuki Nakata , Yasuyoshi Honuchi , Ryosuke Yamamoto
Abstract: A motor control device includes a movement command generator that outputs a movement command of a motor, a filter that performs filter processing of the movement command and outputs the filtered movement command, and a position controller that performs a position control of the motor. The filter is an infinite impulse response digital filter that is represented by a transfer function H(z): H(z)=(b0+b1·z−1+b2·z−2)/{1−(a1·z−1+a2·z−2)} with filter coefficients a1, a2, b0, b1, and b2. The filter is configured to change the filter coefficient b0 in a first sample period, to change the filter coefficients a1 and b1 in a second sample period which follows the first sample period, and to change the filter coefficients a2 and b2 in a third sample period which follows the second sample period.
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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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