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公开(公告)号：US20160023355A1
公开(公告)日：2016-01-28
申请号：US14775694
申请日：2014-03-17
Inventor： TAKAMICHI KOMATSU , TATSUYA IKEDA
CPC classification number: B25J9/1682 , B25J3/00 , B25J9/0084 , B25J9/1607 , G05B2219/39121 , G05B2219/39132 , G05B2219/39139 , Y10S901/08
Abstract: A robot system control method includes a first step through a fifth step. Particularly in the second step, a second transformation matrix that represents the positional relation between a first slave robot and a second slave robot is generated and stored in a master robot. In the fourth step, based on a second command obtained using a first transformation matrix and the second transformation matrix, the master robot instructs the second slave robot to operate. In the fifth step, the first slave robot and the second slave robot perform a cooperative operation with the master robot. Thus, in the state where a working robot that can perform TCP matching with only part of the other robots is set to a master robot, all of the robots can perform a cooperative operation.
Abstract translation: 一种机器人系统控制方法，包括：第一步骤，第五步骤。 特别地，在第二步骤中，生成表示第一从机器人与第二从机器人之间的位置关系的第二变换矩阵并将其存储在主机器人中。 在第四步骤中，基于使用第一变换矩阵和第二变换矩阵获得的第二命令，主机器人指示第二从机器人操作。 在第五步骤中，第一从机器人和第二从机器人与主机器人进行协作操作。 因此，在能够与其他机器人的一部分进行TCP匹配的作业机器人被设定为主机器人的状态下，所有的机器人都可以进行协作操作。
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Patent Agency Ranking
公开(公告)号：US20180281096A1
公开(公告)日：2018-10-04
申请号：US15765730
申请日：2016-10-17
Inventor： EIJI HONDA , TATSUYA IKEDA , TAKAMICHI KOMATSU , KAZUNORI MATSUMOTO
Abstract: An arc welding method of the present disclosure includes a teaching program creation step, a position detection step, and a welding step. In the position detection step subsequent to the teaching program creation step, a position detection program is executed with use of a welding torch having a servomotor. In the welding step subsequent to the position detection step, a welding program is executed with use of the welding torch. A gain of the servomotor that is used for position detection in the position detection step is higher than a gain of the servomotor that is used for welding in the welding step.
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公开(公告)号：US20200086427A1
公开(公告)日：2020-03-19
申请号：US16692205
申请日：2019-11-22
Inventor： TAKAMICHI KOMATSU
Abstract: A laser machining system includes: a robot with a laser cutting head having a plurality of degrees of freedom of motion at least in a two-dimensional plane; and a laser oscillation device configured to transmit laser light to the laser cutting head, the laser machining system being configured to cut a target object into a desired cutting shape by moving the laser cutting head, and further includes a controller configured to perform: a step of moving the laser cutting head along an arc-shaped path to cause laser light irradiation to move from an operation start point to a target-path-cutting start point, the operation start point being determined on a coordinate plane that defines the cutting shape, the target-path-cutting start point being located along the cutting shape (S7); a step of moving the laser cutting head to cause laser light irradiation to move from the target-path-cutting start point to a target-path-cutting end point located along the cutting shape (S8); and a step of moving the laser cutting head along an arc-shaped path to cause laser light irradiation to move from the target-path operation end point to an operation end point (S9).
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公开(公告)号：US20160162667A1
公开(公告)日：2016-06-09
申请号：US14903520
申请日：2014-07-16
Inventor： TAKAMICHI KOMATSU , TATSUYA IKEDA
CPC classification number: G06F21/105 , G06F2221/0797 , H04L63/08
Abstract: A method of setting function includes first to fourth steps. The first step connects a recording medium to a first electrical apparatus having an optional function either disabled or temporarily enabled, the recording medium containing license information to enable the optional function. The second step allows first electrical apparatus to authenticate the license information. The third step, subsequent to the second step, enables the optional function of the first electrical apparatus. The fourth step, subsequent to the third step, records the optional function as having been authenticated in the license information.
Abstract translation: 一种设置功能的方法包括第一至第四步骤。 第一步将记录介质连接到具有禁用或临时启用的可选功能的第一电气设备，所述记录介质包含允许可选功能的许可信息。 第二步允许第一电气设备认证许可证信息。 在第二步骤之后的第三步骤能够实现第一电气设备的可选功能。 第四步，在第三步之后，将可选功能记录为在许可信息中被认证。
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公开(公告)号：US20200316703A1
公开(公告)日：2020-10-08
申请号：US16909541
申请日：2020-06-23
Inventor： NORIYUKI MATSUOKA , MASARU KOWA , TAKAMICHI KOMATSU , KIMIYA SATO
Abstract: A plurality of scaly beads is formed and arranged continuously on a base material in welding cycle C that is a sum of arc ON period A during which welding current I flows to a welding wire and arc OFF period B during which welding current I does not flow to the welding wire. This arc welding control method includes: an initial condition setting step of setting initial values of welding conditions for arc-welding the base material; and a scaly bead formation step of forming the plurality of scaly beads in a predetermined welding section of the base material while moving the welding wire at welding speed Vw in the predetermined welding section of the base material. The welding conditions include arc ON period A and arc OFF period B, and further include at least one of welding current I, welding speed Vw, and interval G of the beads. The arc welding control method further includes a welding condition change step of determining whether there is necessity to change the initial value based on a predetermined finish condition for the scaly beads and changing at least one of a plurality of welding parameters to satisfy the predetermined finish condition.
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公开(公告)号：US20170090431A1
公开(公告)日：2017-03-30
申请号：US15126881
申请日：2015-03-26
Inventor： TAKAMICHI KOMATSU , KAZUMASA YOSHIMA , TATSUYA IKEDA
IPC: G05B13/02 , G05B19/406 , B23K9/127
CPC classification number: G05B13/0265 , B23K9/1274 , B25J9/1684 , G05B19/406 , G05B2219/36415 , G05B2219/36433 , G05B2219/40385 , G05B2219/45135 , G05B2219/4701 , G05B2219/4705 , G05B2219/4719
Abstract: A robot control method includes a teaching step, first processing step, modifying step, second processing step, and third processing step. In the modifying step, a third teaching point is changed to a second modified point, a fourth teaching point to a third modified point, and a fifth teaching point to a fourth modified point, based on a difference between a second teaching point and a first modified point. A profile modifying control to change the position of a work tool is applied, using a sensor mounted on the processing advancing direction side of the work tool, in the first processing step and the third processing step. An attitude of the work tool is changed during the second processing step.
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