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公开(公告)号：US20240144532A1
公开(公告)日：2024-05-02
申请号：US18385914
申请日：2023-11-01
发明人： Nobuhiro KARITO
CPC分类号： G06T7/80 , G06T7/248 , G06V20/60 , G06T2207/30164 , G06T2207/30244
摘要： A calibration method of the present disclosure includes a calibration step of executing a calibration process for obtaining an external parameter of a camera with respect to a robot using a first image that was taken by the camera and that includes at least a part of a robot and a judgment step of judging validity of the external parameter after execution of a calibration process. The judgment step includes (a) a step of taking a second image including at least a part of the robot by the camera after execution of the calibration process and (b) a step of judging whether or not a positional relationship between the camera and the robot has changed using the first image and the second image, and judging whether the external parameter is valid or invalid in accordance with presence or absence of change in the positional relationship.
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公开(公告)号：US20210402596A1
公开(公告)日：2021-12-30
申请号：US17361425
申请日：2021-06-29
发明人： Nobuhiro KARITO
IPC分类号： B25J9/16
摘要： A control method for a robot includes a first working step of executing first work on a first working object by operating a robot arm by force control based on a predetermined position command value, a first memory step of storing first position information of a trajectory in which a control point set for the robot arm passes at the first working step, and a second working step of updating a position command value for the robot arm based on the first position information stored at the first memory step, and executing second work on a second working object by operating the robot arm by the force control based on an updated value as the updated position command value.
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公开(公告)号：US20150120058A1
公开(公告)日：2015-04-30
申请号：US14522941
申请日：2014-10-24
发明人： Nobuhiro KARITO , Takahiko NODA
IPC分类号： B25J9/16
CPC分类号： B25J9/1612 , B25J9/1633 , G05B2219/39474 , G05B2219/39487 , G05B2219/39497 , G05B2219/39505 , G05B2219/39532 , Y10S901/09
摘要： A first finger portion and a second finger portion of an end effector are brought close to each other, and when the first finger portion is brought into contact with an object to be grasped, an arm is moved in a direction where the first finger portion is provided while the contact between the first finger portion and the object to be grasped is kept.
摘要翻译： 端部执行器的第一指状部分和第二指状部分彼此接近，并且当第一指状部分与被抓握物体接触时，臂沿着第一指状部分是 同时保持第一手指部分和被抓握物体之间的接触。
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公开(公告)号：US20230128011A1
公开(公告)日：2023-04-27
申请号：US17969718
申请日：2022-10-20
发明人： Nobuhiro KARITO
摘要： In a robot system including robots, lower-level control units respectively coupled to the robots and controlling one of the robots, and an upper-level control unit coupled to the lower-level control units and transmitting command information for control of the robots to the lower-level control units, a method of controlling the robots executed by the upper-level control unit is provided. The upper-level control unit includes a processor having a plurality of processor cores. Part of the processor cores of the plurality of processor cores are isolated from the other processor cores. Communication tasks with the lower-level control units are assigned to the isolated part of the processor cores. The isolated part of the processor cores are controlled to execute the communication tasks with the lower-level control units and the command information is transmitted to the lower-level control units. The isolation of the isolated part of the processor cores is released.
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公开(公告)号：US20210268651A1
公开(公告)日：2021-09-02
申请号：US17186019
申请日：2021-02-26
发明人： Nobuhiro KARITO
IPC分类号： B25J9/16
摘要： A robot control method for controlling, based on a program including a first instruction including an operation instruction for operating a robot arm and a second instruction, operation of a robot including the robot arm, the robot control method including a first step of controlling the operation of the robot arm based on the first instruction and a second step of controlling the operation of the robot based on the second instruction. In the first step, after execution of the operation instruction is started, it is determined whether a predetermined instruction is included in the second instruction and, when it is determined that the predetermined instruction is included in the second instruction, the predetermined instruction is executed before the first step ends.
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公开(公告)号：US20190061162A1
公开(公告)日：2019-02-28
申请号：US16109849
申请日：2018-08-23
发明人： Nobuhiro KARITO
IPC分类号： B25J9/16
摘要： A robot system includes a robot and a network device, and in which the robot includes a first network controller including a first network terminal configured to connect to the network device and a second network controller including a second network terminal configured to connect to the network device and the same first network information is set in the first network controller and the second network controller.
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7.发明申请ROBOT CONTROLLER, ROBOT SYSTEM, ROBOT, ROBOT CONTROL METHOD, AND PROGRAM 有权机器人控制器，机器人系统，机器人，机器人控制方法和程序公开(公告)号：US20150105907A1
公开(公告)日：2015-04-16
申请号：US14510591
申请日：2014-10-09
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , B25J9/1633 , G05B2219/39325 , G05B2219/39391 , G05B2219/40307 , Y10S901/09 , Y10S901/47
摘要： A robot includes a control unit that controls a movable unit of the robot to move an endpoint of the movable unit closer to a target position, and an image acquisition unit that acquires a target image as an image containing the end point when the end point is in the target position, and a current image as an image containing the end point when the end point is in a current position. The control unit controls movement of the movable unit based on the current image and the target image and output from a force detection unit that detects a force acting on the movable unit.
摘要翻译： 机器人包括：控制单元，其控制机器人的可移动单元将可移动单元的端点移动到更接近目标位置;以及图像获取单元，当终点为止时，获取目标图像作为包含终点的图像 在目标位置，以及作为当终点处于当前位置时包含终点的图像的当前图像。 控制单元基于当前图像和目标图像来控制可动单元的移动，并且从检测作用在可移动单元上的力的力检测单元输出。
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公开(公告)号：US20220331951A1
公开(公告)日：2022-10-20
申请号：US17718354
申请日：2022-04-12
发明人： Nobuhiro KARITO
IPC分类号： B25J9/16 , G05B19/4155
摘要： A robot control system includes a robot having a servo control unit, a lower-level control apparatus transmitting a control command to the servo control unit and receiving robot status information representing a status of the robot from the servo control unit with respect to each preset control period, and an upper-level control apparatus transmitting command information for creation of the control command to the lower-level control apparatus. The lower-level control apparatus transmits the robot status information to the upper-level control apparatus in synchronization with the control period. The upper-level control apparatus transmits the command information to the lower-level control apparatus within a predetermined transmission time shorter than the control period from a time when receiving the robot status information from the lower-level control apparatus.
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公开(公告)号：US20200061816A1
公开(公告)日：2020-02-27
申请号：US16545109
申请日：2019-08-20
摘要： A reset process includes: first processing for resetting a force detection unit; second processing for determining whether a peak output value from the force detection unit is equal to or greater than a predetermined first threshold value in a first period and updating a determination result; third processing for executing the first processing when the peak value is equal to or greater than the first threshold value; fourth processing for executing the second processing when the peak value is not equal to or greater than the first threshold value and a second period did not elapse from the timing when the force detection unit was reset; and fifth processing for calculating an average of the output values in a third period as a first offset value when the peak value is not equal to or greater than the first threshold value and the second period elapsed from the timing.
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公开(公告)号：US20150120055A1
公开(公告)日：2015-04-30
申请号：US14527106
申请日：2014-10-29
IPC分类号： B25J9/16
CPC分类号： B25J9/1697 , G05B2219/39016 , G05B2219/39391 , G05B2219/39394 , Y10S901/03 , Y10S901/47
摘要： An image acquisition unit acquires an image including an object, and a controller starts a visual servo using the acquired image, on the basis of at least one of an error in calibration, an error in installation of a robot, an error resulting from the rigidity of the robot, an error of a position where the robot has gripped the object, an error regarding imaging, and an error regarding a work environment. Additionally, the controller starts the visual servo when the distance between one point of a working unit of the robot and the object is equal to or greater than 2 mm.
摘要翻译： 图像获取单元获取包括对象的图像，并且控制器基于校准误差，机器人的安装误差，刚性误差中的至少一个，使用所获取的图像来开始视觉伺服 机器人的位置误差，机器人抓住物体的位置的错误，关于成像的错误以及关于工作环境的错误。 另外，当机器人的工作单元的一点与物体之间的距离等于或大于2mm时，控制器启动视觉伺服。
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