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公开(公告)号：US09908237B2
公开(公告)日：2018-03-06
申请号：US14858287
申请日：2015-09-18
CPC分类号： B25J9/1633 , G05B2219/39201 , G05B2219/40032 , Y10S901/02
摘要： A robot includes an arm and a control unit configured to control a motion of the arm using compliant motion control. The control unit changes a parameter value of the compliant motion control depending on a relative position and orientation of a first object moving along with the arm and a second object.
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公开(公告)号：US09358691B2
公开(公告)日：2016-06-07
申请号：US14674887
申请日：2015-03-31
发明人： Takashi Nammoto , Kazuhiro Kosuge , Kosuke Hara , Kengo Yamaguchi
摘要： A robot hand includes a finger unit that is in contact with an object. The finger unit includes: a first member in which a tip portion and a base portion connected to the tip portion are formed as a single member; and a second member that covers a surface of the first member.
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公开(公告)号：US09211642B2
公开(公告)日：2015-12-15
申请号：US14594723
申请日：2015-01-12
发明人： Takashi Nammoto , Kazuhiro Kosuge , Kentaro Kamei
CPC分类号： B25J9/1633 , B25J9/1612 , B25J9/1687 , B25J13/085 , G05B2219/40032 , Y10S901/09 , Y10S901/31 , Y10S901/46
摘要： A robot apparatus includes a gripping unit configured to grip a first component, a force sensor configured to detect, as detection values, a force and a moment acting on the gripping unit, a storing unit having stored therein contact states of the first component and a second component and transition information in association with each other, a selecting unit configured to discriminate, on the basis of the detection values, a contact state of the first component and the second component and select, on the basis of a result of the discrimination, the transition state stored in the storing unit, and a control unit configured to control the gripping unit on the basis of the transition information selected by the selecting unit.
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公开(公告)号：US11040451B2
公开(公告)日：2021-06-22
申请号：US15935627
申请日：2018-03-26
发明人： Satoshi Shiraishi , Takashi Nammoto
IPC分类号： B25J9/16
摘要： A teaching device includes an image acquisition unit which acquires an image including a manipulation target object which is linked to operations of an arm of a robot and a teaching position of the manipulation target object, a movement control unit which controls the arm to move the manipulation target object in the image to the teaching position, and a teaching information acquisition unit which acquires a state of the arm in a state in which the manipulation target object in the image is present at the teaching position as teaching information.
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公开(公告)号：US10589424B2
公开(公告)日：2020-03-17
申请号：US15716927
申请日：2017-09-27
摘要： A robot control device calculates an evaluation value, based on a partial point cloud included in a plurality of areas corresponding to a gripping unit of a robot for gripping a target object, of a three-dimensional point cloud representing a three-dimensional shape of a surface of the target object. The robot control device calculates a position and an attitude of the gripping unit taken when the gripping unit is made to grip the target object, based on the calculated evaluation value. The robot control device causes the gripping unit to grip the target object, based on the position and the attitude of the gripping unit thus calculated.
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公开(公告)号：US10052767B2
公开(公告)日：2018-08-21
申请号：US15183978
申请日：2016-06-16
发明人： Kenichi Maruyama , Takashi Nammoto , Tomoki Harada
IPC分类号： B25J9/16 , B25J19/02 , B25J21/00 , G07F11/16 , G07F11/62 , G05B19/418 , G01N35/00 , G01N21/90
CPC分类号： B25J9/1697 , B25J9/1661 , B25J9/1664 , B25J19/021 , B25J21/00 , G01N21/9081 , G01N35/0099 , G05B19/41815 , G05B2219/39391 , G05B2219/39394 , G05B2219/40307 , G07F11/165 , G07F11/62
摘要： A robot, wherein the robot operates on the basis of a picked-up image of at least a part of a work space of the robot picked up by an image pickup section, and a transparent member is disposed between the robot and the work space of the robot.
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公开(公告)号：US09452537B2
公开(公告)日：2016-09-27
申请号：US14612789
申请日：2015-02-03
发明人： Takashi Nammoto , Kazuhiro Kosuge , Kosuke Hara , Kengo Yamaguchi
CPC分类号： B25J15/065 , B25J13/087 , B25J15/0616 , B25J15/10 , Y10S901/40 , Y10S901/46
摘要： A robot hand is a robot hand including a finger section. The robot hand includes an elastic body provided in the finger section and including an attracting section that attracts an object and a sensor provided in the finger section and configured to detect deformation of the elastic body.
摘要翻译： 机器人手是包括手指部分的机器人手。 机器人手包括设置在手指部分中的弹性体，并且包括吸引物体的吸引部和设置在手指部中的传感器，并且构造为检测弹性体的变形。
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公开(公告)号：US10828782B2
公开(公告)日：2020-11-10
申请号：US16525823
申请日：2019-07-30
发明人： Takahiko Noda , Takashi Nammoto
IPC分类号： B25J9/16 , B25J9/00 , B25J9/06 , G05B19/423 , B25J13/08
摘要： A robot system includes an arm with a plurality of joints, the arm being configured to assume a first position and a second position, an end effector attached to the arm, the end effector having a specific position, and a force detector configured to detect a force or a torque applied to or generated by the arm or the end effector, and a robot control apparatus configured to receive an output value from the force detector to change the arm from the first position to the second position while the end effector remains in the specific position, and store the second position of the arm in a memory so as to relate the second position of the arm with the specific position of the end effector.
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公开(公告)号：US09925668B2
公开(公告)日：2018-03-27
申请号：US15092749
申请日：2016-04-07
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , B25J9/1651 , B25J9/1666 , G05B2219/39082 , G05B2219/39084 , G05B2219/40583
摘要： A robot includes: an arm; and a controller that operates the arm, the controller generating a pathway according to a relative position and a relative orientation of: a first object that moves together with the arm; and a second object and according to a first position of the first object.
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公开(公告)号：US09656388B2
公开(公告)日：2017-05-23
申请号：US14636542
申请日：2015-03-03
CPC分类号： B25J9/1612 , B25J9/1687 , B25J9/1697 , G05B2219/39346 , G05B2219/39394 , G05B2219/39483 , G05B2219/39487 , G05B2219/39543 , G05B2219/40583
摘要： Provided is a robot including a hand and a control unit that operates the hand. The control unit rotates a first object around a predetermined position of the first object with the hand and moves the first object with respect to a second object, based on a captured image including the hand and the first object.
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