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1.发明授权Robot device, method of controlling the same, and program for controlling the same 有权机器人装置，其控制方法及其控制程序公开(公告)号：US09579795B2
公开(公告)日：2017-02-28
申请号：US13456489
申请日：2012-04-26
CPC分类号： B25J9/1666 , G05B2219/40298 , G05B2219/40475
摘要： Provided is a robot device including a drive unit including a plurality of links and joints connecting the links, a task instruction input unit for inputting an instruction of a task, a drive control unit for controlling an operation of the drive unit on the basis of the input task and determining a restricted area including a space necessary for the operation of the drive unit, and an area display unit for displaying the restricted area.
摘要翻译： 本发明提供一种机器人装置，其具备包括多个链接部和连接部的接合部的驱动部，用于输入任务指示的任务指示输入部，基于该任务的驱动单元来控制驱动部的动作的驱动控制部 输入任务和确定包括驱动单元的操作所需的空间的限制区域以及用于显示受限制区域的区域显示单元。
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2.发明申请ROBOT DEVICE, METHOD OF CONTROLLING THE SAME, AND PROGRAM FOR CONTROLLING THE SAME 有权机器人装置，其控制方法和用于控制其的程序公开(公告)号：US20120290132A1
公开(公告)日：2012-11-15
申请号：US13456489
申请日：2012-04-26
IPC分类号： G05B19/04
CPC分类号： B25J9/1666 , G05B2219/40298 , G05B2219/40475
摘要： Provided is a robot device including a drive unit including a plurality of links and joints connecting the links, a task instruction input unit for inputting an instruction of a task, a drive control unit for controlling an operation of the drive unit on the basis of the input task and determining a restricted area including a space necessary for the operation of the drive unit, and an area display unit for displaying the restricted area.
摘要翻译： 本发明提供一种机器人装置，其具备包括多个链接部和连接部的接合部的驱动部，用于输入任务指示的任务指示输入部，基于该任务的驱动单元来控制驱动部的动作的驱动控制部 输入任务和确定包括所述驱动单元的操作所需的空间的限制区域以及用于显示所述限制区域的区域显示单元。
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公开(公告)号：US20110252896A1
公开(公告)日：2011-10-20
申请号：US13171525
申请日：2011-06-29
IPC分类号： G01L1/04
CPC分类号： G01L5/228 , B25J13/081 , B25J15/0009 , G01L1/146
摘要： A detecting device including a pressure sensor that is deformed by a load from an outside and causes stress dispersion includes a slip detecting unit that calculates a pressure center position using a pressure value detected by the pressure sensor, calculates a movement value of the calculated pressure center position using a temporal change of the pressure center position, and detects a slip on the basis of the calculated movement value of the pressure center position. The pressure sensor has a multilayer structure in which two detecting units that detect pressure are arranged to hold a viscoelastic body made of a viscoelastic material that is deformed by a load from the outside.
摘要翻译： 一种检测装置，包括由来自外部的负载变形并导致应力分散的压力传感器，包括使用由压力传感器检测的压力值来计算压力中心位置的滑移检测单元，计算计算出的压力中心的运动值 并且基于所计算的压力中心位置的移动值来检测滑移。 压力传感器具有多层结构，其中检测压力的两个检测单元被布置成保持由外部由负载变形的粘弹性材料制成的粘弹性体。
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公开(公告)号：US07984658B2
公开(公告)日：2011-07-26
申请号：US12181369
申请日：2008-07-29
IPC分类号： G01L1/26
CPC分类号： G01L5/228 , B25J13/081 , B25J15/0009 , G01L1/146
摘要： A detecting device including a pressure sensor that is deformed by a load from an outside and causes stress dispersion includes a slip detecting unit that calculates a pressure center position using a pressure value detected by the pressure sensor, calculates a movement value of the calculated pressure center position using a temporal change of the pressure center position, and detects a slip on the basis of the calculated movement value of the pressure center position. The pressure sensor has a multilayer structure in which two detecting units that detect pressure are arranged to hold a viscoelastic body made of a viscoelastic material that is deformed by a load from the outside.
摘要翻译： 一种检测装置，包括由来自外部的负载变形并导致应力分散的压力传感器，包括使用由压力传感器检测的压力值来计算压力中心位置的滑移检测单元，计算计算出的压力中心的运动值 并且基于所计算的压力中心位置的移动值来检测滑移。 压力传感器具有多层结构，其中检测压力的两个检测单元被布置成保持由外部由负载变形的粘弹性材料制成的粘弹性体。
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公开(公告)号：US07663362B2
公开(公告)日：2010-02-16
申请号：US11835815
申请日：2007-08-08
IPC分类号： G01R33/02
摘要： A detecting device includes a viscoelastic magnet obtained by kneading and molding a magnet material and a viscoelastic material and a magnetic-flux detecting unit that detects a change in a magnetic flux density vector due to deformation of the viscoelastic magnet.
摘要翻译： 检测装置包括通过捏合和模制磁体材料和粘弹性材料获得的粘弹性磁体和磁通量检测单元，其检测由于粘弹性磁体的变形引起的磁通密度矢量的变化。
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公开(公告)号：US20090031825A1
公开(公告)日：2009-02-05
申请号：US12181369
申请日：2008-07-29
IPC分类号： G01L1/04
CPC分类号： G01L5/228 , B25J13/081 , B25J15/0009 , G01L1/146
摘要： A detecting device including a pressure sensor that is deformed by a load from an outside and causes stress dispersion includes a slip detecting unit that calculates a pressure center position using a pressure value detected by the pressure sensor, calculates a movement value of the calculated pressure center position using a temporal change of the pressure center position, and detects a slip on the basis of the calculated movement value of the pressure center position. The pressure sensor has a multilayer structure in which two detecting units that detect pressure are arranged to hold a viscoelastic body made of a viscoelastic material that is deformed by a load from the outside.
摘要翻译： 一种检测装置，包括由来自外部的负载变形并导致应力分散的压力传感器，包括使用由压力传感器检测的压力值来计算压力中心位置的滑移检测单元，计算计算出的压力中心的运动值 并且基于所计算的压力中心位置的移动值来检测滑移。 压力传感器具有多层结构，其中检测压力的两个检测单元被布置成保持由外部由负载变形的粘弹性材料制成的粘弹性体。
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公开(公告)号：US06657349B2
公开(公告)日：2003-12-02
申请号：US09843417
申请日：2001-04-26
申请人： Tetsuharu Fukushima
发明人： Tetsuharu Fukushima
IPC分类号： H02K2112
CPC分类号： H02K1/2733 , H02K29/03 , H02K2201/06
摘要： An AC servo motor in which annular polar anisotropic magnets, formed by splitting an anisotropic magnet into two or more portions in an axial line direction, are used in a rotor. The magnetic poles of the split annular polar anisotropic magnets are disposed so as to be shifted by a predetermined angle &thgr;′ which is greater than a skew angle &thgr; determined based on the number of torque ripples per rotation of the rotor determined by the number of magnetic poles and the number of slots in a stator-side iron core. The predetermined angle &thgr;′ is the angle obtained after adding to the skew angle &thgr; a value which takes into consideration magnetic interference between the magnets. The invention provides an AC servomotor which can be controlled with high precision as a result of reducing cogging torque generated between the magnet and the stator-side iron core.
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公开(公告)号：US08499651B2
公开(公告)日：2013-08-06
申请号：US13171525
申请日：2011-06-29
IPC分类号： G01L1/26
CPC分类号： G01L5/228 , B25J13/081 , B25J15/0009 , G01L1/146
摘要： A detecting device including a pressure sensor that is deformed by a load from an outside and causes stress dispersion includes a slip detecting unit that calculates a pressure center position using a pressure value detected by the pressure sensor, calculates a movement value of the calculated pressure center position using a temporal change of the pressure center position, and detects a slip on the basis of the calculated movement value of the pressure center position. The pressure sensor has a multilayer structure in which two detecting units that detect pressure are arranged to hold a viscoelastic body made of a viscoelastic material that is deformed by a load from the outside.
摘要翻译： 一种检测装置，包括由来自外部的负载变形并导致应力分散的压力传感器，包括使用由压力传感器检测的压力值来计算压力中心位置的滑移检测单元，计算计算出的压力中心的运动值 并且基于所计算的压力中心位置的移动值来检测滑移。 压力传感器具有多层结构，其中检测压力的两个检测单元被布置成保持由外部由负载变形的粘弹性材料制成的粘弹性体。
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公开(公告)号：US08725296B2
公开(公告)日：2014-05-13
申请号：US13023797
申请日：2011-02-09
申请人： Kenichiro Nagasaka , Toshimitsu Tsuboi , Atsushi Miyamoto , Yasunori Kawanami , Tetsuharu Fukushima , Kenta Kawamoto
发明人： Kenichiro Nagasaka , Toshimitsu Tsuboi , Atsushi Miyamoto , Yasunori Kawanami , Tetsuharu Fukushima , Kenta Kawamoto
CPC分类号： B25J9/1612
摘要： There is provided a gripping judgment apparatus including a plan unit that generates a target orbit for moving a gripping unit in a state in which an object as a gripping target is gripped by the gripping unit, an observation unit that measures movement of the gripping unit driven based on the target orbit, a gripping state judgment unit that judges whether or not an object as a gripping target is grippable based on a target value of the gripping unit derived from the target orbit and an actual measured value measured by the observation unit, and a gripping state change unit that changes a gripping state of an object gripped by the gripping unit based on a judgment result obtained by the gripping state judgment unit.
摘要翻译： 提供了一种夹持判断装置，包括：平面单元，其在作为夹持目标的物体被夹持单元夹持的状态下产生用于移动夹持单元的目标轨道;观察单元，其测量夹持单元驱动的运动 基于所述目标轨道的夹持状态判断单元，基于来自所述目标轨道的所述夹持单元的目标值和由所述观测单元测量的实际测量值，判断作为夹持目标的物体是否可抓握，以及 夹持状态改变单元，其基于由夹持状态判断单元获得的判断结果，改变由夹持单元夹持的物体的夹持状态。
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公开(公告)号：US20120048628A1
公开(公告)日：2012-03-01
申请号：US13181741
申请日：2011-07-13
申请人： Yasunori KAWANAMI , Atsushi Miyamoto , Toshimitsu Tsuboi , Tetsuharu Fukushima , Kenta Kawamoto , Yasuhide Hosoda
发明人： Yasunori KAWANAMI , Atsushi Miyamoto , Toshimitsu Tsuboi , Tetsuharu Fukushima , Kenta Kawamoto , Yasuhide Hosoda
CPC分类号： B25J13/085 , B25J9/0003 , G01L3/1428
摘要： Provided is a torque detection apparatus including a base portion, a drive portion, and a detection portion. The drive portion includes a rotor having a main axis in a direction of a first axis, and a stator configured to rotate the rotor around the main axis. The detection portion includes a strain body and a detection element. The strain body includes a first end portion to be fixed to the base portion and a second end portion to be fixed to the rotor, and is arranged concentrically with the rotor. The detection element is provided to the strain body so as to detect a strain of the strain body around the first axis with respect to the base portion.
摘要翻译： 提供一种扭矩检测装置，其包括基部，驱动部和检测部。 驱动部分包括具有沿第一轴方向的主轴线的转子和构造成围绕主轴线旋转转子的定子。 检测部包括应变体和检测元件。 应变体包括固定到基部的第一端部和固定到转子的第二端部，并且与转子同心地设置。 将检测元件设置到应变体，以便相对于基部检测第一轴线周围的应变体的应变。
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