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公开(公告)号：US07212886B2
公开(公告)日：2007-05-01
申请号：US10735241
申请日：2003-12-12
申请人： Hideo Nagata , Kenichi Yasuda , Yasuyuki Inoue
发明人： Hideo Nagata , Kenichi Yasuda , Yasuyuki Inoue
IPC分类号： G06F19/00
CPC分类号： B25J9/1633 , G05B2219/39188 , G05B2219/39237 , G05B2219/40342
摘要： A robot control apparatus including a motion torque calculating section for calculating a motion torque command which is required for a motion of a servo motor, a disturbance torque estimating section for calculating a disturbance torque, a minute displacement relationship calculating section for calculating a minute displacement relationship between a task coordinate system of a robot and a joint coordinate system of the servo motor, an external force calculating section for carrying out a conversion to an external force on the task coordinate system, a force control section for calculating a position correction amount on the task coordinate system of the robot, and a joint angle correction amount calculating section for carrying out a conversion to a joint angle correction amount on the joint coordinate system.
摘要翻译： 一种机器人控制装置，包括：运动转矩计算部，其计算伺服电动机的运动所需的运动转矩指令;扰动转矩估计部，计算扰动转矩;微分位移关系计算部，计算微小位移关系 在机器人的任务坐标系与伺服电动机的联合坐标系之间，对所述任务坐标系进行向外力的转换的外力计算部，对所述任意坐标系的外力进行位置修正量的力控制部 机器人的任务坐标系，以及关节角度校正量计算部，用于对关节坐标系进行关节角修正量的转换。
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公开(公告)号：US08712589B2
公开(公告)日：2014-04-29
申请号：US13042478
申请日：2011-03-08
申请人： Hideo Nagata , Yasuyuki Inoue , Yosuke Kamiya
发明人： Hideo Nagata , Yasuyuki Inoue , Yosuke Kamiya
CPC分类号： B25J9/1633 , G05B19/401
摘要： A system for judging success or failure of a work of a robot includes a position command generating unit, a contact position detecting unit, and a work success/failure judging unit. The position command generating unit generates a position command enabling movement of a fingertip of the robot so that a position and posture detecting unit, which is attached to the fingertip of the robot and has an elastic transformation area, is brought into contact with a predetermined position relating to a work target after the predetermined work is performed for the work target by the robot. The contact position detecting unit calculates a contact position that is a position of a tip end of the position and posture detecting unit at the time of being in contact with the predetermined position based on a value of an external force applied to the fingertip and the position of the tip end of the position and posture detecting unit. The work success/failure judging unit judges the predetermined work to be successful when the calculated contact position is within a predetermined range and judges the predetermined work to be failed when the calculated contact position is not within the predetermined range.
摘要翻译： 用于判断机器人的作业的成败的系统包括位置指令生成单元，接触位置检测单元和作业成功/失败判定单元。 位置指令生成部生成能够使机器人的指尖运动的位置指令，使安装在机器人的指尖上并具有弹性变形区域的位置姿势检测部与预定位置接触 在通过机器人对工作目标进行预定工作之后与工作目标相关。 接触位置检测单元基于施加到指尖的外力的值和位置上的位置来计算作为与所述预定位置接触时的位置和姿势检测单元的末端的位置的接触位置 位置姿势检测单元的末端。 当所计算的接触位置在预定范围内时，工作成功/失败判断单元判定预定的工作成功，并且当所计算的接触位置不在预定范围内时，判定预定工作失败。
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公开(公告)号：US06919701B2
公开(公告)日：2005-07-19
申请号：US10130283
申请日：2000-11-29
CPC分类号： B25J9/163 , G05B19/416 , G05B2219/39001 , G05B2219/39005 , G05B2219/39177 , G05B2219/39322 , G05B2219/39325 , G05B2219/42075
摘要： A robot controller for keeping the posture of a tool in a task coordinate system by a simple processing and allowing a robot to perform flexible translational motion. A robot controller for controlling a motor for driving a joint by a control circuit having a position/speed state feedback loop, has a mechanism for measuring the angle of a joint of a robot, a mechanism for storing the initial posture of a tool attached to the end of a hand of the robot, a mechanism for setting the position or speed gain of a specific joint axis smaller than the position or speed gains of the other joint axes, and a mechanism for calculating the correction of a position or speed command to keep the tool posture with respect to the robot base on the basis of the angle of the joint and the initial posture of the tool.
摘要翻译： 一种机器人控制器，用于通过简单的处理将工具的姿势保持在任务坐标系中，并允许机器人执行灵活的平移运动。 一种用于控制用于通过具有位置/速度状态反馈回路的控制电路驱动接头的电机的机器人控制器，具有用于测量机器人的接头的角度的机构，用于存储附接到机器人的工具的初始姿势的机构 机器人的手的结束，用于设定比其他关节轴的位置或速度增益小的特定关节轴的位置或速度增益的机构，以及用于计算位置或速度指令的校正的机构 基于接头的角度和工具的初始姿态，保持相对于机器人基座的工具姿势。
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公开(公告)号：US20110270443A1
公开(公告)日：2011-11-03
申请号：US13043493
申请日：2011-03-09
申请人： Yosuke KAMIYA , Yasuyuki Inoue , Hideo Nagata
发明人： Yosuke KAMIYA , Yasuyuki Inoue , Hideo Nagata
IPC分类号： G06F19/00
CPC分类号： G05B19/401
摘要： An apparatus for detecting a contact position where a robot makes contact with an object includes a probe, a probe-position calculating unit, a contact detecting unit, and a contact-position calculating unit. The probe is attached to the robot and is configured to make a displacement in a direction of making contact with the object in an elastic manner. The probe-position calculating unit calculates a position of the probe of the robot in operation. The contact detecting unit detects a contact state of the probe with the object. When the contact state of the probe is detected, the contact-position calculating unit derives the contact position based on a calculated position of the probe.
摘要翻译： 用于检测机器人与物体接触的接触位置的装置包括探针，探针位置计算单元，接触检测单元和接触位置计算单元。 探针附接到机器人，并且被配置为使得能够以弹性方式与物体接触的方向发生位移。 探测位置计算单元计算操作中的机器人的探头的位置。 接触检测单元检测探头与物体的接触状态。 当检测到探针的接触状态时，接触位置计算单元基于计算出的探针的位置导出接触位置。
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公开(公告)号：US20070288124A1
公开(公告)日：2007-12-13
申请号：US11661136
申请日：2005-08-19
申请人： Hideo Nagata , Yasuyuki Inoue
发明人： Hideo Nagata , Yasuyuki Inoue
IPC分类号： B25J13/08
CPC分类号： B25J9/1694 , B25J13/088 , G05B2219/40547
摘要： There are provided an evaluating system of a robot and its evaluating method capable of measuring a movement state amount, particularly, a position or a speed or an acceleration, or an angle or an angular speed or an angular acceleration of an arm of a robot by a simple system constitution in noncontact, accurately, in real time, dispensing with a complicated calibration. There is provided an evaluating system of a robot characterized in including a sensor provided at an arm of a robot for detecting a movement state amount of the arm, an angle detector for measuring an articulate angle of each axis servo motor of the robot, a first sensor operating portion for converting a state amount of the sensor into a state amount in a robot coordinate system, a second sensor operating portion for converting an articulate angle of the angle detector into a state amount in the robot coordinate system, and an output synthesizing portion for synthesizing an output of the first sensor operating portion and an output of the second sensor operating portion.
摘要翻译： 提供了一种机器人的评估系统及其评估方法，其能够测量机器人的手臂的运动状态量，特别是位置，速度或加速度，角度或角速度或角加速度 一个简单的系统结构，非接触，准确，实时，分配复杂的校准。 提供了一种机器人的评价系统，其特征在于包括设置在机器人的臂处的传感器，用于检测臂的移动状态量;角度检测器，用于测量机器人的各轴伺服电动机的关节角度;第一 用于将传感器的状态量转换为机器人坐标系中的状态量的传感器操作部分，用于将角度检测器的关节角度转换为机器人坐标系中的状态量的第二传感器操作部分，以及输出合成部分 用于合成第一传感器操作部分的输出和第二传感器操作部分的输出。
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公开(公告)号：US08798790B2
公开(公告)日：2014-08-05
申请号：US13043493
申请日：2011-03-09
申请人： Yosuke Kamiya , Yasuyuki Inoue , Hideo Nagata
发明人： Yosuke Kamiya , Yasuyuki Inoue , Hideo Nagata
IPC分类号： G06F19/00
CPC分类号： G05B19/401
摘要： An apparatus for detecting a contact position where a robot makes contact with an object includes a probe, a probe-position calculating unit, a contact detecting unit, and a contact-position calculating unit. The probe is attached to the robot and is configured to make a displacement in a direction of making contact with the object in an elastic manner. The probe-position calculating unit calculates a position of the probe of the robot in operation. The contact detecting unit detects a contact state of the probe with the object. When the contact state of the probe is detected, the contact-position calculating unit derives the contact position based on a calculated position of the probe.
摘要翻译： 用于检测机器人与物体接触的接触位置的装置包括探针，探针位置计算单元，接触检测单元和接触位置计算单元。 探针附接到机器人，并且被配置为使得能够以弹性方式与物体接触的方向发生位移。 探测位置计算单元计算操作中的机器人的探头的位置。 接触检测单元检测探头与物体的接触状态。 当检测到探针的接触状态时，接触位置计算单元基于计算出的探针的位置导出接触位置。
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公开(公告)号：US07127325B2
公开(公告)日：2006-10-24
申请号：US10472942
申请日：2002-03-26
申请人： Hideo Nagata , Yasuyuki Inoue , Ken'ichi Yasuda , Hiroyuki Handa
发明人： Hideo Nagata , Yasuyuki Inoue , Ken'ichi Yasuda , Hiroyuki Handa
IPC分类号： G06F19/00
CPC分类号： G05B19/4063 , B25J9/1674 , G05B2219/33284 , G05B2219/33286 , Y02P90/14 , Y02P90/86
摘要： A robot apparatus having a robot and a controller for controlling the robot. The apparatus has a diagnosing computer connected to the controller and acquiring a state quantity of the robot. An analyzing computer is provided remotely from the robot and has a control parameter adjuster for adjusting a control parameter of the robot, and a communicating function of connecting the computers. The state quantity is transmitted to the analyzing computer by the communicating function and a control parameter of the robot is obtained based on the state quantity. The control parameter is transmitted to the controller through the diagnosing computer to control the robot.
摘要翻译： 具有机器人的机器人装置和用于控制机器人的控制器。 该装置具有连接到控制器并且获取机器人的状态量的诊断计算机。 从机器人远程地提供分析计算机，并具有用于调整机器人的控制参数的控制参数调节器以及连接计算机的通信功能。 通过通信功能将状态量发送到分析计算机，并且基于状态量获得机器人的控制参数。 控制参数通过诊断计算机传输到控制器，以控制机器人。
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公开(公告)号：US5994864A
公开(公告)日：1999-11-30
申请号：US29735
申请日：1998-06-10
申请人： Yasuyuki Inoue , Hideo Nagata
发明人： Yasuyuki Inoue , Hideo Nagata
CPC分类号： B25J9/1633 , G05B2219/42123
摘要： A control apparatus and compliance control apparatus of a robot which performs operations while switching between a position control and a compliance control. When a transition from the position control to the compliance control is made, an integration operation of a speed control system is stopped. Thereafter, an integration value of the speed control system is stored in a memory, and, at the same time, the integration value is added to a torque reference. Alternately, a gravity compensation value is added to the torque reference, the gravity compensation value being computed based on a joint angle of a robot arm and a link mass and a position of a center of gravity of the robot. When the control returns from the compliance control to the position control, a present position is dealt with an instruction position. The compliance control apparatus includes a device (102) for controlling a torque of a servo motor to drive a joint portion; a device (106) for measuring a joint angle; a device (108) for computing a very small displacement between coordinates based on the measurement information; a device (102) for converting a limitation value (107) of either a force or a torque set in a working coordinate system by giving the foregoing very small displacement correspondence relation to the foregoing computation means (108); and devices (104, 105, 106) for limiting the torque.
摘要翻译： PCT No.PCT / JP96 / 02574 Sec。 371日期：1998年6月10日 102（e）1998年6月10日PCT PCT 1996年9月10日PCT公布。 公开号WO97 / 10081 日期1997年3月20日一种机械手的控制装置和顺从控制装置，其在位置控制和合规控制之间切换时执行操作。 当进行从位置控制向合规控制的转换时，停止对速度控制系统的积分动作。 此后，将速度控制系统的积分值存储在存储器中，并且同时将积分值加到转矩基准。 或者，重力补偿值被添加到转矩基准，重力补偿值是基于机器人手臂和连杆质量的关节角度以及机器人的重心位置来计算的。 当控制从顺从性控制返回到位置控制时，处理当前位置的指令位置。 柔性控制装置包括：用于控制伺服电动机的扭矩以驱动接合部的装置（102）; 用于测量关节角度的装置（106）; 用于基于所述测量信息计算坐标之间的非常小的位移的装置（108）; 通过给出与上述计算装置（108）的上述非常小的位移对应关系，转换在工作坐标系中设定的力或扭矩的限制值（107）的装置（102）。 以及用于限制转矩的装置（104,105,106）。
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公开(公告)号：US06317699B1
公开(公告)日：2001-11-13
申请号：US09355507
申请日：1999-07-29
IPC分类号： G01B2100
CPC分类号： B25J9/1692 , G05B2219/39007 , G05B2219/39019
摘要： A calibrating device is composed of a movable portion having a degree of freedom movable in three axis directions orthogonal to each other, a displacement detector for detecting displacement of said movable portion as per degree of freedom, a universal joint having a three-axis rotating degree of freedom, which is attached to the tip end portion of said movable portion, a fixture attached to a free end of the universal joint, which is capable of being easily connected to the tip end portion of the wrist of the robot. The calibrating device measures displacement of the wrist tip end portion. That is, the invention provides a comparatively simple calibrating device and a calibrating method, in which automation is easy without requiring any complicated operations, using the calibrating device.
摘要翻译： 校准装置由具有可在相互正交的三个轴线方向上移动的自由度的可动部分构成，用于检测所述可动部分的自由度的位移的位移检测器，具有三轴旋转度的万向接头 的自由度安装在所述可动部的前端部，安装有能够容易地连接到机器人手腕的前端部的万向接头的自由端的固定件。 校准装置测量手腕末端部的位移。 也就是说，本发明提供了一种相对简单的校准装置和校准方法，其中使用校准装置，自动化容易而不需要任何复杂的操作。
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公开(公告)号：US06212443B1
公开(公告)日：2001-04-03
申请号：US09029856
申请日：1998-03-16
申请人： Hideo Nagata , Youichi Tanaka , Yasuyuki Inoue , Hirotaka Morita
发明人： Hideo Nagata , Youichi Tanaka , Yasuyuki Inoue , Hirotaka Morita
IPC分类号： G06F1900
CPC分类号： G05B19/423 , G05B2219/36457 , G05B2219/36473
摘要： A direct teaching apparatus which allows an operator to perform the direct teaching of a robot in safety. The apparatus includes a force detector and a teaching tool. The tool includes a working tool or handle fixed to the first detector and held by the operator to lead the robot. It also includes a device for computing the position or speed directive based on the force detector data and a motion model. It further includes a device for computing the generation torque of a motor for driving a robot depending on the position or speed directive and a controller to control the generated torque.
摘要翻译： 一种直接教学装置，其允许操作者安全地执行机器人的直接教导。 该装置包括力检测器和教学工具。 该工具包括固定在第一检测器上并由操作员保持以引导机器人的加工工具或手柄。 它还包括用于基于力检测器数据和运动模型计算位置或速度指令的装置。 它还包括一种用于根据位置或速度指令计算用于驱动机器人的电动机的发电转矩的装置和用于控制所产生的转矩的控制器。
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