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    VR motion base control apparatus and it's supporting structure
    2.
    发明授权
    VR motion base control apparatus and it's supporting structure 失效
    VR运动基座控制装置及其支撑结构

    公开(公告)号：US06413090B1

    公开(公告)日：2002-07-02

    申请号：US09276739

    申请日：1999-03-26

    申请人： Tsukasa Shiina ,  Minoru Katoh ,  Masayuki Oshiro ,  Takayuki Kamiya ,  Hiroshi Sakairi ,  Masami Otomo ,  Kenji Seino

    发明人： Tsukasa Shiina ,  Minoru Katoh ,  Masayuki Oshiro ,  Takayuki Kamiya ,  Hiroshi Sakairi ,  Masami Otomo ,  Kenji Seino

    IPC分类号： G09B900

    CPC分类号： A63G31/16 ,  G09B9/14

    摘要： A simulation rider transporting apparatus includes a seat having means for constraining an attitude of a rider mounted on a first base and having a second base positioned under the first base. Elevation means for elevating the first base include two cranks which are arranged opposite to each other between the first and the second base. Each of the cranks has crank arms with each crank arm having one end coupled to the second base. A crank rod is provided for coupling the other end of each crank arm to the first base. Drive means are provided for changing a relative angle between the two crank arms to a predetermined value and for holding the changed relative angle.

    摘要翻译： 模拟骑车者运送装置包括具有用于约束安装在第一基座上的骑手的姿势并具有位于第一底座下方的第二底座的装置的座。 用于升高第一基座的升高装置包括在第一和第二基座之间彼此相对布置的两个曲柄。 每个曲柄具有曲柄臂，其中每个曲柄臂的一端联接到第二底座。 设置有用于将每个曲柄臂的另一端连接到第一基座的曲柄杆。 提供驱动装置，用于将两个曲柄臂之间的相对角度改变到预定值并保持改变的相对角度。

    VR motion base control apparatus and it's supporting structure
    4.
    发明授权
    VR motion base control apparatus and it's supporting structure 失效
    VR运动基座控制装置及其支撑结构

    公开(公告)号：US06336811B2

    公开(公告)日：2002-01-08

    申请号：US09769342

    申请日：2001-01-26

    申请人： Tsukasa Shiina ,  Minoru Katoh ,  Masayuki Oshiro ,  Takayuki Kamiya ,  Hiroshi Sakairi ,  Masami Otomo ,  Kenji Seino

    发明人： Tsukasa Shiina ,  Minoru Katoh ,  Masayuki Oshiro ,  Takayuki Kamiya ,  Hiroshi Sakairi ,  Masami Otomo ,  Kenji Seino

    IPC分类号： A63J2300

    CPC分类号： A63G31/16 ,  G09B9/14

    摘要： A VR motion producing apparatus includes a reception unit for receiving a presently projected picture frame No. from a picture apparatus; a detection unit for detecting a frame No. of operation data of a motion base presently executed by a motion base; a difference unit for comparing the picture frame No. with the motion frame No. to calculate a difference between them; a calculation unit for calculating an operation velocity of a motion base so as to correct this difference value; and a synchronization unit for reducing the difference between the picture frame No. and the motion frame No. for operating the motion base from the calculated velocity. A simulation rider transporting apparatus is featured by that an object to be controlled is a dynamic object; a motion model conversion unit is an apparatus for converting a motion model of a dynamic object to be controlled into a motion model of a motion base having a finite stroke, and furthermore contains two crank arms whose one ends are coupled to an elevation unit, a motor equal to a drive unit for changing an angle “∞” between the two crank arms into a preselected value to hold this changed angle, and a speed reducing machine. A crank rod is coupled to a rider containing base while having a rotation free degree along 3 axial directions.

    摘要翻译： VR运动产生装置包括：接收单元，用于从图像装置接收当前投影的图像帧号; 检测单元，用于检测当前由运动基地执行的运动基站的运算数据的帧号; 差分单元，用于比较图像帧编号与运动帧编号以计算它们之间的差; 计算单元，用于计算运动基准的运算速度以校正该差值; 以及同步单元，用于从所计算的速度减小用于操作运动基座的图像帧编号和运动帧编号之间的差异。 模拟骑手输送装置的特征在于：要被控制的对象是动态对象; 运动模型转换单元是用于将待控制的动态对象的运动模型转换为具有有限行程的运动基座的运动模型的装置，并且还包括两个曲柄臂，其一端联接到升降单元， 电动机等于用于将两个曲柄臂之间的角度“infin”改变为保持该改变角度的预选值的驱动单元和减速机。 曲柄杆联接到骑车人容纳基座，同时沿着3个轴向方向具有旋转自由度。

    VR motion base control apparatus and it's supporting structure
    5.
    发明授权
    VR motion base control apparatus and it's supporting structure 失效
    VR运动基座控制装置及其支撑结构

    公开(公告)号：US06641399B2

    公开(公告)日：2003-11-04

    申请号：US10066692

    申请日：2002-02-06

    申请人： Tsukasa Shiina ,  Minoru Katoh ,  Masayuki Oshiro ,  Takayuki Kamiya ,  Hiroshi Sakairi ,  Masami Otomo ,  Kenji Seino

    发明人： Tsukasa Shiina ,  Minoru Katoh ,  Masayuki Oshiro ,  Takayuki Kamiya ,  Hiroshi Sakairi ,  Masami Otomo ,  Kenji Seino

    IPC分类号： G09B900

    CPC分类号： A63G31/16 ,  G09B9/14

    摘要： In a VR motion producing apparatus and an apparatus, comprising: a reception unit for receiving a presently projected picture frame No. from a picture apparatus; a detection unit for detecting a frame No. of operation data of a motion base presently executed by a motion base; a difference unit for comparing the picture frame No. with the motion frame No. to calculate a difference between them; a calculation unit for calculating an operation velocity of a motion base so as to correct this difference value; and a synchronization unit for reducing the difference between the picture frame No. and the motion frame No. for operating the motion base from the calculated velocity, a simulation rider transporting apparatus is featured by that an object to be controlled is a dynamic object; a motion model conversion unit is an apparatus for converting a motion model of a dynamic object to be controlled into a motion model of a motion base having a finite stroke, and furthermore contains two crank arms whose one ends are coupled to an elevation unit, a motor equal to a drive unit for changing an angle “∝” between the two crank arms into a preselected value to hold this changed angle, and a speed reducing machine; and a crank rod is coupled to a rider containing base while having a rotation free degree along 3 axial directions.

    摘要翻译： 一种VR运动产生装置和装置，包括：接收单元，用于从图像装置接收当前投影的图像帧号; 检测单元，用于检测当前由运动基地执行的运动基站的运算数据的帧号; 差分单元，用于比较图像帧编号与运动帧编号以计算它们之间的差; 计算单元，用于计算运动基准的运算速度以校正该差值; 以及同步单元，用于从计算出的速度减小图像帧编号和用于操作运动基准的运动帧编号之间的差异，模拟骑车者输送装置的特征在于：要被控制的对象是动态对象; 运动模型转换单元是用于将待控制的动态对象的运动模型转换为具有有限行程的运动基座的运动模型的装置，并且还包括两个曲柄臂，其一端联接到升降单元， 电动机等于驱动单元，用于将两个曲柄臂之间的角度“α”改变为预定值以保持该变化的角度;以及减速机; 并且曲柄杆联接到骑车人容纳基座，同时具有沿着3个轴向的旋转自由度。

    Robot teaching apparatus and method with skill level storage
    6.
    发明授权
    Robot teaching apparatus and method with skill level storage 失效
    机器人教学设备与技能水平的存储方法

    公开(公告)号：US5274750A

    公开(公告)日：1993-12-28

    申请号：US649986

    申请日：1991-02-04

    申请人： Tsukasa Shiina ,  Kazuyoshi Teramoto ,  Masao Oura ,  Raiji Shimomura

    发明人： Tsukasa Shiina ,  Kazuyoshi Teramoto ,  Masao Oura ,  Raiji Shimomura

    IPC分类号： B25J9/22 ,  B25J9/18 ,  B25J13/06 ,  G05B19/409 ,  G05B19/42 ,  G05B19/425 ,  G06F3/00

    CPC分类号： G05B19/425 ,  G05B2219/36118

    摘要： In accordance with levels of skillfulness of operators, guidance of a robot teaching apparatus is automatically changed for facilitated use by beginners and skilled operators. Teaching is performed through an interactive procedure with the aid of a display of message for manipulation guidance and a menu for input selection. A key manipulation path is automatically determined on the basis of various experience factors. For a skilled operator, operation up to generation of a final function display is executed in an automated manner.

    摘要翻译： 根据操作人员的熟练程度，机器人教学装置的引导自动改变，以便初学者和技术熟练的操作者方便使用。 借助于显示用于操作指导的消息和用于输入选择的菜单，通过交互式过程来执行教学。 一个关键的操作路径是根据各种经验因素自动确定的。 对于熟练的操作者，直到生成最终功能显示的操作以自动方式执行。