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    APPARATUS AND METHOD FOR CONTROLLING ROBOT
    1.
    发明申请
    APPARATUS AND METHOD FOR CONTROLLING ROBOT 审中-公开

    公开(公告)号：US20190210222A1

    公开(公告)日：2019-07-11

    申请号：US16299257

    申请日：2019-03-12

    申请人： ABB Schweiz AG

    发明人： Jun Li

    IPC分类号： B25J9/16 ,  G05B19/05

    CPC分类号： B25J9/1658 ,  B25J9/16 ,  B25J9/1692 ,  G05B19/05 ,  G05B2219/23289

    摘要： An apparatus for controlling a robot includes a programmable logic controller (PLC) configured to define, based on a finite state machine (FSM): states and associated operations of the robot, and switching conditions among the states, wherein the robot is switched among different states in response to a switching condition being satisfied. The FSM at least includes an initial state for a self-test procedure to check whether components of the robot are able to operate properly, and a calibration state for calibrating the robot. And a method for controlling a robot. The use of PLC programming language facilitates an easy programming and maintenance of the whole robot system.

    Transferable intelligent control device
    2.
    发明授权
    Transferable intelligent control device 有权
    可转换智能控制装置

    公开(公告)号：US09308643B2

    公开(公告)日：2016-04-12

    申请号：US14255880

    申请日：2014-04-17

    申请人： iRobot Corporation

    发明人： Michael Dooley ,  Nikolai Romanov ,  Paolo Pirjanian

    IPC分类号： B25J9/00 ,  B25J9/16 ,  G06N3/00

    CPC分类号： B25J9/1658 ,  B25J9/0084 ,  G05B2219/40304 ,  G05B2219/40306 ,  G05B2219/40397 ,  G06N3/004

    摘要： An integrated intelligent system includes a first intelligent electronic device, a second intelligent electronic device, a transferable intelligent control device (TICD) and a cross product bus. The first intelligent electronic device performs a first function and the second intelligent electronic device performs a second function. The cross product bus couples the first intelligent electronic device to the transferable intelligent control device. The TICD partially controls behaviors of the intelligent electronic device by sending commands over the cross product bus to the first intelligent electronic device and the TICD partially controls behaviors of the second intelligent electronic device to perform the second function. The TICD is first attached to the first intelligent electronic device to partially control the behaviors of the first electronic device, then detached from the first electronic device, and then attached to the second intelligent electronic device to perform the second function.

    摘要翻译： 集成智能系统包括第一智能电子设备，第二智能电子设备，可转移智能控制设备（TICD）和交叉产品总线。 第一智能电子装置执行第一功能，第二智能电子装置执行第二功能。 交叉产品总线将第一智能电子设备耦合到可转移智能控制设备。 TICD通过将交叉产品总线上的命令发送到第一智能电子设备部分地控制智能电子设备的行为，并且TICD部分地控制第二智能电子设备执行第二功能的行为。 首先将TICD连接到第一智能电子设备，以部分地控制第一电子设备的行为，然后从第一电子设备分离，然后连接到第二智能电子设备以执行第二功能。

    Systems and methods of using a hieroglyphic machine interface language for communication with auxiliary robotics in rapid fabrication environments
    4.
    发明授权
    Systems and methods of using a hieroglyphic machine interface language for communication with auxiliary robotics in rapid fabrication environments 有权
    在快速制造环境中使用象形文字机界面语言与辅助机器人通信的系统和方法

    公开(公告)号：US08977378B2

    公开(公告)日：2015-03-10

    申请号：US14212267

    申请日：2014-03-14

    申请人： Northeastern University

    发明人： Brian Weinberg ,  Constantinos Mavroidis

    IPC分类号： G06F19/00 ,  G06F7/00 ,  G06K9/00 ,  G06K9/68 ,  B29C67/00 ,  B25J9/16

    CPC分类号： B29C67/0051 ,  B25J9/1658 ,  B29C64/00 ,  B29C70/38 ,  G05B2219/40392 ,  Y10S901/02 ,  Y10S901/15 ,  Y10S901/28 ,  Y10S901/30

    摘要： Disclosed are methods and systems for using hieroglyphs for communication in a rapid fabrication environment. The method includes receiving, by a control system for an articulated robotic arm, one or more images of a fabrication machine build space. The method includes identifying, by the control system, a hieroglyph present in the one or more images and translating the identified hieroglyph into one or more instructions for manipulation of the articulated robotic arm. The method includes causing the articulated robotic arm to carry out the instructions translated from the identified hieroglyph. Accordingly foreign objects are inserted into fabricated objects during an automated rapid fabrication process without extensive redesign of the rapid fabrication machine. In some implementations, an unmodified third-party stereolithographic rapid fabrication machine can be used.

    摘要翻译： 公开了在快速制造环境中使用象形文字进行通信的方法和系统。 该方法包括通过用于关节式机器人臂的控制系统接收制造机器构建空间的一个或多个图像。 该方法包括通过控制系统识别一个或多个图像中存在的象形文字，并将识别的象形文字翻译成用于操纵铰接的机器人臂的一个或多个指令。 该方法包括使铰接的机器人臂执行从所识别的象形文字翻译的指令。 因此，在自动快速制造过程中异物被插入制造的物体中，而无需快速制造机器的大量重新设计。 在一些实施方案中，可以使用未经改进的第三方立体光刻快速制造机。

    APPARATUS AND METHOD FOR EXECUTING ROBOT APPLICATION PROGRAM
    6.
    发明申请
    APPARATUS AND METHOD FOR EXECUTING ROBOT APPLICATION PROGRAM 审中-公开
    装置和方法执行机器人应用程序

    公开(公告)号：US20100162277A1

    公开(公告)日：2010-06-24

    申请号：US12498187

    申请日：2009-07-06

    申请人： Seung-Ik LEE ,  Sung Hoon Kim

    发明人： Seung-Ik LEE ,  Sung Hoon Kim

    IPC分类号： G06F9/46

    CPC分类号： G06F9/44526 ,  B25J9/1658 ,  G05B2219/34205

    摘要： An apparatus for executing a robot application program includes a robot application execution device to which an operating system supporting a dynamic library to execute the robot application program is mounted; a robot device unit having various sensors and effectors; a plug-in storage for storing therein plug-ins forming the dynamic library; and a robot application program storage for storing therein the robot application program. Each plug-in is a dynamically loadable file implementing functions of the robot application program by modules.

    摘要翻译： 一种用于执行机器人应用程序的装置，包括：机器人应用程序执行装置，其中安装有支持用于执行所述机器人应用程序的动态库的操作系统; 具有各种传感器和效应器的机器人装置单元; 用于存储形成动态库的插件的插件存储器; 以及用于在其中存储机器人应用程序的机器人应用程序存储器。 每个插件是一个动态加载的文件，通过模块实现机器人应用程序的功能。

    Systems and methods that facilitate motion control through coordinate system transformations
    7.
    发明申请
    Systems and methods that facilitate motion control through coordinate system transformations 有权
    通过坐标系变换促进运动控制的系统和方法

    公开(公告)号：US20060074527A1

    公开(公告)日：2006-04-06

    申请号：US10955068

    申请日：2004-09-30

    申请人： Jatin Bhatt ,  Fabio Malaspina ,  Michael Piatka ,  William Schwarz ,  Jeffery Brooks ,  Slobodan Milosevic

    发明人： Jatin Bhatt ,  Fabio Malaspina ,  Michael Piatka ,  William Schwarz ,  Jeffery Brooks ,  Slobodan Milosevic

    IPC分类号： G05B19/18

    CPC分类号： B25J9/1658 ,  B25J9/1669 ,  G05B19/056 ,  G05B19/4086 ,  G05B2219/13106 ,  G05B2219/33263 ,  G05B2219/33269 ,  G05B2219/36038 ,  G05B2219/39139

    摘要： The subject invention relates to systems and methods that facilitate motion between different coordinate systems in an industrial control environment. The systems and methods accept data in one coordinate system and transform the data to a different coordinate system. Suitable transformations include instructions that transform between Cartesian, pre-defined non-Cartesian, and user-defined non-Cartesian coordinate systems, including transformations between a non-Cartesian coordinate system to another non-Cartesian coordinate system. Such transformations can be programmed in essentially any industrial control language and can be seamlessly integrated with the control environment. The systems and methods can be utilized to generate a motion instruction that includes, among other information, source and target coordinate systems and the transformation between them. The subject invention provides for connecting various systems together through respective motion instructions, wherein a motion of a source system is mapped to a coordinate system of a target system and the target system is moved accordingly.

    摘要翻译： 本发明涉及在工业控制环境中促进不同坐标系之间运动的系统和方法。 系统和方法接受一个坐标系统中的数据，并将数据转换为不同的坐标系。 合适的变换包括在笛卡尔坐标，预定义非笛卡尔坐标系和用户定义的非笛卡尔坐标系之间进行变换的指令，包括非笛卡尔坐标系与非笛卡尔坐标系之间的转换。 这样的转换可以基本上以任何工业控制语言编程，并且可以与控制环境无缝集成。 系统和方法可用于生成运动指令，其中包括源和目标坐标系以及它们之间的转换等信息。 本发明提供了通过相应的运动指令将各种系统连接在一起，其中源系统的运动被映射到目标系统的坐标系，并且目标系统相应地移动。

    ROBOT CONTROL DEVICE AND ROBOT SYSTEM
    8.
    发明申请
    ROBOT CONTROL DEVICE AND ROBOT SYSTEM 审中-公开

    公开(公告)号：US20190232492A1

    公开(公告)日：2019-08-01

    申请号：US16257256

    申请日：2019-01-25

    申请人： Seiko Epson Corporation

    发明人： Kaoru TAKEUCHI

    IPC分类号： B25J9/16 ,  B25J13/06 ,  B25J13/08

    CPC分类号： B25J9/1658 ,  B25J9/16 ,  B25J9/1633 ,  B25J9/1656 ,  B25J9/1687 ,  B25J13/06 ,  B25J13/08 ,  G05B19/02 ,  G05B19/409

    摘要： A robot control device that creates a control program for work of a robot with a force detector, the device includes a processor, wherein the processor is configured to: display a screen for displaying a plurality of options for selecting work including one or more force control operations; display a screen for setting work parameters related to selection work selected from the plurality of options; display a screen for displaying an operation flow of the selection work and editing the operation flow; set operation parameters of the force control operation based on the work parameters set for the selection work; and cause the robot to execute the selection work based on the work parameters and the operation parameters according to the operation flow.

    APPARATUS FOR OPERATING ROBOTS
    9.
    发明申请
    APPARATUS FOR OPERATING ROBOTS 审中-公开
    操作机器人的设备

    公开(公告)号：US20160274784A1

    公开(公告)日：2016-09-22

    申请号：US15076016

    申请日：2016-03-21

    申请人： DENSO WAVE INCORPORATED

    发明人： Daisuke YUI ,  Motoki KANADA ,  Atsuko SUGANO ,  Hirota TOUMA

    IPC分类号： G06F3/0484 ,  G06F3/041 ,  B25J9/16 ,  G06F3/0488

    CPC分类号： G06F3/04847 ,  B25J9/161 ,  B25J9/1658 ,  G05B19/409 ,  G05B2219/35488 ,  G05B2219/36159 ,  G05B2219/36168 ,  G05B2219/40392 ,  G06F3/04883

    摘要： A robot operation apparatus includes a touch panel, a display, an operation detecting unit capable of detecting a touch operation or a drag operation on the touch panel, a motion command generating unit that generates a motion command for operating a robot, and a display control unit that controls display content of the display. The motion command generating unit performs a motion speed determining process in which a motion speed of the robot is determined based on a slide distance that is a distance from a start position of a drag operation detected by the operation detecting unit to a current position. The display control unit performs a speed graphics display process in which a speed graphics in which the slide distance and the motion speed of the robot are correlated and that changes in aspect in accompaniment with changes in the slide distance is displayed on the display.

    摘要翻译： 一种机器人操作装置，包括触摸面板，显示器，能够检测触摸面板上的触摸操作或拖动操作的操作检测单元，产生用于操作机器人的运动命令的运动指令生成单元和显示控制 控制显示内容的单位。 运动指令生成部，基于从由操作检测部检测到的拖动操作的开始位置到当前位置的距离来确定机器人的运动速度，运动速度决定处理。 显示控制单元执行速度图形显示处理，其中将滑动距离和机器人的运动速度相关联的速度图形显示在显示器上，并且伴随着滑动距离的改变而改变方面。

    Systems and methods for instructing robotic operation
    10.
    发明授权
    Systems and methods for instructing robotic operation 有权
    指导机器人操作的系统和方法

    公开(公告)号：US09308647B2

    公开(公告)日：2016-04-12

    申请号：US14295168

    申请日：2014-06-03

    申请人： Bot & Dolly, LLC

    发明人： Jeffrey Linnell ,  Kendra Byrne

    IPC分类号： B25J9/16 ,  G06N3/00 ,  G06F17/50 ,  B25J11/00 ,  G06T13/40

    CPC分类号： B25J9/1671 ,  B25J9/1656 ,  B25J9/1658 ,  B25J9/1661 ,  B25J11/00 ,  G05B2219/31467 ,  G05B2219/31472 ,  G05B2219/32342 ,  G05B2219/32351 ,  G05B2219/40397 ,  G06F17/5009 ,  G06N3/006 ,  G06N3/008 ,  G06T13/40

    摘要： Example systems and methods may allow for use of a generic robot trajectory format to control a robotic process within a workcell. One example method includes receiving a digital representation of at least one digital robot actor, including at least one robot definition corresponding to the at least one digital robot actor and at least one sequence of robot operations for the at least one digital robot actor, determining a mapping between the at least one digital robot actor and at least one corresponding physical robot actor within a physical workcell, generating at least one robot-language-specific sequence of executable instructions for the at least one physical robot actor, and transmitting the at least one robot-language specific sequence of executable instructions to the at least one physical robot actor to execute in order to perform the at least sequence of robot operations within the physical workcell.

    摘要翻译： 示例系统和方法可以允许使用通用机器人轨迹格式来控制工作单元内的机器人处理。 一个示例性方法包括接收至少一个数字机器人演员的数字表示，包括至少一个对应于至少一个数字机器人演员的机器人定义和至少一个数字机器人演员的至少一个机器人操作序列，确定一个 在所述至少一个数字机器人演员与物理工作单元内的至少一个对应的物理机器人演员之间进行映射，为所述至少一个物理机器人演员生成至少一个机器人语言特定的可执行指令序列，并且传送所述至少一个 机器人语言特定的可执行指令序列，至少一个物理机器人执行器执行以便执行物理工作单元内的机器人操作的至少序列。