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    Robot controller having function for displaying robot and force
    1.
    发明授权
    Robot controller having function for displaying robot and force 有权

    公开(公告)号：US09889561B2

    公开(公告)日：2018-02-13

    申请号：US15175039

    申请日：2016-06-07

    申请人： FANUC CORPORATION

    发明人： Takashi Sato

    IPC分类号： B25J9/16 ,  B24B27/00 ,  B25J11/00

    CPC分类号： B25J9/1633 ,  B24B27/0038 ,  B25J9/1671 ,  B25J11/0065 ,  G05B2219/35327 ,  G05B2219/37076 ,  G05B2219/37086 ,  G05B2219/37091

    摘要： A robot controller, by which an operator can visually or intuitively understand the direction and/or magnitude of an actual force applied to an arbitrary portion of a workpiece. The controller controls a motion of a robot so that one of a work tool and a workpiece is moved relative to the other, and carries out a predetermined operation. The controller has a force detecting part which detects a force acting between the work tool and the workpiece; and a displaying part which displays a simulated image or video of the robot. The displaying part displays a trajectory of working points on the workpiece, and the force detecting part detects the force applied to each working point when the work tool passes through the working point. The displaying part displays the detected force as a line segment, etc., extending from the working point or a point near the working point.

    Motion control evaluation employing a Fourier transform
    2.
    发明授权
    Motion control evaluation employing a Fourier transform 失效
    运动控制评估采用傅里叶变换

    公开(公告)号：US5715160A

    公开(公告)日：1998-02-03

    申请号：US517185

    申请日：1995-08-21

    申请人： Robert Jay Plotke

    发明人： Robert Jay Plotke

    IPC分类号： G05B19/42 ,  G05B19/18 ,  A61B5/00

    CPC分类号： G05B19/42 ,  G05B2219/34048 ,  G05B2219/37091 ,  G05B2219/37357 ,  G05B2219/37392 ,  G05B2219/45109 ,  Y10S482/90 ,  Y10S482/902

    摘要： An evaluation system is disclosed herein for analyzing, displaying and feedback of digital signals derived from a source of analog motion and analog force. The system includes sensors for detecting physical movement following a point-by-point measurement procedure and a digital signal generator for introducing the sensed motion and force signals to a Fourier measuring unit for analysis. Separate analysis circuits for motion characteristics and force or load characteristics from the derived signals are employed for discrete measurement. The resultant measurements and/or values are introduced to a comparator network where the measurements and/or values are compared with stored individual data and to stored universal standards. A display device such as a video monitor, visual or auditory device receives the result's of the compared motion and force measurements and values. A feedback loop introduces the same measurements and values back to the source of sensor data to control, update and regulate further motion and force applied by the source.

    摘要翻译： 本文公开了一种评估系统，用于分析，显示和反馈从模拟运动和模拟力源得到的数字信号。 该系统包括用于在逐点测量程序之后检测物理运动的传感器和用于将感测到的运动和力信号引入到用于分析的傅立叶测量单元的数字信号发生器。 用于离散测量的分离电路用于运动特性和来自导出信号的力或载荷特性。 所得到的测量值和/或值被引入比较器网络，其中测量值和/或值与存储的单独数据和存储的通用标准进行比较。 诸如视频监视器，视觉或听觉设备的显示设备接收所比较的运动和力测量和值的结果。 反馈回路将相同的测量值和值引回到传感器数据的源头，以控制，更新和调节由源施加的进一步的运动和力。

    ROBOT CONTROLLER HAVING FUNCTION FOR DISPLAYING ROBOT AND FORCE
    3.
    发明申请
    ROBOT CONTROLLER HAVING FUNCTION FOR DISPLAYING ROBOT AND FORCE 有权
    具有显示机器人和力的功能的机器人控制器

    公开(公告)号：US20160354933A1

    公开(公告)日：2016-12-08

    申请号：US15175039

    申请日：2016-06-07

    申请人： FANUC CORPORATION

    发明人： Takashi SATO

    IPC分类号： B25J13/08

    CPC分类号： B25J9/1633 ,  B24B27/0038 ,  B25J9/1671 ,  B25J11/0065 ,  G05B2219/35327 ,  G05B2219/37076 ,  G05B2219/37086 ,  G05B2219/37091

    摘要： A robot controller, by which an operator can visually or intuitively understand the direction and/or magnitude of an actual force applied to an arbitrary portion of a workpiece. The controller controls a motion of a robot so that one of a work tool and a workpiece is moved relative to the other, and carries out a predetermined operation. The controller has a force detecting part which detects a force acting between the work tool and the workpiece; and a displaying part which displays a simulated image or video of the robot. The displaying part displays a trajectory of working points on the workpiece, and the force detecting part detects the force applied to each working point when the work tool passes through the working point. The displaying part displays the detected force as a line segment, etc., extending from the working point or a point near the working point.

    摘要翻译： 一种机器人控制器，通过该机器人控制器，操作者可以在视觉或直观上了解施加到工件的任意部分的实际力的方向和/或大小。 控制器控制机器人的运动，使得工作工具和工件中的一个相对于另一个移动，并且执行预定的操作。 控制器具有力检测部，其检测作用在作业工具与工件之间的力; 以及显示机器人的模拟图像或视频的显示部。 显示部显示工件上的工作点的轨迹，并且力检测部检测当工件通过工作点时施加到每个工作点的力。 显示部显示检测出的力作为从工作点或工作点附近的点延伸的线段等。