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    Multiple robot arm tracking and mirror jog
    7.
    发明授权
    Multiple robot arm tracking and mirror jog 有权
    多机器人手臂跟踪和镜面点动

    公开(公告)号：US07211978B2

    公开(公告)日：2007-05-01

    申请号：US10872270

    申请日：2004-06-18

    Applicant: Tien L. Chang ,  H. Dean McGee ,  Eric Wong ,  Sai-Kai Cheng ,  Jason Tsai

    Inventor： Tien L. Chang ,  H. Dean McGee ,  Eric Wong ,  Sai-Kai Cheng ,  Jason Tsai

    IPC: B25J3/00 ,  B25J9/00 ,  G05B19/423 ,  G05B19/18 ,  G06F9/46

    CPC classification number: G05B19/427 ,  B25J9/1669 ,  G05B2219/36454 ,  G05B2219/37572 ,  G05B2219/39083 ,  G05B2219/39122 ,  G05B2219/39135 ,  G05B2219/39136 ,  G05B2219/39445

    Abstract: A system for performing the method of this invention includes a leader having a robot arm able to articulate about first axes and supporting an end effector. A follower includes a robot arm able to articulate about respective second axes. Servo motors articulate the leader arm about the first axes and the follower arm about the second axes. A user interface allows a user to jog the arm of the leader and to program movement of the arms for automatic execution such that the end effector reaches predetermined positions. A controller, operatively connected to the servo motors and the user interface, controls operation of the servo motors, moves the arm of the leader in accordance with the programmed movement, and moves the arm of the follower such that it tracks or mirrors movement of the leader.

    Abstract translation: 用于执行本发明的方法的系统包括具有能够围绕第一轴线铰接并支撑端部执行器的机器人臂的引导件。 跟随器包括能够关于相应的第二轴线铰接的机器人手臂。 伺服电动机围绕第一轴线和从动臂围绕第二轴线连接引导臂。 用户界面允许用户对所述引导件的臂进行点动，并且编程所述臂的移动以进行自动执行，使得所述末端执行器到达预定位置。 控制器可操作地连接到伺服电动机和用户接口，控制伺服电机的操作，根据编程的运动移动引导器的臂，并移动跟随器的臂，使其跟踪或反映 领导。

    TIERED CONTROL ARCHITECTURE FOR MATERIAL HANDLING
    9.
    发明申请
    TIERED CONTROL ARCHITECTURE FOR MATERIAL HANDLING 有权
    用于材料处理的方法控制架构

    公开(公告)号：US20060000693A1

    公开(公告)日：2006-01-05

    申请号：US11162580

    申请日：2005-09-15

    Applicant: David Zeitler ,  Andrew Black ,  Clyde Ko

    Inventor： David Zeitler ,  Andrew Black ,  Clyde Ko

    IPC: B65G47/10

    CPC classification number: B65G47/844 ,  B65G47/52 ,  B65G2207/36 ,  G05B19/4182 ,  G05B2219/33342 ,  G05B2219/36371 ,  G05B2219/37094 ,  G05B2219/37555 ,  G05B2219/37572 ,  G05B2219/39102 ,  G05B2219/45054 ,  Y02P90/083

    Abstract: A control architecture for material handling includes multiple tiers of controllers, such as three. The lowest-level controllers interact directly with sensors and actuators used in the material handling system, such as photo-eyes and motors used with conveyors. The lowest-level controllers receive higher level commands from one or more mid-level controllers. The mid-level controllers, in turn, receive still higher level commands and information from at least one upper level controller. Each mid and low level controller is designed to include sufficient intelligence to deal with many of the signals and messages it receives without having to forward those signals or messages to the next higher level controller and await instructions from that higher level controller. The system thus distributes intelligence amongst the controllers. The system is well-adapted for application to conveyor control systems.

    Abstract translation: 用于材料处理的控制架构包括多层控制器，例如三个。 最低级别的控制器直接与材料处理系统中使用的传感器和执行器进行交互，例如与输送机一起使用的光眼和电机。 最低级别的控制器从一个或多个中级控制器接收更高级别的命令。 中层控制器又从至少一个上级控制器接收更高级的命令和信息。 每个中低级控制器被设计为包括足够的智能来处理其接收到的许多信号和消息，而不必将这些信号或消息转发到下一个较高级别的控制器，并等待来自该更高级控制器的指令。 因此，系统在控制器之间分配智能。 该系统适用于输送机控制系统。

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