公开(公告)号：US09193072B2

公开(公告)日：2015-11-24

申请号：US13232374

申请日：2011-09-14

申请人： Myung Hee Kim ,  Kyung Shik Roh ,  Young Bo Shim ,  San Lim

发明人： Myung Hee Kim ,  Kyung Shik Roh ,  Young Bo Shim ,  San Lim

IPC分类号： B25J9/16

CPC分类号： B25J9/1679 ,  B25J9/1612 ,  B25J9/1666 ,  G05B2219/39113 ,  G05B2219/39473 ,  G05B2219/39474 ,  G05B2219/39542

摘要： A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes calculating in advance and storing a plurality of grasp poses to generate grasp routes, sensing respective orientations of an object, the robot arms, and an obstacle, selecting one grasp pose from among the plurality of grasp poses by judging a movable angle range of the at least one joint unit, whether or not the object collides with the obstacle, and self-collision between the robot hands based on the sensed respective orientations, and generating grasp routes using the selected grasp pose. In the control method, the plurality of feasible grasp poses is calculated in advance and then stored, thereby rapidly and stably performing grasping of the object.

摘要翻译： 机器人及其控制方法。 机器人具有多个机械手臂，每个具有至少一个关节单元和手，并且该控制方法包括预先计算并存储多个抓握姿势以产生抓握路线，感测物体的各个取向，机器人手臂和 障碍物，通过判断所述至少一个关节单元的可移动角度范围，所述物体是否与障碍物碰撞，以及基于所感测到的机器人手之间的自身碰撞，从所述多个抓握姿态中选择一个抓握姿态 各个取向，并使用所选择的抓握姿势产生抓握路线。 在该控制方法中，预先计算出多个可能抓握姿势，然后存储，由此快速且稳定地执行对象的抓握。

公开(公告)号：US20120165979A1

公开(公告)日：2012-06-28

申请号：US13327857

申请日：2011-12-16

申请人： San LIM ,  Myung Hee Kim ,  Kyung Shik Roh ,  Young Bo Shim ,  Bok Man Lim

发明人： San LIM ,  Myung Hee Kim ,  Kyung Shik Roh ,  Young Bo Shim ,  Bok Man Lim

IPC分类号： G05B19/04

CPC分类号： B25J9/1669 ,  B25J9/162 ,  G05B2219/39113 ,  G05B2219/40244 ,  G05B2219/40264 ,  G05B2219/40395

摘要： A robot and a control method thereof. The control method includes generating and storing plural grasping motions corresponding to data of a target object, selecting a grasping motion corresponding to a grasping purpose of the target object among the plural grasping motions, generating a path of arms corresponding to the selected grasping motion, calculating torques to track the path of the arms, and outputting the torques toward the arms so as to perform movement of the arms and grasping of the target object. The grasping motion path corresponding to the grasping purpose is generated and the path of arms is generated, thereby reducing overall calculation time during grasping of the target object to increase calculating efficiency, minimizing generation of the path of the arms, and allowing an arm path calculating process to be performed at the late stage of a grasping control process to improve grasping performance.

摘要翻译： 机器人及其控制方法。 控制方法包括生成并存储与目标对象的数据相对应的多个抓取动作，在多个抓取动作中选择与目标对象的抓取目的相对应的抓取动作，生成与所选择的抓握动作对应的臂的路径，计算 扭矩以跟踪臂的路径，并且朝向臂输出扭矩，以便执行臂的移动和抓取目标对象。 产生对应于抓握目的的抓握运动路径，并且产生臂的路径，从而减少在抓取目标对象期间的总体计算时间，以增加计算效率，最小化臂的路径的产生，并允许臂路径计算 在抓握控制过程的后期执行处理以提高抓握性能。

公开(公告)号：US08768512B2

公开(公告)日：2014-07-01

申请号：US13327857

申请日：2011-12-16

申请人： San Lim ,  Myung Hee Kim ,  Kyung Shik Roh ,  Young Bo Shim ,  Bok Man Lim

发明人： San Lim ,  Myung Hee Kim ,  Kyung Shik Roh ,  Young Bo Shim ,  Bok Man Lim

IPC分类号： G05B19/04

CPC分类号： B25J9/1669 ,  B25J9/162 ,  G05B2219/39113 ,  G05B2219/40244 ,  G05B2219/40264 ,  G05B2219/40395

摘要： A robot and a control method thereof. The control method includes generating and storing plural grasping motions corresponding to data of a target object, selecting a grasping motion corresponding to a grasping purpose of the target object among the plural grasping motions, generating a path of arms corresponding to the selected grasping motion, calculating torques to track the path of the arms, and outputting the torques toward the arms so as to perform movement of the arms and grasping of the target object. The grasping motion path corresponding to the grasping purpose is generated and the path of arms is generated, thereby reducing overall calculation time during grasping of the target object to increase calculating efficiency, minimizing generation of the path of the arms, and allowing an arm path calculating process to be performed at the late stage of a grasping control process to improve grasping performance.

摘要翻译： 机器人及其控制方法。 控制方法包括生成并存储与目标对象的数据相对应的多个抓取动作，在多个抓取动作中选择与目标对象的抓取目的相对应的抓取动作，生成与所选择的抓握动作对应的臂的路径，计算 扭矩以跟踪臂的路径，并且朝向臂输出扭矩，以便执行臂的移动和抓取目标对象。 产生对应于抓握目的的抓握运动路径，并且产生臂的路径，从而减少在抓取目标对象期间的总体计算时间，以增加计算效率，最小化臂的路径的产生，并允许臂路径计算 在抓握控制过程的后期执行处理以提高抓握性能。

公开(公告)号：US20120072022A1

公开(公告)日：2012-03-22

申请号：US13232374

申请日：2011-09-14

申请人： Myung Hee KIM ,  Kyung Shik Roh ,  Young Bo Shim ,  San Lim

发明人： Myung Hee KIM ,  Kyung Shik Roh ,  Young Bo Shim ,  San Lim

IPC分类号： B25J9/16

CPC分类号： B25J9/1679 ,  B25J9/1612 ,  B25J9/1666 ,  G05B2219/39113 ,  G05B2219/39473 ,  G05B2219/39474 ,  G05B2219/39542

摘要： A robot and a control method thereof. The robot has plural robot arms, each having at least one joint unit and a hand, and the control method includes calculating in advance and storing a plurality of grasp poses to generate grasp routes, sensing respective orientations of an object, the robot arms, and an obstacle, selecting one grasp pose from among the plurality of grasp poses by judging a movable angle range of the at least one joint unit, whether or not the object collides with the obstacle, and self-collision between the robot hands based on the sensed respective orientations, and generating grasp routes using the selected grasp pose. In the control method, the plurality of feasible grasp poses is calculated in advance and then stored, thereby rapidly and stably performing grasping of the object.

摘要翻译： 机器人及其控制方法。 机器人具有多个机械手臂，每个具有至少一个关节单元和手，并且该控制方法包括预先计算并存储多个抓握姿势以产生抓握路线，感测物体的各个取向，机器人手臂和 障碍物，通过判断所述至少一个关节单元的可移动角度范围，所述物体是否与障碍物碰撞，以及基于所感测到的机器人手之间的自身碰撞，从所述多个抓握姿态中选择一个抓握姿态 各个取向，并使用所选择的抓握姿势产生抓握路线。 在该控制方法中，预先计算出多个可能抓握姿势，然后存储，由此快速且稳定地执行对象的抓握。