公开(公告)号：US07953516B2

公开(公告)日：2011-05-31

申请号：US12349113

申请日：2009-01-06

申请人： Yuichi Uebayashi

发明人： Yuichi Uebayashi

IPC分类号： G05B19/04

CPC分类号： B25J9/1633 ,  G05B2219/39183 ,  G05B2219/40264

摘要： An actuator and a robot are capable of properly adjusting the compliance of the motions of links in response to external forces according to an environment or application. The actuator sets a drive command angular velocity on the basis of a desired motor angular velocity, which is the resultant angular velocity of a desired link angular velocity and a desired driven angular velocity. The component of the desired link angular velocity included in a resultant desired velocity imparts stiffness to the motion of a link, while the component of the desired driven angular velocity included in the resultant desired velocity imparts flexibility to the motion of the link. Thus, the balance between the stiffness and the flexibility of the motion of the link is adjusted by adjusting the resultant ratio between the desired link angular velocity and the desired driven angular velocity.

摘要翻译： 致动器和机器人能够根据环境或应用来适当地调节响应于外力的链接的运动的顺应性。 致动器基于期望的电动机角速度来设定驱动指令角速度，该速度是期望的链接角速度和期望的驱动角速度的合成角速度。 包含在所得到的期望速度中的期望的链接角速度的分量赋予链接的运动的刚度，而包含在所得到的期望速度中的期望的驱动角速度的分量赋予链接运动的灵活性。 因此，通过调节期望的连杆角速度和期望的驱动角速度之间的合成比来调节链节的运动的刚度和柔性之间的平衡。

公开(公告)号：US20180036891A1

公开(公告)日：2018-02-08

申请号：US15555406

申请日：2015-03-23

申请人： NATIONAL RESEARCH COUNCIL OF CANADA

发明人： Bruno MONSARRAT ,  Yves Fortin

IPC分类号： B25J13/08

CPC分类号： B25J13/085 ,  B25J9/1653 ,  G05B2219/39041 ,  G05B2219/39183

摘要： Determining deviation of a multi jointed robot under load using a tribological contact between an end of the robot and any available hard constraint near the robot, involves pressing the end against the constraint, and then soliciting a movement of the end relative to the constraint in a tribologically resisted direction to apply a force that does not overbear the resistance. By measuring the force and a position encoded by the robot, a deviation of the robot under the corresponding load is determined. Correction terms may be required for deformation of the tribological surface and/or constraint. The constraint may be tooling or parts subjected to an intended process. The deviation at many measurement poses of the robot, each in multiple resisted directions, within the ordinary operating space of the robot, was used to derive compliances of the robot, and a kinetostatic model.

公开(公告)号：US20170308068A1

公开(公告)日：2017-10-26

申请号：US15137556

申请日：2016-04-25

申请人： The Boeing Company

发明人： Eerik J. Helmick ,  Bradley J. Mitchell ,  Nick S. Evans

IPC分类号： G05B19/418 ,  H01R43/20 ,  H01R107/00

CPC分类号： G05B19/41805 ,  B25J9/1687 ,  G05B2219/39183 ,  G05B2219/45033 ,  G05B2219/45064 ,  H01R43/20 ,  H01R2107/00 ,  Y10S901/02

摘要： A method 500 of operating an automated machine 100 is provided for inserting wires into grommet cavity locations 110 of an electrical connector 112 to compensate for manufacturing tolerances associated with the electrical connector. The method comprises inserting wires into grommet cavity locations of the electrical connector based upon a plug map 300 having offset values to compensate for manufacturing tolerances associated with the electrical connector. The method may further comprise selecting from a plurality of pre-generated plug maps having offset values the closest matching pre-generated plug map for the electrical connector based upon offset values associated with each of the plurality of pre-generated plugs maps. The selected pre-generated plug map having offset values corresponds to the plug map used to insert wires into grommet cavity locations of the electrical connector.

公开(公告)号：US11662713B2

公开(公告)日：2023-05-30

申请号：US16840761

申请日：2020-04-06

申请人： The Boeing Company

发明人： Eerik J. Helmick ,  Bradley J. Mitchell ,  Nick S. Evans

IPC分类号： B25J9/16 ,  H01R43/20 ,  G05B19/418 ,  H01R107/00

CPC分类号： G05B19/41805 ,  B25J9/1687 ,  H01R43/20 ,  G05B2219/39183 ,  G05B2219/45033 ,  G05B2219/45064 ,  H01R2107/00 ,  Y10S901/02

摘要： An automated wire insertion machine for inserting wires into grommet cavity locations of an electrical connector includes a controllable wire insertion robot and a processor to generate pre-generated plug maps based upon an original plug map of the grommet cavity locations and to control the wire insertion robot based upon one pre-generated plug map to insert the wires into the grommet cavity locations. The pre-generated plug maps are generated by defining a range of potential error of the grommet cavity locations that includes at least one of a potential rotational error and a potential translational error, defining an acceptable tolerance of the grommet cavity locations that includes at least one of an acceptable rotational tolerance and an acceptable translational tolerance, and calculating offset values of the grommet cavity locations based on the range of potential error and the acceptable tolerance, thereby generating the plurality of pre-generated plug maps.

公开(公告)号：US20160263747A1

公开(公告)日：2016-09-15

申请号：US15058904

申请日：2016-03-02

申请人： CANON KABUSHIKI KAISHA

发明人： Akiyoshi Yokoi

IPC分类号： B25J9/16

CPC分类号： B25J9/1692 ,  B25J9/1633 ,  B25J9/1669 ,  B25J9/1687 ,  G05B19/402 ,  G05B2219/39017 ,  G05B2219/39024 ,  G05B2219/39041 ,  G05B2219/39183 ,  G05B2219/39325 ,  G05B2219/39529

摘要： A control apparatus makes a robot hand grip a work for measurement. The control apparatus controls the operation of a robot arm so that the robot arm keeps a force of striking the work for measurement against a reference constant, while making the end portion of the robot arm rotate around the end axis, in a state of making the outer periphery F3 of the work for measurement, which is gripped by the robot hand, strike against the reference jig. The control apparatus acquires a detection result detected by an encoder of each of the joints when the end portion of the robot arm has been rotated. The control apparatus calculates a correction amount of trajectory data based on eccentricity of a central axis with respect to an end axis, by using the detection result of the encoder, and corrects the trajectory data, based on the correction amount.

摘要翻译： 控制装置使机器人抓握用于测量的工件。 控制装置控制机器人手臂的操作，使得机器人手臂在使机器人手臂的端部围绕端轴旋转的同时保持抵抗作业的冲击参考常数的力， 由机器人手抓住的用于测量的工件的外周F3撞击参考夹具。 当机器人手臂的端部旋转时，控制装置获取由每个关节的编码器检测到的检测结果。 控制装置通过使用编码器的检测结果，基于中心轴相对于端轴的偏心度来计算轨迹数据的校正量，并根据校正量来校正轨迹数据。

公开(公告)号：US09908238B2

公开(公告)日：2018-03-06

申请号：US14913966

申请日：2014-08-25

申请人： COGNIBOTICS AB

发明人： Klas Nilsson ,  Adam Nilsson ,  Mathias Haage ,  Bjorn Olofsson ,  Anders Robertsson ,  Olof Sornmo

IPC分类号： B25J9/16

CPC分类号： B25J9/1653 ,  G05B2219/39183 ,  G05B2219/39186 ,  G05B2219/40527

摘要： A method and system for determining at least one property associated with a selected axis of a manipulator (2). The elasticity of the links (4, 6, 9, 10, 13, 14) and joints (3, 5, 7, 8, 11, 12) of a manipulator (2) can be modeled and the resulting compliance can be determined. A certain method is used to control the manipulator (2) such that certain quantities related to actuator torque and/or joint position can be determined for a certain kinematic configuration of the manipulator (2). Depending on the complexity of the manipulator (2) and the number of properties that are of interest, the manipulator (2) is controlled to a plurality of different kinematic configurations in which configurations the quantities are determined. Thereafter, a stiffness matrix (K) for each component of the manipulator (2) can be determined, and a global stiffness matrix (MSM) for the total manipulator (2) can be determined in order to determine at least one property of the selected axis.

公开(公告)号：US20100131099A1

公开(公告)日：2010-05-27

申请号：US12620674

申请日：2009-11-18

申请人： Rainer Birkenbach ,  Richard Wohlgemuth

发明人： Rainer Birkenbach ,  Richard Wohlgemuth

IPC分类号： G06F7/00 ,  G08B21/00 ,  G06F7/60

CPC分类号： G05B19/402 ,  A61B34/30 ,  B25J9/1638 ,  G05B2219/39065 ,  G05B2219/39183 ,  G05B2219/45123

摘要： A method for assessing the positioning accuracy of a medical robot arm comprising at least one joint, wherein the rigidity of the robot arm in a joint placement is calculated and assessed on the basis of a rigidity model.

摘要翻译： 一种用于评估包括至少一个关节的医疗机器人手臂的定位精度的方法，其中，基于刚度模型来计算和评估在关节位置中的机器人手臂的刚度。

公开(公告)号：US20090177325A1

公开(公告)日：2009-07-09

申请号：US12349113

申请日：2009-01-06

申请人： Yuichi Uebayashi

发明人： Yuichi Uebayashi

IPC分类号： G05B15/00

CPC分类号： B25J9/1633 ,  G05B2219/39183 ,  G05B2219/40264

摘要： An actuator and a robot are capable of properly adjusting the compliance of the motions of links in response to external forces according to an environment or application. The actuator sets a drive command angular velocity on the basis of a desired motor angular velocity, which is the resultant angular velocity of a desired link angular velocity and a desired driven angular velocity. The component of the desired link angular velocity included in a resultant desired velocity imparts stiffness to the motion of a link, while the component of the desired driven angular velocity included in the resultant desired velocity imparts flexibility to the motion of the link. Thus, the balance between the stiffness and the flexibility of the motion of the link is adjusted by adjusting the resultant ratio between the desired link angular velocity and the desired driven angular velocity.

摘要翻译： 致动器和机器人能够根据环境或应用来适当地调节响应于外力的链接的运动的顺应性。 致动器基于期望的电动机角速度来设定驱动指令角速度，该速度是期望的链接角速度和期望的驱动角速度的合成角速度。 包含在所得到的期望速度中的期望的链接角速度的分量赋予链接的运动的刚度，而包含在所得到的期望速度中的期望的驱动角速度的分量赋予链接运动的灵活性。 因此，通过调节期望的连杆角速度和期望的驱动角速度之间的合成比来调节链节的运动的刚度和柔性之间的平衡。

公开(公告)号：US20030180087A1

公开(公告)日：2003-09-25

申请号：US10257342

申请日：2002-11-21

发明人： Thomas Puchtler ,  Dirk Staimer

IPC分类号： F16B001/00

CPC分类号： B25J9/1623 ,  B25J9/1638 ,  G05B2219/39176 ,  G05B2219/39183 ,  G05B2219/39194 ,  G05B2219/39224 ,  G05B2219/40267 ,  G05B2219/40281 ,  Y10T403/28

摘要： The aim of the invention is to compensate for the position-dependent length changes caused by the effect of weight in a variety of closed kinematic chains (K1 . . . Kn), for connecting a stationary first element (E1) to a movable second element (E2). Said aim is achieved, by using a back transformation (nullnull1), which determines a compensation value for each length change (dq1, dq2 . . . dqn), resulting from the application of the weight (Fg) impinging on the movable element (E2) in each kinematic chain.

摘要翻译： 本发明的目的是补偿由各种闭合运动链（K1 ... Kn）中的重量的影响引起的位置相关长度变化，用于将固定的第一元件（E1）连接到可移动的第二元件 （E2）。 所述目的通过使用反向变换（Lambd -1）来实现，所述反向变换（Lambd <-1>）确定由于将重量（Fg）施加到所述第一个变量上的每个长度变化（dq1，dq2 ... dqn）的补偿值 每个运动链中的可移动元件（E2）。

公开(公告)号：US20160221189A1

公开(公告)日：2016-08-04

申请号：US14913966

申请日：2014-08-25

申请人： COGNIBOTICS AB

发明人： Klas Nilsson ,  Adam Nilsson ,  Mathias Haage ,  Bjorn Olofsson ,  Anders Robertsson ,  Olof Sornmo

IPC分类号： B25J9/16

CPC分类号： B25J9/1653 ,  G05B2219/39183 ,  G05B2219/39186 ,  G05B2219/40527

摘要： A method and system for determining at least one property associated with a selected axis of a manipulator (2). The elasticity of the links (4, 6, 9, 10, 13, 14) and joints (3, 5, 7, 8, 11, 12) of a manipulator (2) can be modeled and the resulting compliance can be determined. A certain method is used to control the manipulator (2) such that certain quantities related to actuator torque and/or joint position can be determined for a certain kinematic configuration of the manipulator (2). Depending on the complexity of the manipulator (2) and the number of properties that are of interest, the manipulator (2) is controlled to a plurality of different kinematic configurations in which configurations the quantities are determined. Thereafter, a stiffness matrix (K) for each component of the manipulator (2) can be determined, and a global stiffness matrix (MSM) for the total manipulator (2) can be determined in order to determine at least one property of the selected axis.

摘要翻译： 一种用于确定与操纵器（2）的选定轴相关联的至少一个属性的方法和系统。 可以对操纵器（2）的连杆（4,6,9,10,13,14）和接头（3,5,7,8,11,12）的弹性进行建模，并且可以确定所得到的柔顺性。 使用某种方法来控制操纵器（2），使得可以针对操纵器（2）的某些运动结构确定与致动器扭矩和/或关节位置相关的某些量。 根据操纵器（2）的复杂性和感兴趣的属性的数量，操纵器（2）被控制为多个不同的运动学配置，其中确定数量的配置。 此后，可以确定用于机械手（2）的每个部件的刚度矩阵（K），并且可以确定用于总操作器（2）的全局刚度矩阵（MSM），以便确定所选择的 轴。