公开(公告)号：US08340822B2

公开(公告)日：2012-12-25

申请号：US12432292

申请日：2009-04-29

申请人： Kenichiro Nagasaka

发明人： Kenichiro Nagasaka

IPC分类号： G05B15/00

CPC分类号： B25J9/1633 ,  G05B2219/39319 ,  G05B2219/39355 ,  Y10T74/20317

摘要： There is provided an actuator control device for force-controlling a joint driving actuator according to a commanded joint force command value τa. The actuator control device includes a joint value detecting means for detecting a joint value q at an output stage of the actuator, an action force detecting means for detecting an action force τe in a joint driving direction at the output stage of the actuator, and a driving force determining means for determining an instructed driving force τ to the actuator, on the basis of an ideal response model of the actuator which specifies the relationship of a joint value acceleration target value achieved as the actuator responds ideally when the joint force command value τa, the action force τe, and a joint value velocity obtained by time-differentiating the joint value q are given.

摘要翻译： 提供了一种致动器控制装置，用于根据命令的联合力指令值τa来强制控制关节驱动致动器。 致动器控制装置包括用于在致动器的输出级检测接合值q的接合值检测装置，用于检测在致动器的输出级的接合行进方向上的作用力τe的作用力检测装置，以及 驱动力确定装置，用于基于执行器的理想响应模型确定指示的驱动力τ，该致动器指定作为致动器实现的关节值加速度目标值的关系，当联合力指令值τa 给出了作用力τe和通过对联合值q进行时间微分获得的联合值速度。

公开(公告)号：US20060071625A1

公开(公告)日：2006-04-06

申请号：US10546712

申请日：2004-07-02

申请人： Hiroyuki Nakata ,  Naoto Masunaga ,  Atsumi Hashimoto ,  Yasushi Mukai

发明人： Hiroyuki Nakata ,  Naoto Masunaga ,  Atsumi Hashimoto ,  Yasushi Mukai

IPC分类号： B25J5/00

CPC分类号： G05B19/4061 ,  B25J9/1633 ,  B25J9/1676 ,  G05B2219/39355 ,  G05B2219/40226 ,  G05B2219/42288

摘要： When either a command value or an actually measured value is appropriately selected as an angular velocity used for the frictional torque calculation, the frictional compensation can be made valid at all times in both the case in which a robot is actively operated according to an angular velocity command and the case in which the robot is passively operated being pushed by an external force. In the case where a motor rotating direction and a collision direction are reverse to each other after a collision has been detected, the control mode is switched from the positional control to the electric current control and a torque, the direction of which is reverse to the direction of the motor rotation is generated by the motor, so that the motor rotating speed can be reduced and the collision energy can be alleviated. After that, when the motor rotating speed is reduced to a value not more than the setting value, the control mode is switched to the compliance control and the distortion caused in a reduction gear is dissolved. On the other hand, in the case where the motor rotating direction and the collision direction are the same, the control mode is directly switched from the positional control to the compliance control without passing through the electric current control. When the robot is operated whole following a collision force, the collision force can be alleviated.

摘要翻译： 当将命令值或实际测量值适当地选择为用于摩擦力矩计算的角速度时，可以在机器人根据角速度主动操作的情况下始终使摩擦补偿始终有效 通过外力推动机器人被动地操作的情况。 在检测到碰撞之后电动机旋转方向和碰撞方向相反的情况下，控制模式从位置控制切换到电流控制，转向与 由电动机产生电动机旋转的方向，从而能够减小电动机的转速，能够缓和碰撞能量。 此后，当电动机转速降低到不大于设定值的值时，控制模式切换到顺从控制，并且在减速装置中引起的变形被解除。 另一方面，在电动机旋转方向和碰撞方向相同的情况下，控制模式从位置控制直接切换到柔性控制，而不经过电流控制。 当机器人在碰撞力之后整体运行时，可以减轻碰撞力。

公开(公告)号：US5834917A

公开(公告)日：1998-11-10

申请号：US982378

申请日：1997-12-02

申请人： Keiji Yasui ,  Masahiro Oto

发明人： Keiji Yasui ,  Masahiro Oto

IPC分类号： B25J9/10 ,  B25J9/16 ,  B25J9/18 ,  B25J19/02 ,  G05D3/12 ,  B25J9/12

CPC分类号： B25J9/1633 ,  G05B2219/39321 ,  G05B2219/39355 ,  G05B2219/40057

摘要： A robot controller comprises, (1) a servo motor driving a robot manipulator, (2) a motor current detector which detects a current driving the servo motor, (3) a motor rotational speed detector which detects a rotational speed of the servo motor, (4) a disturbance detector which detects a disturbance torque loaded to the robot manipulator by using the motor rotational speed and the motor current, (5) a force control calculator which outputs a force-control-instruction value responsive to a disturbance torque detected by the disturbance detector, and (6) a move restriction calculator which performs a force control by adding a force-control-instruction value to a regular position-instruction value of the robot manipulator. Further, the move restriction calculator switches a force control direction according to a move-restriction-direction-instruction value, and adds the force-control-instruction value to the regular position-instruction value of the robot manipulator so that the force control may move along a restricted direction which has been taught.

摘要翻译： 机器人控制器包括：（1）驱动机器人操纵器的伺服电动机，（2）检测驱动伺服电动机的电流的电动机电流检测器，（3）检测伺服电动机的转速的电动机转速检测器， （4）扰动检测器，其通过使用电动机转速和电动机电流检测装载到机器人操纵器的扰动转矩;（5）力控制计算器，其响应于由 干扰检测器和（6）移动限制计算器，其通过将力控制指令值加到机器人操纵器的常规位置指令值来执行力控制。 此外，移动限制计算器根据移动限制方向指示值切换力控制方向，并且将力控制指令值与机器人操纵器的正常位置指示值相加，使得力控制可以移动 沿着被教导的有限方向。

公开(公告)号：US20180133897A1

公开(公告)日：2018-05-17

申请号：US15575569

申请日：2015-05-20

申请人： NISSAN MOTOR CO., LTD.

发明人： Toshiyuki Shimizu

IPC分类号： B25J9/16 ,  G01L5/16 ,  G01L5/00 ,  B25J13/08

CPC分类号： B25J9/1674 ,  B25J9/1676 ,  B25J13/085 ,  B25J19/06 ,  G01L5/0076 ,  G01L5/16 ,  G05B2219/37214 ,  G05B2219/37344 ,  G05B2219/39355 ,  G05B2219/39412 ,  G05B2219/41372

摘要： A failure diagnostic device includes a torque detector that detects disturbance torques applied to joint shafts included in a multi-axis robot, a torque grouping circuit that groups the disturbance torques according to a content of an operation executed by the multi-axis robot upon detection of each disturbance torque, a torque correction circuit that obtains a corrected disturbance torque standardized between a plurality of operations with different contents based on a representative value preliminarily set for each grouped disturbance torque and the disturbance torque detected by the torque detector, and a failure diagnostic circuit that performs a failure diagnosis on the multi-axis robot by comparing the corrected disturbance torque with a threshold.

公开(公告)号：US20120283875A1

公开(公告)日：2012-11-08

申请号：US13515619

申请日：2010-12-08

申请人： Simon Klumpp ,  Günter Schreiber

发明人： Simon Klumpp ,  Günter Schreiber

IPC分类号： B25J13/08 ,  B25J19/02

CPC分类号： B25J9/1687 ,  B25J9/1605 ,  B25J9/1633 ,  B25J9/1648 ,  B25J9/1674 ,  B25J15/00 ,  G01L5/226 ,  G05B2219/39355 ,  G05B2219/41387 ,  Y10S901/02

摘要： A method according to the invention for controlling a manipulator, in particular of a robot, comprises the step of detecting a contact force between the manipulator and a workpiece (2; 20) on the basis of actual drive forces (t) and drive forces (tModell) of a dynamic model (M d2q/dt2+h(q, dq/dt)=tModell) of the manipulator. The method also comprises at least one of the steps of a) multistage measuring of a position of the workpiece (2) on the basis of detected contact forces (S40, S70), in particular comprising the steps of: determining positions of misaligned contours, in particular edges (2.1, 2.2), of the workpiece (2) by detecting poses of the manipulator and at the same time contact forces acting thereon (S40); moving to reference points of the workpiece (2), in particular defined by recesses (3.1, 3.2, 3.3), on the basis of contours (2.1, 2.2) of the workpiece thus detected (S50); and determining positions of said reference points by detecting contact forces that act on the manipulator upon a movement (S70); and/or b) assembling a workpiece (4, 40) with flexible regulation (S130; S230), wherein an assembled state of the workpiece is monitored on the basis of a detected contact force and/or an end pose of the manipulator reached under the flexible regulation, in particular with the steps: holding the workpiece with the manipulator in at least two force contacts (1.1, 1.2); placing the workpiece in a basic assembly position (FIG. 3A); moving the workpiece into a final assembly position (FIG. 3B) with at least one contact force (1.2) being released; and/or c) non-flexibly regulated movement to a pose (S10; S110; S210); and switching to a flexible regulation on the basis of a detected contact force (S30; S130; S230).

摘要翻译： 根据本发明的用于控制机械手，特别是机器人的方法包括基于实际驱动力（t）和驱动力（t）检测操纵器和工件（2; 20）之间的接触力的步骤 tModell）的机械手的动态模型（M d2q / dt2 + h（q，dq / dt）= tModell）。 该方法还包括以下步骤中的至少一个：a）基于检测到的接触力来多步测量工件（2）的位置（S40，S70），特别地包括以下步骤：确定未对准轮廓的位置， 特别是工件（2）的边缘（2.1,2.2），通过检测操纵器的姿态并同时作用在其上的接触力（S40）; 基于由此检测的工件的轮廓（2.1,2.2），移动到工件（2）的参考点，特别是由凹部（3.1,3.2,3.3）定义的参考点（S50）; 以及通过检测在移动时作用于所述操纵器的接触力来确定所述参考点的位置（S70）; 和/或b）组装具有柔性调节（S130; S230）的工件（4，40），其中基于所检测的接触力和/或所达到的操纵器的端部姿态来监测工件的组装状态 柔性调节，特别是以下步骤：用机械手将工件保持在至少两个力接触件（1.1,1.2）中; 将工件放置在基本组装位置（图3A）; 将工件移动到最终组装位置（图3B），其中至少一个接触力（1.2）被释放; 和/或c）不灵活地调节到姿势的运动（S10; S110; S210）; 并基于检测到的接触力切换到柔性调节（S30; S130; S230）。

公开(公告)号：US20060129348A1

公开(公告)日：2006-06-15

申请号：US11350434

申请日：2006-02-09

申请人： Sven Hooge ,  Dietmar Wildermuth

发明人： Sven Hooge ,  Dietmar Wildermuth

IPC分类号： G01P11/00

CPC分类号： B25J9/1674 ,  G05B19/4061 ,  G05B19/4062 ,  G05B2219/37297 ,  G05B2219/37624 ,  G05B2219/37625 ,  G05B2219/37632 ,  G05B2219/39186 ,  G05B2219/39355 ,  G05B2219/41372 ,  G05B2219/42161

摘要： A monitoring method for a drive system with a motor and a moving part driven by the motor. The movement of the driven part is monitored and the movement of the driving part is monitored and compared to recognize a collision between the driven part and another structure. Measurement of at least one drive-side motion quantity of the motor is taken and measurement of at least one driven-side motion quantity of the moving part is taken. The motion quantity can be a position, velocity or acceleration. A dynamic model is calculated based on predetermined or expected operational data and the drive side measured data. An error signal is generated when the motion quantity measured on the driven side varies from the dynamic model.

摘要翻译： 一种具有马达驱动系统和由马达驱动的运动部件的监控方法。 监视被驱动部件的运动并监视和比较驱动部件的运动，以识别被驱动部件与另一结构体之间的碰撞。 测量电动机的至少一个驱动侧运动量，并且测量运动部件的至少一个从动侧运动量。 运动量可以是位置，速度或加速度。 基于预定或预期的操作数据和驱动侧测量数据计算动态模型。 当驱动侧测量的运动量与动态模型不同时，产生误差信号。

公开(公告)号：US06295484B1

公开(公告)日：2001-09-25

申请号：US09424561

申请日：1999-11-24

申请人： Masao Ojima ,  Hirokazu Kariyazaki ,  Hidenori Tomisaki

发明人： Masao Ojima ,  Hirokazu Kariyazaki ,  Hidenori Tomisaki

IPC分类号： G06F1900

CPC分类号： B25J9/163 ,  B25J9/1633 ,  B25J9/1641 ,  G05B19/19 ,  G05B2219/39186 ,  G05B2219/39326 ,  G05B2219/39353 ,  G05B2219/39355 ,  G05B2219/41195 ,  G05B2219/41398 ,  G05B2219/41443 ,  G05B2219/42156

摘要： When a multiaxial robot with a mechanism having spring elements between electric motors of respective axes and robot arms is controlled, the path precision of a tool tip is increased without causing vibrations produced by mechanical interference between axes and high-frequency vibrations of electric motors. A model controller (1) is supplied with position commands Xref—L, Xref—U with respect to the electric motors and outputs model motor position commands &thgr;Mm—L, &thgr;Mm—U, model motor speed commands {dot over (&thgr;)}Mm—L, {dot over (&thgr;)}Mm—U, and model feed-forward commands UFF—L, UFF—U to feedback controllers (10L, 10U) which actuate and control the electric motors and the robot arms. The model controller (1) includes therein corrective quantity calculators (3L, 3U) for calculating corrective quantities (corrective torques) in view of interfering forces acting between the axes from the other axes to cancel the interfering forces. The model controller (1) outputs the model feed-forward commands with the corrective quantities added thereto.

摘要翻译： 当具有在各轴的电动机和机器人臂之间具有弹簧元件的机构的多轴机器人被控制时，刀尖的路径精度增加，而不会引起轴之间的机械干扰和电动机的高频振动产生的振动。 向模型控制器（1）提供相对于电动机的位置指令Xref-L，Xref-U，并输出模型电动机位置指令θMm-L，θMm-U，模型电动机速度指令{dot over（theta）} Mm -L，{dot over（θ）} Mm-U，以及模型前馈命令UFF-L，UFF-U到启动和控制电动机和机器人臂的反馈控制器（10L，10U）。 考虑到作用在来自其他轴的轴之间的干涉力以消除干扰力，模型控制器（1）包括用于计算校正量（校正转矩）的校正量计算器（3L，3U）。 模型控制器（1）输出模型前馈命令与添加的校正量。

公开(公告)号：US20180147724A1

公开(公告)日：2018-05-31

申请号：US15687902

申请日：2017-08-28

申请人： Kabushiki Kaisha Toshiba

发明人： Junji OAKI

IPC分类号： B25J9/16

CPC分类号： B25J9/1633 ,  B25J9/1638 ,  B25J9/1676 ,  G05B2219/39186 ,  G05B2219/39353 ,  G05B2219/39355 ,  G05B2219/41374 ,  G05B2219/41387

摘要： According to one embodiment, a robot control device is used for a robot arm including a link and a motor for rotationally driving the link. The robot control device includes a derivation part. The derivation part derives a first estimated value including a variation of a rotation angle of the link and a second estimated value including a variation of a rotation angle of the motor, based on an angular velocity and a current reference value of the motor. Furthermore, the derivation part derives an external force generated to the robot arm, based on a difference between the first estimated value and the second estimated value.

公开(公告)号：US20180088553A1

公开(公告)日：2018-03-29

申请号：US15438653

申请日：2017-02-21

申请人： OMRON Corporation

发明人： Tatsuya KOGA ,  Masahiro MURAI

IPC分类号： G05B19/402

CPC分类号： G05B19/404 ,  B23Q17/0961 ,  G05B2219/37256 ,  G05B2219/39355 ,  G05B2219/41161 ,  G05B2219/41371 ,  G05B2219/41376 ,  G05B2219/41379 ,  G05B2219/42025 ,  G05B2219/42338 ,  Y02P90/265

摘要： The invention provides a control device comprising: an actual value obtaining part, obtaining a torque actual value and a velocity actual value, wherein the torque actual value represents a torque generated by the driving source and the velocity actual value represents a velocity of the motion body; an inferring part, which calculates an external force inferred value and a velocity inferred value every other operation period based on the torque actual value by using an operation formula of a predetermined model representing driving of the motion body, wherein the external force inferring value represents an external force generated by the control system; and an output part, evaluating a reliability of the external force inferred value based on the velocity inferred value calculated together if the inferring part calculates the external inferred value, and effectively outputting the external force inferred value when it is judged that there is a designated reliability.

公开(公告)号：US20160107315A1

公开(公告)日：2016-04-21

申请号：US14976894

申请日：2015-12-21

申请人： KUKA Roboter GmbH

发明人： Simon Klumpp ,  Gunter Schreiber

IPC分类号： B25J9/16 ,  G01L5/22 ,  B25J15/00

CPC分类号： B25J9/1687 ,  B25J9/1605 ,  B25J9/1633 ,  B25J9/1648 ,  B25J9/1674 ,  B25J15/00 ,  G01L5/226 ,  G05B2219/39355 ,  G05B2219/41387 ,  Y10S901/02

摘要： A method for controlling a manipulator includes determining by a control device one or more contact force values between the manipulator and a first workpiece. Each of the contact force values is based on an actual driving force of the manipulator and a drive force according to a dynamic model of the manipulator. The method also includes at least one of a) measuring in multiple stages an orientation and location of the first workpiece based on at least one of the one or more determined contact force values or b) joining a second workpiece and the first workpiece under a compliant regulation, where a joining state of the first and second workpieces is monitored based on at least one of an end pose of the manipulator obtained under the compliant regulation, a speed of a temporal change of the manipulator, or at least one of the one or more determined contact force values.

摘要翻译： 一种用于控制机械手的方法包括由控制装置确定操纵器和第一工件之间的一个或多个接触力值。 每个接触力值基于操纵器的实际驱动力和根据机械手的动态模型的驱动力。 所述方法还包括以下至少一个：a）基于所述一个或多个确定的接触力值中的至少一个，在多个阶段中测量所述第一工件的取向和位置，或者b）将第二工件和所述第一工件接合在柔性 其中第一和第二工件的接合状态是基于在柔性调节条件下获得的操纵器的端部姿势，操纵器的时间变化速度，或至少一个或多个 更确定的接触力值。