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公开(公告)号：US20180257238A1
公开(公告)日：2018-09-13
申请号：US15755135
申请日：2016-05-27
Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
Inventor： Yasuhiko HASHIMOTO , Nobuyasu SHIMOMURA , Tsuyoshi MAEHARA , Masayuki KAMON , Shigetsugu TANAKA
CPC classification number: A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/0093 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/40022 , G05B2219/40136 , G05B2219/40142 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40183 , G05B2219/40195 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
Abstract: A manipulator system configured to perform a work to a workpiece being moved by a moving device, includes a robotic arm, having one or more joints and to which a tool configured to perform the work to the workpiece is attached, an operating device configured to operate the robotic arm, a first imaging means configured to image the workpiece, while following the movement of the workpiece, a second imaging means fixedly provided in a work area to image a situation of the work to the workpiece, a displaying means configured to display an image imaged by the first imaging means and an image imaged by the second imaging means, and a control device configured to control the operation of the robotic arm based on an operating instruction of the operating device, while detecting a moving amount of the workpiece being moved by the moving device and carrying out a tracking control of the robotic arm according to the moving amount of the workpiece.
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公开(公告)号：US20180250831A1
公开(公告)日：2018-09-06
申请号：US15755107
申请日：2016-06-24
Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
Inventor： Yasuhiko HASHIMOTO , Tsuyoshi MAEHARA , Masayuki KAMON , Shigetsugu TANAKA
CPC classification number: A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/0093 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/40022 , G05B2219/40136 , G05B2219/40142 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40183 , G05B2219/40195 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
Abstract: An industrial robot and a method of operating the same which are capable of appropriately handling, when an abnormal state occurs during an automatic operation of the robot, the abnormal state without significantly degrading the work efficiency. The industrial robot includes a robot main body having a robot arm, a robot control device configured to control operation of the robot main body and an abnormal state detecting device configured to detect abnormality in a work state of the robot main body. The robot control device includes an automatic operation performing means for controlling the operation of the robot main body to perform an automatic operation based on a given operation program, and an automatic operation correcting means for correcting the operation of the robot main body in the automatic operation based on a manual control performed by an operator according to a detection result of the abnormal state detecting device.
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公开(公告)号：US20180243902A1
公开(公告)日：2018-08-30
申请号：US15755108
申请日：2016-06-24
Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
Inventor： Yasuhiko HASHIMOTO , Masayuki KAMON , Shigetsugu TANAKA
CPC classification number: A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/0093 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/40022 , G05B2219/40136 , G05B2219/40142 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40183 , G05B2219/40195 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
Abstract: A robot system which is capable of reducing an operator's workload and easily correcting preset operation of a robot. The robot system includes a robot main body having a plurality of joints, a control device configured to control operation of the robot main body and an operating device including a teaching device configured to teach the control device one of positional information on the robot main body and angular information on the plurality of joints so as to execute an automatic operation of the robot main body and a manipulator configured to receive a manipulating instruction from an operator to manually operate the robot main body or correct the operation of the robot main body under the automatic operation.
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公开(公告)号：US20180243899A1
公开(公告)日：2018-08-30
申请号：US15755141
申请日：2016-05-27
Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
Inventor： Yasuhiko HASHIMOTO , Masayuki KAMON
CPC classification number: A61B34/37 , A61B34/32 , B23P19/04 , B23P21/00 , B23P21/002 , B23Q15/12 , B25J3/00 , B25J3/04 , B25J9/0081 , B25J9/0084 , B25J9/0087 , B25J9/0093 , B25J9/1602 , B25J9/161 , B25J9/1612 , B25J9/1628 , B25J9/163 , B25J9/1633 , B25J9/1646 , B25J9/1653 , B25J9/1664 , B25J9/1669 , B25J9/1674 , B25J9/1682 , B25J9/1689 , B25J9/1697 , B25J11/008 , B25J13/00 , B25J13/003 , B25J13/006 , B25J13/02 , B25J13/025 , B25J13/06 , B25J13/065 , B25J13/08 , B25J13/084 , B25J13/085 , B25J13/087 , B25J13/088 , B25J18/00 , B25J19/023 , B25J19/028 , B25J19/04 , G05B19/4182 , G05B2219/39004 , G05B2219/39102 , G05B2219/39439 , G05B2219/40022 , G05B2219/40136 , G05B2219/40142 , G05B2219/40146 , G05B2219/40161 , G05B2219/40162 , G05B2219/40163 , G05B2219/40169 , G05B2219/40183 , G05B2219/40195 , G06F3/017 , G06T7/62 , G06T7/70 , H04N5/23219 , H04N7/181 , Y10S901/02 , Y10S901/03 , Y10S901/08 , Y10S901/09 , Y10S901/10 , Y10S901/27 , Y10S901/41 , Y10S901/46 , Y10S901/47
Abstract: A remote control robot system includes a master arm, and a slave arm having a plurality of control modes of an automatic mode in which the slave arm operates based on a prestored task program and a manual mode in which the slave arm operates based on manipulation of an operator received by the master arm. The master arm includes one or more motors configured to drive joints of the master arm, and a motor actuator configured to generate a torque instruction value that operates the joints according to an external force applied to the master arm and gives drive current corresponding to the torque instruction value to the motor. The motor actuator generates, when the control mode is the manual mode, the torque instruction value so that the joints operate according to the external force while resisting a frictional force of the motor.
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公开(公告)号：US20170367777A1
公开(公告)日：2017-12-28
申请号：US15542398
申请日：2016-01-08
Applicant: Titan Medical Inc.
Inventor： Joseph KRALICKY , Peter CAMERON , Rene ROBERT
CPC classification number: A61B34/37 , A61B34/30 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B34/77 , A61B2034/302 , A61B2034/742 , B25J3/04 , B25J9/1689 , B25J13/025 , B25J13/065 , B25J19/06 , G05B2219/35419 , G05B2219/36422 , G05B2219/39439 , G05B2219/40144 , G05B2219/45117 , G05B2219/45118
Abstract: A method, a non-transitory computer readable medium, and an apparatus for operating the robotic control system comprising a master apparatus (64) in communication with an input device (58, 60) having a handle (102) and a slave system (54, 74) having a tool (66, 67) having an end effector (73) whose position and orientation is determined in response to a current position and current orientation of the handle. The method involves producing a desired end effector position and orientation in response to a current position and orientation of the handle. The method involves causing the input device to provide haptic feedback that impedes translational movement of the handle, while permitting rotational movement of the handle and preventing movement of the end effector, when a rotational alignment difference between the handle and the end effector meets a disablement criterion. The method further involves re-enabling translational movement of the handle when the rotational alignment difference meets an enablement criterion.
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Patent Agency Ranking
公开(公告)号：US20170028557A1
公开(公告)日：2017-02-02
申请号：US14947836
申请日：2015-11-20
Applicant: Comprehensive Engineering Solutions, Inc.
Inventor： Mark A. Battisti
IPC: B25J9/16
CPC classification number: B25J9/0081 , B25J9/1684 , B25J13/065 , G05B2219/35416 , G05B2219/36162 , G05B2219/39439 , Y10S901/47
Abstract: A robotic navigation system is configured to move a robotic arm of a robot relative to a surface. The robotic navigation system includes a sensor, a handheld navigation unit, and a controller. The sensor is associated with the robotic arm. The sensor is configured to determine a status parameter of the robotic arm relative to the surface and provide sensor signals indicative of the status parameter. The handheld navigation unit is moveable with respect to one or more of a plurality of axes to indicate a commanded movement for the robot. The handheld navigation unit is configured to provide movement signals based on the commanded movement for the robot. The controller is configured to provide control signals for the robot based on the movement signals provided by the handheld navigation unit and the sensor signals provided by the sensor, wherein the control signals are configured to move the robot. The resulting robotic motion may dynamically track a desired feature or a component by correction and overriding a portion of the hand guided motion vector.
Abstract translation: 机器人导航系统被配置为相对于表面移动机器人的机器人手臂。 机器人导航系统包括传感器，手持导航单元和控制器。 传感器与机械臂相关联。 传感器被配置为确定机器人臂相对于表面的状态参数，并提供指示状态参数的传感器信号。 手持导航单元相对于多个轴中的一个或多个可移动以指示机器人的命令移动。 手持导航单元被配置为基于针对机器人的命令运动来提供运动信号。 控制器被配置为基于由手持导航单元提供的移动信号和由传感器提供的传感器信号来为机器人提供控制信号，其中控制信号被配置为移动机器人。 所得到的机器人运动可以通过校正和覆盖手部引导的运动矢量的一部分来动态跟踪期望的特征或分量。
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7.发明申请公开(公告)号：US20160175059A1
公开(公告)日：2016-06-23
申请号：US15054870
申请日：2016-02-26
Applicant: Hansen Medical, Inc.
Inventor： Sean Paul Walker , June Park
CPC classification number: A61B34/25 , A61B34/30 , A61B34/74 , A61B2034/301 , A61B2034/302 , G05B15/02 , G05B2219/39439 , G05B2219/39541
Abstract: A system may include a controller configured to determine a user interface status, wherein the user interface status includes user interaction of a user interface. The controller may also be configured to determine a drive mechanism location relative to a first limit and a second limit and select a clutching location based on the user interface status and drive mechanism location.
Abstract translation: 系统可以包括被配置为确定用户界面状态的控制器，其中所述用户界面状态包括用户界面的用户交互。 控制器还可以被配置为确定相对于第一限制和第二限制的驱动机构位置，并且基于用户接口状态和驱动机构位置来选择抓取位置。
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8.发明授权公开(公告)号：US09308645B2
公开(公告)日：2016-04-12
申请号：US13788575
申请日：2013-03-07
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC , Universite Laval
Inventor： Alexandre Lecours , Boris Mayer-St-Onge , Clement Gosselin , Dalong Gao
CPC classification number: B25J9/163 , B25J5/04 , B25J9/0018 , G05B2219/37388 , G05B2219/37437 , G05B2219/39339 , G05B2219/39342 , G05B2219/39343 , G05B2219/39439 , G05B2219/40408
Abstract: A method of inferring intentions of an operator to move a robotic system includes monitoring the intention of the operator, with a controller. The intention of the operator is inferred to be one of a desired acceleration and a desired deceleration. The intention of the operator is also as a desired velocity. Admittance parameters are modified as a function of at least one of the inferred acceleration, deceleration, and velocity.
Abstract translation: 推断操作者移动机器人系统的意图的方法包括使用控制器监视操作者的意图。 推断操作者的意图是期望的加速度和期望的减速度之一。 操作者的意图也是期望的速度。 导纳参数被修改为推断的加速度，减速度和速度中的至少一个的函数。
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9.发明授权公开(公告)号：US09283046B2
公开(公告)日：2016-03-15
申请号：US13832895
申请日：2013-03-15
Applicant: Hansen Medical, Inc.
Inventor： Sean Walker , June Park
CPC classification number: A61B34/25 , A61B34/30 , A61B34/74 , A61B2034/301 , A61B2034/302 , G05B15/02 , G05B2219/39439 , G05B2219/39541
Abstract: A system may include a controller configured to determine a user interface status, wherein the user interface status includes user interaction of a user interface. The controller may also be configured to determine a drive mechanism location relative to a first limit and a second limit and select a clutching location based on the user interface status and drive mechanism location.
Abstract translation: 系统可以包括被配置为确定用户界面状态的控制器，其中所述用户界面状态包括用户界面的用户交互。 控制器还可以被配置为确定相对于第一限制和第二限制的驱动机构位置，并且基于用户接口状态和驱动机构位置来选择抓取位置。
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10.发明申请公开(公告)号：US20150290799A1
公开(公告)日：2015-10-15
申请号：US14684806
申请日：2015-04-13
Applicant: FANUC CORPORATION
Inventor： Takahiro IWATAKE
CPC classification number: B25J9/161 , B25J9/1694 , G01L5/0028 , G01L5/0038 , G05B2219/39439
Abstract: A robot controller and a robot system capable of stably changing the orientation of a front end of a robot by applying a force to the front end, and moving each axis to a desired position. The robot controller for moving the robot based on the force applied to the robot includes a control point specifying part which specifies a control point in relation to the robot, and an operation commanding part which outputs a command so that the robot performs rotational movement about the control point. The robot has a structure constituted by sequentially combining three or more axes including at least three rotation axes, and rotation centerlines of the three rotation axes intersect at an origin of a centerline-intersecting axis, the centerline-intersecting axis corresponding to one of the three rotation axes. The control point specifying part specifies the origin of the centerline-intersecting axis as the control point.
Abstract translation: 一种机器人控制器和机器人系统，其能够通过向前端施加力并且将每个轴线移动到期望的位置来稳定地改变机器人的前端的方位。 用于基于施加到机器人的力来移动机器人的机器人控制器包括指定与机器人相关的控制点的控制点指定部分和输出命令的操作命令部分，使得机器人执行关于机器人的旋转运动 控制点。 机器人具有通过顺序地组合包括至少三个旋转轴的三个或更多个轴并且三个旋转轴的旋转中心线在中心线交叉轴的原点相交的结构，中心线相交轴对应于三个 旋转轴。 控制点指定部指定中心线相交轴的原点作为控制点。
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