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1.发明授权Teaching and playback method based on control of redundancy resolution for robot and computer-readable medium controlling the same 有权基于控制机器人冗余分辨率的控制和计算机可读介质的教学和播放方法公开(公告)号：US08560122B2
公开(公告)日：2013-10-15
申请号：US12923650
申请日：2010-09-30
申请人： Dae Hyung Park , Ki Moon Lee , Chi Gun An , Yong Joon Hong
发明人： Dae Hyung Park , Ki Moon Lee , Chi Gun An , Yong Joon Hong
CPC分类号： G05B19/425 , B25J9/1607 , G05B2219/36401 , G05B2219/39078 , G05B2219/40367
摘要： Disclosed is a teaching and playback method using a redundancy resolution parameter determined in conjunction with a joint structure, for a robot, and a method to apply analytic inverse kinematics to a robot having an elbow with an offset and a computer-readable medium of controlling the same. A reference plane variable with the joint structure is generated and an angle between the reference plane and an arm plane of the robot is used as the redundancy resolution parameter. The robot is taught and its operation is played back in differential inverse kinematics or analytic inverse kinematics using the resolution redundancy parameter.
摘要翻译： 公开了一种使用与联合结构，机器人结合确定的冗余度分辨率参数的教学和回放方法，以及将分析逆运动学应用于具有偏移的肘部的机器人和控制该偏移的计算机可读介质的方法 相同。 产生具有接头结构的参考平面变量，并且使用机器人的参考平面和臂平面之间的角度作为冗余分辨率参数。 教授机器人，并使用分辨率冗余参数在微分逆运动学或分析逆运动学中回放其操作。
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公开(公告)号：US20120191247A1
公开(公告)日：2012-07-26
申请号：US13353396
申请日：2012-01-19
申请人： Kosuke KISHI
发明人： Kosuke KISHI
IPC分类号： B25J13/00
CPC分类号： B25J9/1689 , A61B34/30 , A61B34/37 , B25J3/04 , G05B2219/40182 , G05B2219/40367
摘要： A master-slave manipulator includes a slave manipulator, a master operation input device, and a control unit. The slave manipulator includes joints having multiple degrees of freedom. The master operation input device allows an operator to uniquely input a position and an orientation. The device includes a first operation unit configured to output the position and orientation, and a second operation unit including at least a joint configured to output value of the joint independently with the output of the first operation unit. The control unit calculates a driving amount of each joint of the slave manipulator using the position and orientation of the second operation unit and controls the slave manipulator in accordance with a joint driving command value.
摘要翻译： 主从操纵器包括从操纵器，主操作输入装置和控制单元。 从动操纵器包括具有多个自由度的关节。 主操作输入装置允许操作者唯一地输入位置和方向。 所述装置包括：第一操作单元，其被配置为输出所述位置和方向;以及第二操作单元，至少包括接头，其被配置为独立于所述第一操作单元的输出输出所述接头的值。 控制单元使用第二操作单元的位置和方向来计算从动操纵器的每个关节的驱动量，并根据关节驱动指令值控制从动操纵器。
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公开(公告)号：US09675421B2
公开(公告)日：2017-06-13
申请号：US14802866
申请日：2015-07-17
发明人： Arjang M. Hourtash , Pushkar Hingwe
CPC分类号： A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B2034/306 , B25J9/1607 , B25J9/1643 , G05B2219/40362 , G05B2219/40365 , G05B2219/40367
摘要： Devices, systems, and methods are disclosed for cancelling movement of one or more joints of a telesurgical manipulator to effect manipulation movement of an end effector. Methods include calculating movement of joints within a null-perpendicular space to effect desired end effector movement while calculating movement of one or more locked joints within a null-space to cancel the movement of the locked joints within the null-perpendicular-space. Methods may further include calculating movement of one or more joints to effect an auxiliary movement or a reconfiguration movement that may include movement of one or more locked joints. The auxiliary and reconfiguration movements may overlay the manipulation movement of the joints to allow movement of the locked joints to effect the auxiliary movement or reconfiguration movement, while the movement of the locked joints to effect manipulation is canceled. Various configurations for devices and systems utilizing such methods are provided herein.
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4.发明授权公开(公告)号：US09149931B2
公开(公告)日：2015-10-06
申请号：US14203570
申请日：2014-03-11
发明人： Yosuke Kamiya
CPC分类号： B25J9/1643 , B25J13/06 , G05B2219/39435 , G05B2219/40336 , G05B2219/40349 , G05B2219/40367 , G05B2219/40371 , G05B2219/40381
摘要： A robot system includes a robot and a robot control device. The robot has a plurality of joint axes including a redundant axis. The robot control device includes a first command generator, a limit avoidance command generator, a posture optimization command generator, a null space matrix calculator, a second command generator and a controller. The first command generator generates a first joint angular speed command for the robot. The limit avoidance command generator generates a joint angular speed command A for the robot for avoiding a state in which the robot reaches an operating limit. The posture optimization command generator generates a joint angular speed command B for the robot for optimizing a posture of the robot. The null space matrix calculator calculates a null space matrix of a Jacobian matrix related to a control point. The second command generator generates a second joint angular speed command for the robot.
摘要翻译： 机器人系统包括机器人和机器人控制装置。 机器人具有包括冗余轴的多个关节轴。 机器人控制装置包括第一命令发生器，限制回避命令生成器，姿势优化命令生成器，零空间矩阵计算器，第二命令生成器和控制器。 第一命令发生器为机器人生成第一关节角速度命令。 限制回避指令发生器为机器人生成关节角速度指令A，以避免机器人达到操作极限的状态。 姿势优化指令生成器为机器人生成用于优化机器人的姿势的关节角速度指令B。 零空间矩阵计算器计算与控制点相关的雅可比矩阵的零空间矩阵。 第二命令发生器产生用于机器人的第二关节角速度命令。
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5.发明授权公开(公告)号：US09107683B2
公开(公告)日：2015-08-18
申请号：US13967606
申请日：2013-08-15
发明人： Arjang Houtash , Pushkar Hingwe
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B2034/306 , B25J9/1607 , B25J9/1643 , G05B2219/40362 , G05B2219/40365 , G05B2219/40367
摘要： Devices, systems, and methods are disclosed for cancelling movement one or more joints of a tele-surgical manipulator to effect manipulation movement of an end effector. Methods include calculating movement of joints within a null-perpendicular space to effect desired end effector movement while calculating movement of one or more locked joints within a null-space to cancel the movement of the locked joints within the null-perpendicular-space. Methods may further include calculating movement of one or more joints to effect an auxiliary movement or a reconfiguration movement that may include movement of one or more locked joints. The auxiliary and reconfiguration movements may overlay the manipulation movement of the joints to allow movement of the locked joints to effect the auxiliary movement or reconfiguration movement, while the movement of the locked joints to effect manipulation is canceled. Various configurations for devices and systems utilizing such methods are provided herein.
摘要翻译： 公开了用于取消移动远程外科手术操纵器的一个或多个关节以实现末端执行器的操纵运动的装置，系统和方法。 方法包括计算在零垂直空间内的关节的运动以实现期望的末端执行器运动，同时计算零空间内的一个或多个锁定关节的运动以消除零垂直空间内的锁定关节的运动。 方法可以进一步包括计算一个或多个关节的运动以实现辅助运动或可以包括一个或多个锁定关节的移动的重新配置运动。 辅助和重新配置运动可以覆盖关节的操纵运动，以允许锁定的关节的运动来实现辅助运动或重新配置运动，同时锁定的关节的运动以实现操纵被取消。 本文提供了利用这种方法的装置和系统的各种配置。
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6.发明申请公开(公告)号：US20130245829A1
公开(公告)日：2013-09-19
申请号：US13795967
申请日：2013-03-12
申请人： JTEKT CORPORATION
发明人： Hiromichi Ohta , Yasuharu Mukai , Kazuya Numazaki
IPC分类号： B25J9/16
CPC分类号： B25J9/1628 , B25J9/1633 , B25J9/1638 , B25J9/1641 , B25J9/1643 , G05B2219/40367 , G05B2219/40461 , Y10S901/09
摘要： A CPU of a robot control device calculates load torque based on the inertia force, centrifugal force or Coriolis force, gravity force, friction torque, and actuator inertia torque applied to a joint axis of each link, each time an orientation parameter indicative of the link position and orientation allowed by a redundant degree of freedom is sequentially changed, under a constraint of end-effector position and orientation as target values. The CPU obtains the link position and orientation at which the ratio of the load torque to the rated torque of a rotary actuator provided for each joint is minimized, while the orientation parameter is being changed, and provides a feed-forward value that gives rise to each load torque obtained when the ratio of the load torque to the rated torque of the rotary actuator is minimized, to a control command generated to the rotary actuator of each joint axis for achieving the end-effector position and orientation as target values.
摘要翻译： 机器人控制装置的CPU基于施加到每个链节的关节轴的惯性力，离心力或科里奥利力，重力，摩擦力矩和致动器惯性转矩来计算负载转矩，每次指示链接的取向参数 在作为目标值的末端执行器位置和方向的约束下，顺序地改变由冗余自由度允许的位置和取向。 在取向参数改变的同时，CPU获得链接位置和方向，在该位置和方向上，为每个接头设置的旋转致动器的负载转矩与额定转矩的比例最小化，并且提供一个前馈值， 当将负载转矩与旋转致动器的额定转矩的比率最小化时获得的每个负载转矩相对于为了实现末端执行器位置和方位而成为每个关节轴的旋转致动器的控制指令作为目标值。
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公开(公告)号：US5811951A
公开(公告)日：1998-09-22
申请号：US734423
申请日：1996-10-14
CPC分类号： B25J9/1643 , B25J9/042 , B25J9/106 , B25J9/1615 , G05B2219/39414 , G05B2219/40296 , G05B2219/40301 , G05B2219/40339 , G05B2219/40367
摘要： A high precision redundant robotic manipulator for overcoming contents imposed by obstacles or imposed by a highly congested work space. One embodiment of the manipulator has four degrees of freedom and another embodiment has seven degreed of freedom. Each of the embodiments utilize a first selective compliant assembly robot arm (SCARA) configuration to provide high stiffness in the vertical plane, a second SCARA configuration to provide high stiffness in the horizontal plane. The seven degree of freedom embodiment also utilizes kinematic redundancy to provide the capability of avoiding obstacles that lie between the base of the manipulator and the end effector or link of the manipulator. These additional three degrees of freedom are added at the wrist link of the manipulator to provide pitch, yaw and roll. The seven degrees of freedom embodiment uses one revolute point per degree of freedom. For each of the revolute joints, a harmonic gear coupled to an electric motor is introduced, and together with properly designed based servo controllers provide an end point repeatability of less than 10 microns.
摘要翻译： 一种高精度的冗余机器人操纵器，用于克服由障碍物施加的内容或由高度拥挤的工作空间施加的内容。 操纵器的一个实施例具有四个自由度，另一个实施例具有七个自由度。 每个实施例利用第一选择性兼容组装机器人臂（SCARA）构造来在垂直平面中提供高刚度，第二SCARA构造以在水平面中提供高刚度。 七自由度实施例还利用运动学冗余来提供避免位于操纵器的基座和操纵器的末端执行器或连杆之间的障碍物的能力。 这些附加的三个自由度在机械手的腕部连接处被添加以提供俯仰，偏航和滚动。 七自由度实施例在每个自由度上使用一个旋转点。 对于每个旋转接头，引入耦合到电动机的谐波齿轮，并且与适当设计的伺服控制器一起提供小于10微米的终点重复性。
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8.发明申请公开(公告)号：US20180200880A1
公开(公告)日：2018-07-19
申请号：US15744173
申请日：2016-07-11
申请人： KUKA Roboter GmbH
CPC分类号： B25J9/0081 , B25J9/1656 , G05B19/423 , G05B2219/36418 , G05B2219/36429 , G05B2219/36432 , G05B2219/39439 , G05B2219/40367 , Y10S901/04 , Y10S901/41
摘要： A method for automatically ascertaining an input command for a robot, wherein the input command is entered by manually exerting an external force onto the robot. The input command is ascertained on the basis of the joint force component attempting to cause a movement of the robot in only one robot joint coordinate sub-space which is specific to the input command. The joint forces are imprinted with the external force.
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公开(公告)号：US09889558B2
公开(公告)日：2018-02-13
申请号：US14840359
申请日：2015-08-31
申请人： BROOKS CCS. GmbH
发明人： Lutz Rebstock
IPC分类号： B25J9/04 , H01L21/677 , B25J11/00 , G05B19/418 , B25J9/00 , B25J19/00
CPC分类号： B25J9/043 , B25J9/0084 , B25J11/0095 , B25J19/0066 , G05B19/4189 , G05B2219/40367 , H01L21/67742 , H01L21/67745 , Y02P90/14 , Y02P90/265 , Y02P90/28
摘要： A redundantable robotic mechanism is disclosed for improving reliability of tranport equipment. The redundantable robot assembly typically comprises independent robots with separate controls, motors, linkage arms, or power, thus providing the capability of operation even if parts of the assembly are not operational or when parts of the assembly are removed for repair. The redundantable robot assembly can be also designed to allow in-situ servicing, e.g. servicing one robot when the other is running. The disclosed redundantable robot assembly provides virtual uninterrupted process flow, and thus greatly increases the yield for the manufacturing facility.
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10.发明申请公开(公告)号：US20160045270A1
公开(公告)日：2016-02-18
申请号：US14802866
申请日：2015-07-17
发明人： Arjang M. Hourtash , Pushkar Hingwe
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B34/32 , A61B34/35 , A61B34/37 , A61B2034/306 , B25J9/1607 , B25J9/1643 , G05B2219/40362 , G05B2219/40365 , G05B2219/40367
摘要： Devices, systems, and methods for cancelling movement one or more joints of a tele-surgical manipulator to effect manipulation movement of an end effector. Methods include calculating movement of joints within a null-perpendicular space to effect desired end effector movement while calculating movement of one or more locked joints within a null-space to cancel the movement of the locked joints within the null-perpendicular-space. Methods may further include calculating movement of one or more joints to effect an auxiliary movement or a reconfiguration movement that may include movement of one or more locked joints. The auxiliary and reconfiguration movements may be overlaid the manipulation movement of the joints to allow movement of the locked joints to effect the auxiliary movement or reconfiguration movement, while the movement of the locked joints to effect manipulation is canceled. Various configurations for devices and systems utilizing such methods are provided herein.
摘要翻译： 用于取消移动远程外科手术操纵器的一个或多个关节以实现末端执行器的操纵运动的装置，系统和方法。 方法包括计算在零垂直空间内的关节的运动以实现期望的末端执行器运动，同时计算零空间内的一个或多个锁定关节的运动以消除零垂直空间内的锁定关节的运动。 方法可以进一步包括计算一个或多个关节的运动以实现辅助运动或可以包括一个或多个锁定关节的移动的重新配置运动。 辅助和重新配置运动可以覆盖关节的操纵运动，以允许锁定关节的运动来实现辅助运动或重新配置运动，同时消除锁定关节的运动以实现操纵。 本文提供了利用这种方法的装置和系统的各种配置。
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