公开(公告)号：US09579794B2

公开(公告)日：2017-02-28

申请号：US14798673

申请日：2015-07-14

申请人： SINFONIA TECHNOLOGY CO., LTD.

发明人： Yoji Masui ,  Toru Saeki

IPC分类号： G06F19/00 ,  B25J9/16 ,  H01L21/677

CPC分类号： B25J9/1664 ,  G05B2219/40431 ,  G05B2219/50111 ,  H01L21/67766 ,  Y10S901/02

摘要： An articulated robot comprises a control unit including: a track information storage unit which stores track information corresponding to a combination of a start point and an end point; a setting unit which sets a current position and a target position of an arm distal end as the start point and the end point; and an operation command generation unit which generates an operation command based on track information corresponding to a combination of the set start point and the set end point (corresponding track information). If the corresponding track information is not stored but related track information corresponding to a combination of a start point and an end point having a predetermined relationship with a combination of the set start point and the set end point is stored in the track information storage unit, the operation command generation unit generates the operation command based on the related track information.

摘要翻译： 铰接机器人包括：控制单元，包括：轨道信息存储单元，其存储对应于起点和终点的组合的轨道信息; 设定单元，其将臂前端的当前位置和目标位置设定为起点和终点; 以及操作命令生成单元，其基于与设定的开始点和设定的终点（对应的轨道信息）的组合相对应的轨道信息来生成操作命令。 如果没有存储对应的轨道信息，则与轨迹信息存储单元中存储与设定的开始点和设定的终点的组合具有预定关系的起始点和终点的组合相对应的相关轨迹信息， 操作命令生成单元基于相关的轨道信息生成操作命令。

公开(公告)号：US09764469B1

公开(公告)日：2017-09-19

申请号：US14568755

申请日：2014-12-12

申请人： Yu Sun ,  Yuongqiang Huang

发明人： Yu Sun ,  Yuongqiang Huang

IPC分类号： G05B19/18 ,  B25J9/16

CPC分类号： B25J9/1664 ,  G05B2219/36422 ,  G05B2219/40391 ,  G05B2219/40431

摘要： Aspects of the generation of new robotic motion trajectories are described. In one embodiment, a new robot motion trajectory may be generated by gathering demonstrated motion trajectories, adapting the demonstrated motion trajectories into robot-reachable motion trajectories based on a joint space of a robot model, for example, and generating motion harmonics with reference to the motion trajectories. Further, one or more constraints may be specified for a new goal. The weights of the motion harmonics may then be searched to identify or generate a new motion trajectory for a robot, where the new motion minimizes discrepancy from the demonstrated motion trajectories and error due to the at least one constraint. In the new motion trajectory, the degree to which the constraints are satisfied may be tuned using a weight. According to the embodiments, new motion variants may be generated without the need to learn or review new demonstrated trajectories.

公开(公告)号：US08694160B2

公开(公告)日：2014-04-08

申请号：US13814455

申请日：2011-08-24

申请人： Nobuyasu Yasue ,  Hironobu Ishihara ,  Kikuo Hattori ,  Tsuyoshi Hattori

发明人： Nobuyasu Yasue ,  Hironobu Ishihara ,  Kikuo Hattori ,  Tsuyoshi Hattori

IPC分类号： G05B19/04 ,  G05B19/18 ,  G05B19/00 ,  G05B17/00

CPC分类号： G05B19/18 ,  B25J9/1666 ,  G05B19/4067 ,  G05B19/41815 ,  G05B2219/36153 ,  G05B2219/39105 ,  G05B2219/40224 ,  G05B2219/40431 ,  G05B2219/40476 ,  G05B2219/50118 ,  Y02P90/08 ,  Y02P90/087 ,  Y10S901/01 ,  Y10S901/16 ,  Y10S901/28 ,  Y10S901/41 ,  Y10S901/49

摘要： An NC machine tool system includes an NC machine tool (10), a first operation panel (22) and a second operation panel (24) for the NC machine tool, a multi-joint robot (40), a memory (450), and a robot controller (50). The multi-joint robot (40) is disposed above the NC machine tool. The memory (450) stores a wait position return program by which the multi-joint robot (40) is operated. The robot controller (50) controls the multi-joint robot (40) in accordance with the program. Operation panels (22, 24) are respectively provided with switch keys (22c, 24c) operated to execute the wait position return program stored in the memory (450) so as to operate the multi-joint robot (40).

摘要翻译： 数控机床系统包括NC机床（10），用于NC机床的第一操作面板（22）和第二操作面板（24），多关节机器人（40），存储器（450） 和机器人控制器（50）。 多关节机器人（40）设置在NC机床上方。 存储器（450）存储操作多关节机器人（40）的等待位置返回程序。 机器人控制器（50）根据程序控制多关节机器人（40）。 操作面板（22,24）分别设置有操作以执行存储在存储器（450）中的等待位置返回程序以便操作多关节机器人（40）的开关键（22c，24c）。

公开(公告)号：US20160184987A1

公开(公告)日：2016-06-30

申请号：US14798673

申请日：2015-07-14

申请人： SINFONIA TECHNOLOGY CO., LTD.

发明人： Yoji Masui ,  Toru Saeki

IPC分类号： B25J9/06 ,  B25J9/16

CPC分类号： B25J9/1664 ,  G05B2219/40431 ,  G05B2219/50111 ,  H01L21/67766 ,  Y10S901/02

摘要： An articulated robot comprises a control unit including: a track information storage unit which stores track information corresponding to a combination of a start point and an end point; a setting unit which sets a current position and a target position of an arm distal end as the start point and the end point; and an operation command generation unit which generates an operation command based on track information corresponding to a combination of the set start point and the set end point (corresponding track information). If the corresponding track information is not stored but related track information corresponding to a combination of a start point and an end point having a predetermined relationship with a combination of the set start point and the set end point is stored in the track information storage unit, the operation command generation unit generates the operation command based on the related track information.

摘要翻译： 铰接机器人包括：控制单元，包括：轨道信息存储单元，其存储对应于起点和终点的组合的轨道信息; 设定单元，其将臂前端的当前位置和目标位置设定为起点和终点; 以及操作命令生成单元，其基于与设定的开始点和设定的终点（对应的轨道信息）的组合相对应的轨道信息来生成操作命令。 如果没有存储对应的轨道信息，则与轨迹信息存储单元中存储与设定的开始点和设定的终点的组合具有预定关系的起始点和终点的组合相对应的相关轨迹信息， 操作命令生成单元基于相关的轨道信息生成操作命令。

公开(公告)号：US20140012420A1

公开(公告)日：2014-01-09

申请号：US13814455

申请日：2011-08-24

申请人： Nobuyasu Yasue ,  Hironobu Ishihara ,  Kikuo Hattori ,  Tsuyoshi Hattori

发明人： Nobuyasu Yasue ,  Hironobu Ishihara ,  Kikuo Hattori ,  Tsuyoshi Hattori

IPC分类号： G05B19/18

CPC分类号： G05B19/18 ,  B25J9/1666 ,  G05B19/4067 ,  G05B19/41815 ,  G05B2219/36153 ,  G05B2219/39105 ,  G05B2219/40224 ,  G05B2219/40431 ,  G05B2219/40476 ,  G05B2219/50118 ,  Y02P90/08 ,  Y02P90/087 ,  Y10S901/01 ,  Y10S901/16 ,  Y10S901/28 ,  Y10S901/41 ,  Y10S901/49

摘要： An NC machine tool system includes an NC machine tool (10), a first operation panel (22) and a second operation panel (24) for the NC machine tool, a multi-joint robot (40), a memory (450), and a robot controller (50). The multi-joint robot (40) is disposed above the NC machine tool. The memory (450) stores a wait position return program by which the multi-joint robot (40) is operated. The robot controller (50) controls the multi-joint robot (40) in accordance with the program. Operation panels (22, 24) are respectively provided with switch keys (22c, 24c) operated to execute the wait position return program stored in the memory (450) so as to operate the multi-joint robot (40).

摘要翻译： 一种NC机床系统，包括NC机床（10），用于NC机床的第一操作面板（22）和第二操作面板（24），多关节机器人（40），存储器（450） 和机器人控制器（50）。 多关节机器人（40）设置在NC机床上方。 存储器（450）存储操作多关节机器人（40）的等待位置返回程序。 机器人控制器（50）根据程序控制多关节机器人（40）。 操作面板（22,24）分别设置有操作以执行存储在存储器（450）中的等待位置返回程序以便操作多关节机器人（40）的开关键（22c，24c）。

公开(公告)号：US09993923B2

公开(公告)日：2018-06-12

申请号：US14384763

申请日：2013-03-14

申请人： Koji Terada

发明人： Koji Terada

IPC分类号： B25J9/16 ,  G05D1/02 ,  B25J9/00

CPC分类号： B25J9/1666 ,  B25J9/0003 ,  G05B2219/40428 ,  G05B2219/40431 ,  G05B2219/40512 ,  G05B2219/40516 ,  G05B2219/40519 ,  G05D1/0214 ,  Y10S901/01 ,  Y10S901/02

摘要： A trajectory generation device includes a storage unit that stores a plurality of trajectories; a trajectory acquisition unit that acquires a trajectory, corresponding to an environment similar to a current environment, from the plurality of trajectories stored in the storage unit; and a trajectory generation unit that calculates a longest trajectory part, which is present in a moving object moving area in the trajectory acquired by the trajectory acquisition unit, and generates a trajectory by connecting both ends of the calculated longest trajectory part to a predetermined start point and a predetermined end point respectively.

公开(公告)号：US20130108104A1

公开(公告)日：2013-05-02

申请号：US13517218

申请日：2010-12-20

申请人： Tetsuri Sonoda ,  Shiki Takabayashi

发明人： Tetsuri Sonoda ,  Shiki Takabayashi

IPC分类号： G06K9/00

CPC分类号： G06K9/00664 ,  B25J9/1612 ,  B25J9/1697 ,  G05B2219/39246 ,  G05B2219/39508 ,  G05B2219/40032 ,  G05B2219/40431 ,  G05B2219/40609

摘要： A pattern light projection unit which stores information on pattern light including information on line patterns projects pattern light including line patterns having at least two lines and at least one reference line pattern serving as a reference of the line patterns on an object in accordance with the information on pattern light. An image pickup unit captures an image of the object to which the pattern light is projected.An information processing apparatus detects the reference line pattern and the line patterns from the captured image, and establishes correspondence between the information on the line patterns stored in the pattern light projection unit and the line patterns detected from the captured image in accordance with the topological positional relationship between the detected reference line pattern and the line patterns so as to identify the line patterns.

摘要翻译： 存储关于包括关于线图案的信息的图案光的信息的模式光投射单元根据该信息将包括具有至少两条线的线图案的图案光投影到作为对象的线图案的基准的至少一个参考线图案 在图案灯上。 图像拾取单元捕获图案光投射到的对象的图像。 信息处理设备从捕获的图像中检测参考线图案和线条图案，并且根据拓扑位置建立存储在图案光投射单元中的线图案的信息与从拍摄图像检测到的线图案之间的对应关系 检测出的基准线图案与线条图案之间的关系，以便识别线条图案。

公开(公告)号：US20060149421A1

公开(公告)日：2006-07-06

申请号：US11311351

申请日：2005-12-20

申请人： Kazuhiko Akiyama ,  Hirohiko Kobayashi

发明人： Kazuhiko Akiyama ,  Hirohiko Kobayashi

IPC分类号： G06F19/00

CPC分类号： B25J9/1664 ,  G05B2219/40431 ,  G05B2219/40564 ,  G05B2219/45063

摘要： A robot controller is disclosed in which a specific target position is predetermined in order to define approaching and leaving paths for a robot hand, and a plurality of different path patterns are stored in a path pattern storage means as the approaching and leaving paths along which the robot hand approaches and leaves the predetermined specific target position. Next, based on a workpiece position detected by a visual sensor, one of the path patterns stored in the path pattern storage means is selected, and the selected path pattern is modified so that the target position of the robot hand is coincident with the actual workpiece position. The modified path pattern is defined as revised approaching and leaving paths and the robot hand is moved along the revised approaching and leaving paths.

摘要翻译： 公开了一种机器人控制器，其中预定了特定目标位置以便定义机器人手的接近和离开路径，并且多个不同的路径图案被存储在路径图案存储装置中，作为接近和离开路径， 机器人手接近并离开预定的特定目标位置。 接下来，基于由视觉传感器检测到的工件位置，选择存储在路径图案存储单元中的路径图案之一，并且修改所选择的路径图案，使得机器人手的目标位置与实际工件重合 位置。 修改的路径模式被定义为修改的接近和离开路径，并且机器人手沿着修改的接近和离开路径移动。

公开(公告)号：US09418291B2

公开(公告)日：2016-08-16

申请号：US13517218

申请日：2010-12-20

申请人： Tetsuri Sonoda ,  Shiki Takabayashi

发明人： Tetsuri Sonoda ,  Shiki Takabayashi

IPC分类号： G06K9/00 ,  B25J9/16

CPC分类号： G06K9/00664 ,  B25J9/1612 ,  B25J9/1697 ,  G05B2219/39246 ,  G05B2219/39508 ,  G05B2219/40032 ,  G05B2219/40431 ,  G05B2219/40609

摘要： A pattern light projection unit which stores information on pattern light including information on line patterns projects pattern light including line patterns having at least two lines and at least one reference line pattern serving as a reference of the line patterns on an object in accordance with the information on pattern light. An image pickup unit captures an image of the object to which the pattern light is projected.An information processing apparatus detects the reference line pattern and the line patterns from the captured image, and establishes correspondence between the information on the line patterns stored in the pattern light projection unit and the line patterns detected from the captured image in accordance with the topological positional relationship between the detected reference line pattern and the line patterns so as to identify the line patterns.

摘要翻译： 存储关于包括关于线图案的信息的图案光的信息的模式光投射单元根据该信息将包括具有至少两条线的线图案的图案光投影到作为对象的线图案的基准的至少一个参考线图案 在图案灯上。 图像拾取单元捕获图案光投射到的对象的图像。 信息处理设备从捕获的图像中检测参考线图案和线条图案，并且根据拓扑位置建立存储在图案光投射单元中的线图案的信息与从拍摄图像检测到的线图案之间的对应关系 检测出的基准线图案与线条图案之间的关系，以便识别线条图案。

公开(公告)号：US09409294B1

公开(公告)日：2016-08-09

申请号：US14639838

申请日：2015-03-05

申请人： Toyota Motor Engineering & Manufacturing North America, Inc.

发明人： Evan Shapiro ,  Prasanna Velagapudi ,  Aaron M. Blasdel

IPC分类号： G05B19/04 ,  G05B19/18 ,  B25J9/16

CPC分类号： B25J9/1664 ,  G05B2219/40431 ,  Y10S901/02

摘要： A robot includes at least one actuator or motor and a processor configured to represent the task as a meta-node having a meta start space representing starting configurations and a meta end space representing ending configurations. The meta-node may be parallel including a first sub-node and a second sub-node each having a start space within the meta start space and an end space within the meta end space. The meta-node may also be a repetition meta-node including a third sub-node having a start space within the meta start space and an end space outside of the meta end space such that the meta end space is reached by multiple executions of the third sub-node. The processor may also simulate the task by executing the meta-node and instruct the actuator to actuate the portion of the robot based on the simulation.

摘要翻译： 机器人包括至少一个致动器或电动机以及被配置为将该任务表示为具有表示起始配置的元起始空间的元节点和表示结束配置的元末端空间的处理器。 元节点可以是并行的，包括第一子节点和第二子节点，每个子节点具有元起始空间内的开始空间和元结束空间内的结束空间。 元节点还可以是重复元节点，其包括具有元起始空间内的开始空间的第三子节点和元结束空间之外的结束空间，使得通过多次执行元末端空间 第三个子节点。 处理器还可以通过执行元节点来模拟该任务，并且指示致动器基于该仿真来致动机器人的该部分。