公开(公告)号：US20180236657A1

公开(公告)日：2018-08-23

申请号：US15898663

申请日：2018-02-19

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Koichi KUWAHARA ,  Yoshifumi ONOYAMA ,  Kenichi YASUDA ,  Wataru WATANABE

IPC分类号： B25J9/16 ,  B25J13/08 ,  G05B19/425 ,  G06T1/00 ,  G06F17/50

CPC分类号： B25J9/1605 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1676 ,  B25J9/1697 ,  B25J13/089 ,  G05B19/4061 ,  G05B19/425 ,  G05B2219/35012 ,  G05B2219/40121 ,  G05B2219/40371 ,  G05B2219/40466 ,  G05B2219/40519 ,  G05B2219/49143 ,  G06F17/5009 ,  G06T1/0014 ,  Y02P90/265

摘要： A robot simulator includes a storage device that stores model information related to the robot and an obstacle in the vicinity of the robot, and an acquisition device that obtains first input information defining a start position and an end position of operation of the robot. A processing device generates a path for moving the distal end portion of the robot from the start position to the end position while avoiding collisions between the robot and the obstacle based on the first input information and the model information. The processing device also generates image data including an illustration of the obstacle and an index indicating a via-point of the path.

公开(公告)号：US09931751B2

公开(公告)日：2018-04-03

申请号：US14487839

申请日：2014-09-16

申请人： SIEMENS AKTIENGESELLSCHAFT

发明人： Dimitri Lomakin ,  Christof Sinn ,  Thilo Stolper

IPC分类号： B25J9/16

CPC分类号： B25J9/1671 ,  G05B2219/40479 ,  G05B2219/40519

摘要： A programming device receives a number of local coordinate systems from a user. Each local coordinate system is referenced directly or via at least one other local coordinate system to a global machine coordinate system of a motion-controlled machine. The programming device receives from the user, in each case with reference to one of the local coordinate systems, a number of positions to be approached by the end effector and/or a number of obstacles to be bypassed by the end effector. The programming device determines, with reference to the positions to be approached received from the user and the obstacles received from the user in the global machine coordinate system, the path to be traveled by the end effector The programming device stores the path to be traveled by the end effector as a first file so that it can be retrieved again at a later time.

公开(公告)号：US09895801B2

公开(公告)日：2018-02-20

申请号：US14734297

申请日：2015-06-09

申请人： FANUC Corporation

发明人： Masaru Oda ,  Yoshiharu Nagatsuka ,  Kozo Inoue

IPC分类号： B25J9/16

CPC分类号： B25J9/1664 ,  G05B2219/39132 ,  G05B2219/40042 ,  G05B2219/40417 ,  G05B2219/40519 ,  Y02P90/265

摘要： An offline teaching device has a calculation unit which calculates a second position of a second tool on a work line which is separated by a predetermined distance from a first position of a first tool on the work line, calculates a workpiece position where the first tool in the first position contacts or adjoins the workpiece, and calculates a workpiece position and posture such that the second tool in the second position contacts or adjoins the workpiece by changing the posture of the workpiece from the workpiece position with respect to the first tool, while maintaining the work posture of the first tool, and has a generation unit which generates a robot teaching position based on the position and posture of the workpiece and the holding position of the workpiece, and generates a program such that the first tool and the second tool pass along the work line.

公开(公告)号：US09327403B2

公开(公告)日：2016-05-03

申请号：US14036451

申请日：2013-09-25

申请人： iRobot Corporation

发明人： Robert Todd Pack ,  Orjeta Taka

IPC分类号： G01C22/00 ,  G05D1/00 ,  B25J9/16 ,  G06N3/00 ,  G05D1/02

CPC分类号： B25J9/1664 ,  G05B2219/40519 ,  G05D1/0088 ,  G05D1/0238 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0209 ,  G05D2201/0213 ,  G06N3/008

摘要： A method of commanding a remote vehicle includes executing a command on a controller of the remote vehicle based on a kinodynamic fixed depth motion planning algorithm to use incremental feedback from evaluators to select a best feasible action. The method also includes determining servo commands corresponding to the best feasible action for one or more actuators of a drive system or a manipulation system of the remote vehicle and commanding the one or more actuators of the remote vehicle based on the servo commands. The best feasible action includes actions within a fixed time horizon of several seconds from a current time each time a feasible action is selected.

摘要翻译： 一种命令远程车辆的方法包括基于动力学固定深度运动规划算法在远程车辆的控制器上执行命令，以使用来自评估者的增量反馈来选择最佳可行动作。 该方法还包括确定对应于远程车辆的驱动系统或操纵系统的一个或多个致动器的最佳可行动作的伺服命令，并基于伺服命令来命令远程车辆的一个或多个致动器。 最佳可行动作包括在每次选择可行动作时，从当前时间几秒钟的固定时间范围内的动作。

公开(公告)号：US09242376B2

公开(公告)日：2016-01-26

申请号：US13852337

申请日：2013-03-28

申请人： DENSO WAVE INCORPORATED

发明人： Yoshirou Iwasaki

IPC分类号： G05B19/416 ,  B25J9/16

CPC分类号： B25J9/1651 ,  B25J9/1664 ,  G05B19/416 ,  G05B2219/39407 ,  G05B2219/40519 ,  G05B2219/40527 ,  G05B2219/43062 ,  G05B2219/43093 ,  G05B2219/43203

摘要： In a multiaxial robot, a path along which the end effector of the robot moves in the shortest time duration is generated. The robot includes a first link and a second link positioned closer to an end effector than the first link. Start and end points are specified, and velocity patterns are generated for joints driving the first and second links based on the specified start end points. The velocity patterns enable a movement of the second link to cause i) a reaction for increasing an acceleration force generated by the first joint when the end effector is started to be moved from the start point toward the end point, and ii) a reaction for increasing a deceleration force generated by the first joint when the end effector is stopping to the end point.

摘要翻译： 在多轴机器人中，生成机器人的末端执行器在最短时间内移动的路径。 机器人包括第一连杆和位于比第一连杆更靠近端部执行器的第二连杆。 指定起点和终点，并根据指定的起始终点为关节驱动第一和第二个链接生成速度模式。 速度模式能够使第二连杆的运动导致i）当端部执行器开始从起始点移动到终点时，增加由第一关节产生的加速力的反应，以及ii） 当末端执行器停止到终点时，增加由第一关节产生的减速力。

公开(公告)号：US20150375393A1

公开(公告)日：2015-12-31

申请号：US14734297

申请日：2015-06-09

申请人： FANUC Corporation

发明人： Masaru ODA ,  Yoshiharu NAGATSUKA ,  Kozo INOUE

IPC分类号： B25J9/16

CPC分类号： B25J9/1664 ,  G05B2219/39132 ,  G05B2219/40042 ,  G05B2219/40417 ,  G05B2219/40519 ,  Y02P90/265

摘要： An offline teaching device has a calculation unit which calculates a second position of a second tool on a work line which is separated by a predetermined distance from a first position of a first tool on the work line, calculates a workpiece position where the first tool in the first position contacts or adjoins the workpiece, and calculates a workpiece position and posture such that the second tool in the second position contacts or adjoins the workpiece by changing the posture of the workpiece from the workpiece position with respect to the first tool, while maintaining the work posture of the first tool, and has a generation unit which generates a robot teaching position based on the position and posture of the workpiece and the holding position of the workpiece, and generates a program such that the first tool and the second tool pass along the work line.

摘要翻译： 离线教学装置具有计算单元，该计算单元计算与工件线上的第一工具的第一位置隔开预定距离的工作线上的第二工具的第二位置，计算第一工具在工件上的工件位置 第一位置接触或邻接工件，并且计算工件的位置和姿态，使得第二位置中的第二工具通过相对于第一工具从工件位置改变工件的姿态而接触或邻接工件，同时保持 第一工具的工作姿势，并且具有基于工件的位置和姿态以及工件的保持位置生成机器人示教位置的生成单元，并且生成使第一工具和第二工具通过的程序 沿着工作线。

公开(公告)号：US20150081200A1

公开(公告)日：2015-03-19

申请号：US14031175

申请日：2013-09-19

申请人： Mitsubishi Electric Research Laboratories, Inc.

发明人： Yebin Wang ,  Han Yu ,  Scott A. Bortoff

IPC分类号： G08G1/16

CPC分类号： B25J9/1676 ,  G01C21/00 ,  G01C22/00 ,  G05B2219/40519 ,  G05D1/0005 ,  G05D1/0217 ,  G08G1/16 ,  G08G1/163

摘要： The optimization of cost function representing a movement of the mass by the multi-motor control system from an initial point to a final point is subject to non-convex constraints due to avoidance of a region of the obstacle located between the initial point and the final point. Hence, the method determines a union of convex regions connecting the initial point with the final point, such that each convex region does not intersect the region of the obstacle, a convex constraint for each convex region and a set of switching times when the trajectory crosses boundaries of the convex regions. The method optimizes the cost function by jointly updating the positions and the set of switching times to produce an optimal trajectory of the movement. The optimizing is subject to the set of convex constraints applied independently for each corresponding convex region.

摘要翻译： 代表多马达控制系统从初始点到最终点的质量运动的成本函数的优化受到非凸的约束，由于避免位于初始点和最终点之间的障碍物区域 点。 因此，该方法确定将初始点与最终点连接的凸起区域的并集，使得每个凸起区域不与障碍物的区域相交，每个凸起区域的凸起约束和当轨迹穿过时的一组切换时间 凸区域的边界。 该方法通过共同更新位置和切换时间集来优化成本函数，以产生运动的最佳轨迹。 优化受到对于每个对应凸区独立应用的一组凸约束。

公开(公告)号：US08972057B1

公开(公告)日：2015-03-03

申请号：US13737182

申请日：2013-01-09

申请人： The Boeing Company

发明人： Philip L. Freeman ,  Howie Choset ,  Matthew Tesch ,  Glenn Wagner

IPC分类号： G05B19/04 ,  B25J11/00 ,  G01C21/34 ,  B25J9/16

CPC分类号： B25J9/1666 ,  G01C21/34 ,  G05B2219/40476 ,  G05B2219/40519 ,  Y10S901/01 ,  Y10S901/28

摘要： A method of automatic path planning for at least one robot within a confined configuration space, the robot including an arm having a plurality of joints and an end effector coupled to the arm. The method includes entering a plurality of process points into a computer, each process point being a location wherein the arm is to be positioned to perform a task, calculating one or more inverse kinematic solutions for each process point, clustering the inverse kinematic solutions into a set of clusters, and generating collision free paths between the clusters in the confined configuration space.

摘要翻译： 一种用于在受限配置空间内的至少一个机器人的自动路径规划的方法，所述机器人包括具有多个接头的臂和与臂连接的末端执行器。 该方法包括将多个处理点输入到计算机中，每个处理点是其中臂被定位成执行任务的位置，为每个处理点计算一个或多个反向运动学解，将反向运动解集群聚类成 集群集，并在限制配置空间中在集群之间生成无冲突路径。

公开(公告)号：US08571745B2

公开(公告)日：2013-10-29

申请号：US13105872

申请日：2011-05-11

申请人： Robert Todd Pack ,  Orjeta Taka

发明人： Robert Todd Pack ,  Orjeta Taka

IPC分类号： G01C22/00 ,  G05D1/00

CPC分类号： B25J9/1664 ,  G05B2219/40519 ,  G05D1/0088 ,  G05D1/0238 ,  G05D1/0251 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0209 ,  G05D2201/0213 ,  G06N3/008

摘要： A method of generating a command for a remote vehicle controller by taking in goals and constraints compiled from behavior inputs and action models, and controlling resources by producing low-level actuator commands that realize goals expressed by the behaviors. The method comprises: executing a command based on a kinodynamic fixed depth motion planning (KFDMP) algorithm to plan paths with longer time horizons and to use incremental feedback from evaluators to select a best feasible course of action; and feeding the selected best feasible course of action as servo commands to a drive system or a manipulation system of the remote vehicle controller. The selected best feasible course of action comprises goal-achieving actions within a fixed time horizon of several seconds from the current time each time a course of action is selected.

摘要翻译： 通过采取从行为输入和动作模型编制的目标和约束来生成远程车辆控制器的命令的方法，以及通过产生实现由行为表达的目标的低级致动器命令来控制资源的方法。 该方法包括：执行基于动力学固定深度运动规划（KFDMP）算法的命令来规划具有较长时间间隔的路径，并使用来自评估者的增量反馈来选择最佳可行的行动过程; 并将所选择的最佳可行行动作为伺服命令馈送到远程车辆控制器的驱动系统或操纵系统。 所选择的最佳可行行动包括在每次选择行动时从当前时间几秒钟的固定时间范围内的目标实现动作。

公开(公告)号：US08483874B2

公开(公告)日：2013-07-09

申请号：US12903653

申请日：2010-10-13

申请人： Myung Hee Kim ,  San Lim ,  Kyung Shik Roh ,  Bok Man Lim

发明人： Myung Hee Kim ,  San Lim ,  Kyung Shik Roh ,  Bok Man Lim

IPC分类号： G05B19/18

CPC分类号： B25J9/1664 ,  G05B2219/40519

摘要： A path planning apparatus of a robot smoothes a motion path while satisfying a constraint. In a configuration space where a manipulator of a robot performs a task, a Rapidly-exploring Random Tree (RRT) path which extends from a start point and reaches a goal point may be smoothed while satisfying a constraint to generate a stable motion path. Accordingly, path planning performance is improved and an optimal path satisfying a kinematic constraint may be rapidly obtained.

摘要翻译： 机器人的路径规划装置在满足约束条件下平滑运动路径。 在机器人的机械手执行任务的配置空间中，可以在满足约束以产生稳定的运动路径的同时平滑从起始点到达目标点的快速探索随机树（RRT）路径。 因此，路径规划性能得到改善，并且可以快速获得满足运动约束的最佳路径。