公开(公告)号：US12011835B2

公开(公告)日：2024-06-18

申请号：US16648403

申请日：2017-09-30

申请人： Siemens Aktiengesellschaft

发明人： Richard Gary McDaniel

IPC分类号： B25J9/16 ,  G05B19/042

CPC分类号： B25J9/1671 ,  B25J9/1692 ,  G05B19/0426 ,  G05B2219/36017 ,  G05B2219/40126 ,  G05B2219/40527

摘要： A computer-implemented method of engineering autonomous system with reusable skills includes displaying a graphical user interface simulating a physical environment. The graphical user interface depicts one or more simulated objects corresponding to one or more physical objects. Graphical markers are created on the simulated objects based on instructions provided by a user via the graphical user interface. The position and orientation of each graphical marker is determined with respect to the simulated objects. A skill function is created which comprises a functional description for using a controllable physical device to interact with the physical objects based on the position and orientation of each graphical marker. Executable code operable to perform the skill function is created and used to actuate the controllable physical device.

公开(公告)号：US09616565B2

公开(公告)日：2017-04-11

申请号：US14570806

申请日：2014-12-15

申请人： ABB Schweiz AG

发明人： Ingvar Jonsson ,  Stig Moberg ,  Sven Hanssen

IPC分类号： G06F19/00 ,  B25J9/16 ,  G05B13/04

CPC分类号： B25J9/1605 ,  B25J9/1653 ,  G05B13/04 ,  G05B2219/40527 ,  Y10S901/02

摘要： A method, robot arrangement and computer program product for tuning a dynamical model of an industrial robot on a foundation. The parameter determining device includes a model memory with a first dynamical model of the robot, the first dynamical model including first model parameters representing dynamical properties of the robot; and a second dynamical model of a foundation to which the robot is to be attached, the second dynamical model including second model parameters representing dynamical properties of the foundation, and a parameter adjusting unit that obtains information about dynamical properties of the foundation by ordering the actuator to move the robot and by receiving, from the detector, measurements of at least one property affected by the movement; and set at least one of the second model parameters on the basis of the dynamical properties of the foundation.

公开(公告)号：US09908238B2

公开(公告)日：2018-03-06

申请号：US14913966

申请日：2014-08-25

申请人： COGNIBOTICS AB

发明人： Klas Nilsson ,  Adam Nilsson ,  Mathias Haage ,  Bjorn Olofsson ,  Anders Robertsson ,  Olof Sornmo

IPC分类号： B25J9/16

CPC分类号： B25J9/1653 ,  G05B2219/39183 ,  G05B2219/39186 ,  G05B2219/40527

摘要： A method and system for determining at least one property associated with a selected axis of a manipulator (2). The elasticity of the links (4, 6, 9, 10, 13, 14) and joints (3, 5, 7, 8, 11, 12) of a manipulator (2) can be modeled and the resulting compliance can be determined. A certain method is used to control the manipulator (2) such that certain quantities related to actuator torque and/or joint position can be determined for a certain kinematic configuration of the manipulator (2). Depending on the complexity of the manipulator (2) and the number of properties that are of interest, the manipulator (2) is controlled to a plurality of different kinematic configurations in which configurations the quantities are determined. Thereafter, a stiffness matrix (K) for each component of the manipulator (2) can be determined, and a global stiffness matrix (MSM) for the total manipulator (2) can be determined in order to determine at least one property of the selected axis.

公开(公告)号：US20170232612A1

公开(公告)日：2017-08-17

申请号：US15586377

申请日：2017-05-04

申请人： X Development LLC

发明人： Garratt Gallagher

IPC分类号： B25J9/16

CPC分类号： B25J9/161 ,  B25J9/16 ,  B25J9/1697 ,  G05B2219/40527

摘要： A device is provided that includes a plurality of hardware segments. The device also includes a plurality of actuators to actuate the plurality of hardware segments. The device also includes a controller to cause at least one of the plurality of actuators to adjust positions of at least one of the plurality of hardware segments to correspond to a particular arrangement, to determine physical parameters of the device responsive to the adjustment of the positions, and to generate an identification code for the device based on the physical parameters. The physical parameters may include one or more of electrical parameters of the plurality of actuators or mechanical parameters of the plurality of actuators.

公开(公告)号：US20110010008A1

公开(公告)日：2011-01-13

申请号：US12825571

申请日：2010-06-29

申请人： Wolfgang Michel ,  Thomas Purrucker ,  Rene Rossig ,  Dietmar Tscharnuter

发明人： Wolfgang Michel ,  Thomas Purrucker ,  Rene Rossig ,  Dietmar Tscharnuter

IPC分类号： G05B19/04

CPC分类号： B25J9/1605 ,  B25J9/1638 ,  B25J9/1692 ,  G05B2219/39026 ,  G05B2219/39061 ,  G05B2219/39176 ,  G05B2219/40279 ,  G05B2219/40527

摘要： A method according to the invention for operating a manipulator, in particular a robot (1), includes the following steps: determining (S10) parameters (c′, c″) of an exactly positioned manipulator model (M) with various nominal loads (m′, m″); specifying parameters (c) of the manipulator model on the basis of which the manipulator is operated, depending on a payload (m) of the manipulator (S20); and operating the manipulator on the basis of the manipulator model (S30, S40).

摘要翻译： 根据本发明的用于操作机械手，特别是机器人（1）的方法包括以下步骤：确定（S10）具有各种标称负载的精确定位的操纵器模型（M）的参数（c'，c“） m'，m“）; 根据操纵器的有效载荷（m）指定操纵器操作的基础上的操纵器模型的参数（c）（S20）; 并基于操纵器模型操作操纵器（S30，S40）。

公开(公告)号：US20030018412A1

公开(公告)日：2003-01-23

申请号：US10200179

申请日：2002-07-23

申请人： Communications Res. Lab., Ind. Admin. Inst.

发明人： Shininchi Kimura

IPC分类号： G06F019/00

CPC分类号： B25J9/1605 ,  G05B2219/39018 ,  G05B2219/39415 ,  G05B2219/40527

摘要： A method for controlling a hyper-redundant manipulator including a plurality of links coupled by joints by determining the shape the manipulator takes when the end of the manipulator is moved to a target position, includes modeling each link as an elastic body having a natural length and a suitable modulus of elasticity that enables the elastic body to stretch and contract, simulating the overall shape of the manipulator when the end has been moved to the target position with the joints locked at a freezed angle and the joints are unlocked to return each link to its natural length, and moving the manipulator end to the target position by controlling each joint angle to match the simulation outcome.

摘要翻译： 一种用于控制超冗余操纵器的方法，包括通过确定当操纵器的端部移动到目标位置时操纵器所采取的形状，通过关节联接的多个链节，包括将每个链节建模为具有自然长度的弹性体，以及 适当的弹性模量使得弹性体能够拉伸和收缩，当端部已经移动到目标位置时模拟机械手的整体形状，其中关节被锁定在冻结角度并且关节被解锁以将每个链节返回到 其自然长度，并且通过控制每个关节角度以使模拟结果匹配来将操纵器端部移动到目标位置。

公开(公告)号：US09676097B1

公开(公告)日：2017-06-13

申请号：US14538608

申请日：2014-11-11

申请人： X Development LLC

发明人： Garratt Gallagher

IPC分类号： G05B19/04 ,  B25J9/16

CPC分类号： B25J9/161 ,  B25J9/16 ,  B25J9/1697 ,  G05B2219/40527

摘要： A device is provided that includes a plurality of hardware segments. The device also includes a plurality of actuators to actuate the plurality of hardware segments. The device also includes a controller to cause at least one of the plurality of actuators to adjust positions of at least one of the plurality of hardware segments to correspond to a particular arrangement, to determine physical parameters of the device responsive to the adjustment of the positions, and to generate an identification code for the device based on the physical parameters. The physical parameters may include one or more of electrical parameters of the plurality of actuators or mechanical parameters of the plurality of actuators.

公开(公告)号：US20160221189A1

公开(公告)日：2016-08-04

申请号：US14913966

申请日：2014-08-25

申请人： COGNIBOTICS AB

发明人： Klas Nilsson ,  Adam Nilsson ,  Mathias Haage ,  Bjorn Olofsson ,  Anders Robertsson ,  Olof Sornmo

IPC分类号： B25J9/16

CPC分类号： B25J9/1653 ,  G05B2219/39183 ,  G05B2219/39186 ,  G05B2219/40527

摘要： A method and system for determining at least one property associated with a selected axis of a manipulator (2). The elasticity of the links (4, 6, 9, 10, 13, 14) and joints (3, 5, 7, 8, 11, 12) of a manipulator (2) can be modeled and the resulting compliance can be determined. A certain method is used to control the manipulator (2) such that certain quantities related to actuator torque and/or joint position can be determined for a certain kinematic configuration of the manipulator (2). Depending on the complexity of the manipulator (2) and the number of properties that are of interest, the manipulator (2) is controlled to a plurality of different kinematic configurations in which configurations the quantities are determined. Thereafter, a stiffness matrix (K) for each component of the manipulator (2) can be determined, and a global stiffness matrix (MSM) for the total manipulator (2) can be determined in order to determine at least one property of the selected axis.

摘要翻译： 一种用于确定与操纵器（2）的选定轴相关联的至少一个属性的方法和系统。 可以对操纵器（2）的连杆（4,6,9,10,13,14）和接头（3,5,7,8,11,12）的弹性进行建模，并且可以确定所得到的柔顺性。 使用某种方法来控制操纵器（2），使得可以针对操纵器（2）的某些运动结构确定与致动器扭矩和/或关节位置相关的某些量。 根据操纵器（2）的复杂性和感兴趣的属性的数量，操纵器（2）被控制为多个不同的运动学配置，其中确定数量的配置。 此后，可以确定用于机械手（2）的每个部件的刚度矩阵（K），并且可以确定用于总操作器（2）的全局刚度矩阵（MSM），以便确定所选择的 轴。

公开(公告)号：US07904202B2

公开(公告)日：2011-03-08

申请号：US11666187

申请日：2005-10-25

申请人： Wally C. Hoppe

发明人： Wally C. Hoppe

IPC分类号： G06F19/00

CPC分类号： B25J9/1692 ,  G05B2219/37123 ,  G05B2219/39015 ,  G05B2219/39022 ,  G05B2219/40527

摘要： A method and system to provide improved accuracies in multi jointed robots through kinematic robot model parameters determination are disclosed. The present invention calibrates multi-jointed robots by using the chain rule for differentiation in the Jacobian derivation for variations in calculated poses of reference points of a reference object as a function of variations in robot model parameters. The present invention also uses two such reference objects and the known distance therebetween to establish a length scale, thus avoiding the need to know one link length of the robot. In addition, the present invention makes use of iterative methods to find the optimum solution for improved accuracy of the resultant model parameters. Furthermore, the present invention provides for determination of the end joint parameters of the robot, including parameters defining the tool attachment mechanism frame, which allows for interchange of tools without subsequent calibration.

摘要翻译： 公开了一种通过运动学机器人模型参数确定提高多关节机器人精度的方法和系统。 本发明通过使用雅可比派系中用于区分的链规则来校准多关节机器人，用于参考对象的参考点的计算姿势的变化作为机器人模型参数的变化的函数。 本发明还使用两个这样的参考对象和它们之间的已知距离来建立长度尺度，从而避免需要知道机器人的一个链接长度。 此外，本发明利用迭代方法找到最终解决方案，以提高所得到的模型参数的精度。 此外，本发明提供了确定机器人的端部接头参数，包括限定工具附接机构框架的参数，其允许在不后续校准的情况下交换工具。

公开(公告)号：US5331542A

公开(公告)日：1994-07-19

申请号：US858005

申请日：1992-03-26

申请人： Ietoshi Itoh

发明人： Ietoshi Itoh

IPC分类号： G05D3/00 ,  B25J9/16 ,  B25J13/00 ,  G05B19/416 ,  G05D3/12 ,  G06F15/46

CPC分类号： G05B19/416 ,  B25J9/1651 ,  G05B2219/39407 ,  G05B2219/40527

摘要： An apparatus and a method for generating acceleration and deceleration patterns for control of a robot in a servo system which is equipped with a plurality of driving axes so constituted as to mutually exert dynamic interference, in such a manner that a synchronism is attained at acceleration start points, velocity peak points and deceleration end points in the patterns for the individual driving axes. Peak time calculating means responds to the information relative to dynamic parameters from constant setting means and command means, and calculates the peak time, which is required until the velocity reaches its peak after the pattern generation start point, from the kinetic energy consumed for each displacement and also from the power distribution relative to the driving sources. And pattern generating means generates, on the basis of the peak time thus obtained, an acceleration pattern and a temporally reflected deceleration pattern for each driving axis, whereby the tact time required for each displacement can be minimized.

摘要翻译： 一种在伺服系统中产生用于控制机器人的加速和减速模式的装置和方法，该伺服系统具有构成为相互施加动态干扰的多个驱动轴，以使得在加速开始时获得同步 点，速度峰值点和各个驱动轴的图形中的减速端点。 峰值时间计算装置响应来自恒定设定装置和指令装置的相对于动态参数的信息，并计算在模式产生开始点到速度达到峰值之后，从每个位移消耗的动能所需的峰值时间 以及相对于驱动源的配电。 并且图案生成装置根据这样获得的峰值时间，生成每个驱动轴的加速度图形和时间反射的减速图案，从而能够使每个位移所需的节拍时间最小化。