公开(公告)号：US20050264251A1

公开(公告)日：2005-12-01

申请号：US11135124

申请日：2005-05-23

Applicant: Rainer Bischoff ,  Jens Bunsendal ,  Gerhard Hietmann

Inventor： Rainer Bischoff ,  Jens Bunsendal ,  Gerhard Hietmann

IPC: B25J9/16 ,  G05B19/406 ,  G05B13/00 ,  G05B9/02

CPC classification number: B25J9/1674 ,  G05B19/406 ,  G05B2219/36495 ,  G05B2219/40547 ,  G05B2219/50197

Abstract: In order to improve the safety of a machine, particularly a robot, such as a multiaxial or multiaxle industrial robot during the operation thereof, particularly in the presence of human beings, the invention provides a method for operating the machine, which is characterized in that at least one path section is traversed in monitored manner in a reference trip, that movement-characteristic operating values are continuously measured and stored as reference values and that during machine operation said operating values are also determined and compared with the stored reference values. The invention also relates to a device for performing the method.

Abstract translation: 为了提高机器，特别是机器人的安全性，特别是在其操作期间，例如多轴或多轴工业机器人，特别是在人的存在下，本发明提供了一种操作机器的方法，其特征在于 在参考跳闸中以监视的方式穿过至少一个路径部分，连续测量运动特性运行值并将其存储为参考值，并且在机器操作期间，还确定所述操作值并将其与所存储的参考值进行比较。 本发明还涉及一种用于执行该方法的装置。

公开(公告)号：US20100042357A1

公开(公告)日：2010-02-18

申请号：US12192209

申请日：2008-08-15

Applicant: Richard W. McCoy, JR. ,  Todd Granger Holtz

Inventor： Richard W. McCoy, JR. ,  Todd Granger Holtz

IPC: G01P15/00

CPC classification number: B25J13/088 ,  B25J9/1694 ,  G05B2219/40547

Abstract: A system and method for determining a position of an articulated member with respect to a predetermined plane comprise a multi-axis accelerometer mounted to a first movable member of an articulated set of members. The multi-axis accelerometer produces a sinusoidal signal in proportion to a position of the member with respect to a predetermined set of axes of a predetermined plane. An motion controller operatively in communication with the multi-axis accelerometer determines the angle of inclination as the arctangent of two readings obtained from the accelerometer.

Abstract translation: 用于确定铰接构件相对于预定平面的位置的系统和方法包括安装到铰接构件组的第一可移动构件的多轴加速度计。 多轴加速度计产生与构件相对于预定平面的预定轴线的位置成比例的正弦信号。 可操作地与多轴加速度计通信的运动控制器将倾斜角确定为从加速度计获得的两个读数的反正切。

公开(公告)号：US08886359B2

公开(公告)日：2014-11-11

申请号：US13469725

申请日：2012-05-11

Applicant: Kiyonori Inaba ,  Masakazu Ichinose

Inventor： Kiyonori Inaba ,  Masakazu Ichinose

IPC: G05B19/04 ,  G05B19/18 ,  B25J9/16 ,  B23K11/11

CPC classification number: B23K11/115 ,  B25J9/163 ,  B25J9/1694 ,  G05B2219/39195 ,  G05B2219/40547 ,  G05B2219/45104 ,  Y10S901/46 ,  Y10S901/47

Abstract: A robot (100) has a robot mechanism unit (1) having a sensor (10) and a control unit (2), and the control unit (2) includes a normal control unit (4) that controls the operation of the robot mechanism unit, and a learning control unit (3) that, when the robot mechanism unit (1) is operated by a speed command that is given by multiplying a teaching speed designated in a task program by a speed change ratio, performs learning to calculate, from a detection result by the sensor (10), a learning correction amount for making the trajectory or position of the control target in the robot mechanism unit (1) approach the target trajectory or target position, or for reducing the vibration of the control target, and performs processes so that the control target position of the robot mechanism unit (1) moves along a fixed trajectory regardless of the speed change ratio.

Abstract translation: 机器人（100）具有具有传感器（10）和控制单元（2）的机器人机构单元（1），并且控制单元（2）包括控制机器人机构的操作的正常控制单元（4） 单元和学习控制单元（3），当通过将任务程序中指定的教学速度乘以速度变化率给出的速度命令来操作机器人机构单元（1）时，进行学习以进行计算， 通过传感器（10）的检测结果，使用于使机器人机构单元（1）中的控制对象的轨迹或位置接近目标轨迹或目标位置或用于减少控制对象的振动的学习校正量 ，并且执行处理，使得机器人机构单元（1）的控制目标位置沿着固定轨迹移动，而与速度变化率无关。

公开(公告)号：US06995536B2

公开(公告)日：2006-02-07

申请号：US10408376

申请日：2003-04-07

Applicant: A. Dorian Challoner

Inventor： A. Dorian Challoner

IPC: B25J15/02 ,  G05B19/04

CPC classification number: G05B19/27 ,  B25J9/1694 ,  G05B2219/37134 ,  G05B2219/40547 ,  G05B2219/40596

Abstract: The present invention discloses a robotic manipulator, comprising at least one joint, each joint having a drive axis and at least one microelectromechanical system (MEMS) inertial sensor aligned with at least one drive axis providing sensing of a relative position of the drive axis. The robotic manipulator can include an inertial measurement unit (IMU) coupled to the robotic manipulator for determining the end effector position and orientation. A controller can be used, receiving a signal from at least one MEMS inertial sensor and controlling at least one joint drive axis in response to the signal to change the relative position of the joint drive axis. Rate information from MEMS sensors can be integrated to determine the position of their respective drive axes.

公开(公告)号：US20070288124A1

公开(公告)日：2007-12-13

申请号：US11661136

申请日：2005-08-19

Applicant: Hideo Nagata ,  Yasuyuki Inoue

Inventor： Hideo Nagata ,  Yasuyuki Inoue

IPC: B25J13/08

CPC classification number: B25J9/1694 ,  B25J13/088 ,  G05B2219/40547

Abstract: There are provided an evaluating system of a robot and its evaluating method capable of measuring a movement state amount, particularly, a position or a speed or an acceleration, or an angle or an angular speed or an angular acceleration of an arm of a robot by a simple system constitution in noncontact, accurately, in real time, dispensing with a complicated calibration. There is provided an evaluating system of a robot characterized in including a sensor provided at an arm of a robot for detecting a movement state amount of the arm, an angle detector for measuring an articulate angle of each axis servo motor of the robot, a first sensor operating portion for converting a state amount of the sensor into a state amount in a robot coordinate system, a second sensor operating portion for converting an articulate angle of the angle detector into a state amount in the robot coordinate system, and an output synthesizing portion for synthesizing an output of the first sensor operating portion and an output of the second sensor operating portion.

Abstract translation: 提供了一种机器人的评估系统及其评估方法，其能够测量机器人的手臂的运动状态量，特别是位置，速度或加速度，角度或角速度或角加速度 一个简单的系统结构，非接触，准确，实时，分配复杂的校准。 提供了一种机器人的评价系统，其特征在于包括设置在机器人的臂处的传感器，用于检测臂的移动状态量;角度检测器，用于测量机器人的各轴伺服电动机的关节角度;第一 用于将传感器的状态量转换为机器人坐标系中的状态量的传感器操作部分，用于将角度检测器的关节角度转换为机器人坐标系中的状态量的第二传感器操作部分，以及输出合成部分 用于合成第一传感器操作部分的输出和第二传感器操作部分的输出。

公开(公告)号：US20030178964A1

公开(公告)日：2003-09-25

申请号：US10408376

申请日：2003-04-07

Applicant: The Boeing Company

Inventor： A. Dorian Challoner

IPC: G05B019/04

CPC classification number: G05B19/27 ,  B25J9/1694 ,  G05B2219/37134 ,  G05B2219/40547 ,  G05B2219/40596

Abstract: The present invention discloses a robotic manipulator, comprising at least one joint, each joint having a drive axis and at least one microelectromechanical system (MEMS) inertial sensor aligned with at least one drive axis providing sensing of a relative position of the drive axis. The robotic manipulator can include an inertial measurement unit (IMU) coupled to the robotic manipulator for determining the end effector position and orientation. A controller can be used, receiving a signal from at least one MEMS inertial sensor and controlling at least one joint drive axis in response to the signal to change the relative position of the joint drive axis. Rate information from MEMS sensors can be integrated to determine the position of their respective drive axes.

Abstract translation: 本发明公开了一种机器人操纵器，其包括至少一个接头，每个接头具有驱动轴和至少一个与至少一个驱动轴对准的微机电系统（MEMS）惯性传感器，提供对驱动轴的相对位置的感测。 机器人操纵器可以包括耦合到机器人操纵器的惯性测量单元（IMU），用于确定末端执行器的位置和取向。 可以使用控制器，接收来自至少一个MEMS惯性传感器的信号，并且响应于信号来控制至少一个联合驱动轴线，以改变关节驱动轴线的相对位置。 可以集成来自MEMS传感器的速率信息，以确定其各自的驱动轴的位置。

公开(公告)号：US20120296471A1

公开(公告)日：2012-11-22

申请号：US13469725

申请日：2012-05-11

Applicant: Kiyonori INABA ,  Masakazu ICHINOSE

Inventor： Kiyonori INABA ,  Masakazu ICHINOSE

IPC: G05B19/04

CPC classification number: B23K11/115 ,  B25J9/163 ,  B25J9/1694 ,  G05B2219/39195 ,  G05B2219/40547 ,  G05B2219/45104 ,  Y10S901/46 ,  Y10S901/47

Abstract: A robot (100) has a robot mechanism unit (1) having a sensor (10) and a control unit (2), and the control unit (2) includes a normal control unit (4) that controls the operation of the robot mechanism unit, and a learning control unit (3) that, when the robot mechanism unit (1) is operated by a speed command that is given by multiplying a teaching speed designated in a task program by a speed change ratio, performs learning to calculate, from a detection result by the sensor (10), a learning correction amount for making the trajectory or position of the control target in the robot mechanism unit (1) approach the target trajectory or target position, or for reducing the vibration of the control target, and performs processes so that the control target position of the robot mechanism unit (1) moves along a fixed trajectory regardless of the speed change ratio.

Abstract translation: 机器人（100）具有具有传感器（10）和控制单元（2）的机器人机构单元（1），并且控制单元（2）包括控制机器人机构的操作的正常控制单元（4） 单元和学习控制单元（3），当通过将任务程序中指定的教学速度乘以速度变化率给出的速度命令来操作机器人机构单元（1）时，进行学习以进行计算， 通过传感器（10）的检测结果，使用于使机器人机构单元（1）中的控制对象的轨迹或位置接近目标轨迹或目标位置或用于减少控制对象的振动的学习校正量 ，并且执行处理，使得机器人机构单元（1）的控制目标位置沿着固定轨迹移动，而与速度变化率无关。

公开(公告)号：US07443124B2

公开(公告)日：2008-10-28

申请号：US11135124

申请日：2005-05-23

Applicant: Rainer Bischoff ,  Jens Bunsendal ,  Gerhard Hietmann

Inventor： Rainer Bischoff ,  Jens Bunsendal ,  Gerhard Hietmann

IPC: B25J9/10

CPC classification number: B25J9/1674 ,  G05B19/406 ,  G05B2219/36495 ,  G05B2219/40547 ,  G05B2219/50197

Abstract: In order to improve the safety of a machine, particularly a robot, such as a multiaxial or multiaxle industrial robot during the operation thereof, particularly in the presence of human beings, the invention provides a method for operating the machine, which is characterized in that at least one path section is traversed in monitored manner in a reference trip, that movement-characteristic operating values are continuously measured and stored as reference values and that during machine operation said operating values are also determined and compared with the stored reference values. The invention also relates to a device for performing the method.

Abstract translation: 为了提高机器，特别是机器人的安全性，特别是在其操作期间，例如多轴或多轴工业机器人，特别是在人的存在下，本发明提供了一种操作机器的方法，其特征在于 在参考跳闸中以监视的方式穿过至少一个路径部分，连续测量运动特性运行值并将其存储为参考值，并且在机器操作期间，还确定所述操作值并将其与所存储的参考值进行比较。 本发明还涉及一种用于执行该方法的装置。

公开(公告)号：US20060178775A1

公开(公告)日：2006-08-10

申请号：US11051383

申请日：2005-02-04

Applicant: George Zhang ,  YunQuan Sun ,  Jianjun Wang ,  Zhongxue Gan ,  Hui Zhang ,  Gregory Rossano

Inventor： George Zhang ,  YunQuan Sun ,  Jianjun Wang ,  Zhongxue Gan ,  Hui Zhang ,  Gregory Rossano

IPC: G06F19/00

CPC classification number: B25J9/1674 ,  B25J9/0081 ,  B25J13/02 ,  G05B2219/36473 ,  G05B2219/40547 ,  G05B2219/40549

Abstract: An accelerometer is mounted on a robot to monitor movement of a tool assembly attached to the robot end effector for safety monitoring purposes. The accelerometer provides an output signal to the robot controller which the controller uses to monitor the robot movement and stop that movement when a predetermined values of acceleration, speed and distance are detected during lead-through teaching of the robot. A handle can be attached to the robot end effector and the accelerometer can be mounted on the handle.

Abstract translation: 加速度计安装在机器人上以监测附接到机器人端部执行器的工具组件的运动，以用于安全监控目的。 加速度计向机器人控制器提供输出信号，该控制器用于监视机器人运动，并且在机器人的导通教导期间检测到加速度，速度和距离的预定值时停止该运动。 手柄可以连接到机器人端部执行器，并且加速度计可以安装在手柄上。