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公开(公告)号：US20180065251A1
公开(公告)日：2018-03-08
申请号：US15810711
申请日：2017-11-13
发明人： Akihiro GOMI , Masaki MOTOYOSHI , Akio NIU
CPC分类号： B25J9/1651 , B25J9/1638 , B25J9/1694 , B25J18/00 , G05B2219/39195 , G05B2219/39335 , G05B2219/40597 , Y10S901/02 , Y10S901/09 , Y10S901/27 , Y10S901/46 , Y10T74/20329
摘要： A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.
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公开(公告)号：US20150224644A1
公开(公告)日：2015-08-13
申请号：US14691013
申请日：2015-04-20
发明人： Akihiro GOMI , Akio NIU , Masaki MOTOYOSHI
IPC分类号： B25J9/16
CPC分类号： B25J9/1694 , B25J9/1638 , B25J9/1651 , G05B2219/39195 , G05B2219/39335 , G05B2219/40597
摘要： A robot includes a base, first and second arms, first and second drive sources, first and second inertia sensors, and first and second angle sensors. A rotation axis of the first arm and a rotation axis of the second arm are orthogonal to each other. The first inertia sensor is installed at the first arm, and the second inertia sensor is installed at the second arm. The first angle sensor is installed at the first drive source, and the second angle sensor is installed at the second drive source. Angular velocities obtained from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities obtained from the second inertia sensor and the second angle sensor are fed back to a second drive source control unit.
摘要翻译： 机器人包括基座，第一和第二臂，第一和第二驱动源，第一和第二惯性传感器以及第一和第二角度传感器。 第一臂的旋转轴线和第二臂的旋转轴线彼此正交。 第一惯性传感器安装在第一臂上，第二惯性传感器安装在第二臂上。 第一角度传感器安装在第一驱动源处，第二角度传感器安装在第二驱动源处。 从第一惯性传感器和第一角度传感器获得的角速度被反馈到第一驱动源控制单元。 从第二惯性传感器和第二角度传感器获得的角速度被反馈到第二驱动源控制单元。
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公开(公告)号：US07040136B2
公开(公告)日：2006-05-09
申请号：US10474970
申请日：2002-02-15
IPC分类号： G01C17/38
CPC分类号： G01C9/00 , B25J9/1692 , G01C25/00 , G05B2219/39024 , G05B2219/39026 , G05B2219/39027 , G05B2219/39058 , G05B2219/40597
摘要： An apparatus for calibration of an industrial robot, the apparatus comprising a body (7) having a first angle-measuring member (10) arranged for measuring an angle relative to the vertical ine about a first measuring axis (12) and mouting means (8, 9, 25) for mounting the body to the robot during the calibration. The apparatus comprises a second angle-measuring member (11) arranged for measuring an angle relative to the vertical line about a second measuring axis (13) differing from the first measuring axis. A method for calibration of an industrial robot having a plurality of sections movably connected to each for rotation about a plurality of axes, using an apparatus according to claim 1 or 2, the method comprising: attaching the body (7) to a section of the robot, reading an angle measurement from the first angle-measuring member (10), moving the robot about a first axis in dependence of said angle measurement for the first angle-measuring member (10), reading an angle measurement fro the second angle-measuring member (11), and moving the robot about a second axis in dependence of said angle measurement from the second angle-measuring member (11).
摘要翻译： 一种用于校准工业机器人的装置，该装置包括主体（7），其具有第一测角构件（10），第一测角构件（10）布置成围绕第一测量轴线（12）和垂直方向 ，9,25），用于在校准期间将主体安装到机器人。 该装置包括第二角度测量构件（11），其布置成用于相对于与第一测量轴不同的第二测量轴线（13）相对于垂直线测量角度。 一种用于校准工业机器人的方法，所述工业机器人具有多个部分，所述多个部分可移动地连接到每个部分上，用于使用根据权利要求1或2所述的装置围绕多个轴线旋转，所述方法包括：将所述主体（7） 机器人，从第一角度测量构件（10）读取角度测量值，根据第一角度测量构件（10）的所述角度测量将机器人围绕第一轴线移动，读取第二角度测量构件（10）的角度测量值， 测量构件（11），并且根据来自第二角度测量构件（11）的所述角度测量，围绕第二轴线移动机器人。
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公开(公告)号：US5220261A
公开(公告)日：1993-06-15
申请号：US841832
申请日：1992-02-26
申请人： Hagen Kempas
发明人： Hagen Kempas
IPC分类号： B25J9/16
CPC分类号： B25J9/1692 , G05B2219/40597
摘要： A method of calibrating highly precise robots having a plurality of arms and axes comprises the method steps of: attaching an angular rate sensor (30) at an arm of the robot, adjusting the arm to a predetermined nominal position, generating an angular rate about an axis (40) of the robot, comparing the angular rate measured by the angular rate sensor (30) about its input axis (46, 48) with the nominal component of the angular rate generated about said axis (40), which nominal component results for the nominal position, and correcting the parameters of the robot according to the deviation of the measured angular rate and the nominal component.
摘要翻译： 校准具有多个臂和轴的高精度机器人的方法包括以下方法步骤：将角速度传感器（30）附接在机器人的臂处，将臂调节到预定的标称位置，产生围绕 所述机器人的轴线（40）将由角速率传感器（30）测量的关于其输入轴线（46,48）的角速度与围绕所述轴线（40）产生的角速度的标称分量进行比较，该标称分量结果 根据测量的角速度和标称分量的偏差校正机器人的参数。
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公开(公告)号：US09950427B2
公开(公告)日：2018-04-24
申请号：US15208950
申请日：2016-07-13
发明人： Akihiro Gomi , Shunsuke Toshimitsu
CPC分类号： B25J9/1638 , B25J9/1651 , B25J9/1694 , B25J13/088 , G05B2219/37134 , G05B2219/37388 , G05B2219/39195 , G05B2219/40597 , G05B2219/41021 , G05B2219/41025 , Y10S901/46
摘要： A robot includes a robot arm and an inertial sensor provided in the robot arm. The robot arm is controlled using a weighting value for weighting output from the inertial sensor. In at least apart of a range in which the robot arm is movable, the weighting value is a first value when acceleration of the robot arm is first acceleration, and changes from the first value to a second value higher than the first value when the acceleration of the robot arm changes from the first acceleration to second acceleration lower than the first acceleration.
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公开(公告)号：US20160318183A1
公开(公告)日：2016-11-03
申请号：US15206933
申请日：2016-07-11
发明人： Masaki MOTOYOSHI
IPC分类号： B25J9/16
CPC分类号： B25J9/1641 , B25J9/1694 , G05B2219/39195 , G05B2219/39335 , G05B2219/40597 , Y10S901/28 , Y10S901/46
摘要： A robot control device controls the operation of a robot including a base; a robot arm that has at least three links, at least three joint portions, and at least three drive sources; an inertia sensor; and at least three angle sensors. The robot control device includes a first coordinate system vibration calculation unit; a second coordinate system vibration calculation unit; a weighting unit; a third coordinate system vibration calculation unit; a correction value calculation unit that obtains correction values for correcting the respective drive commands of the drive sources based on vibration information in a third coordinate system, and the respective detected results of the angle sensors; and a drive source control unit that controls the operations of the drive sources based on the respective drive commands of the drive sources, the correction values, and the respective detected results of the angle sensors.
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公开(公告)号：US09037293B2
公开(公告)日：2015-05-19
申请号：US14015075
申请日：2013-08-30
发明人： Akihiro Gomi , Akio Niu , Masaki Motoyoshi
CPC分类号： B25J9/1694 , B25J9/1638 , B25J9/1651 , G05B2219/39195 , G05B2219/39335 , G05B2219/40597
摘要： A robot includes a base, first and second arms, first and second drive sources, first and second inertia sensors, and first and second angle sensors. A rotation axis of the first arm and a rotation axis of the second arm are orthogonal to each other. The first inertia sensor is installed at the first arm, and the second inertia sensor is installed at the second arm. The first angle sensor is installed at the first drive source, and the second angle sensor is installed at the second drive source. Angular velocities obtained from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities obtained from the second inertia sensor and the second angle sensor are fed back to a second drive source control unit.
摘要翻译： 机器人包括基座，第一和第二臂，第一和第二驱动源，第一和第二惯性传感器以及第一和第二角度传感器。 第一臂的旋转轴线和第二臂的旋转轴线彼此正交。 第一惯性传感器安装在第一臂上，第二惯性传感器安装在第二臂上。 第一角度传感器安装在第一驱动源处，第二角度传感器安装在第二驱动源处。 从第一惯性传感器和第一角度传感器获得的角速度被反馈到第一驱动源控制单元。 从第二惯性传感器和第二角度传感器获得的角速度被反馈到第二驱动源控制单元。
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公开(公告)号：US06418774B1
公开(公告)日：2002-07-16
申请号：US09835350
申请日：2001-04-17
IPC分类号： G01C1738
CPC分类号： G01C9/00 , B25J9/1692 , G01C25/00 , G05B2219/39024 , G05B2219/39026 , G05B2219/39027 , G05B2219/39058 , G05B2219/40597
摘要： A device for calibration of an industrial robot, which calibration device is adapted for being in contact during the calibration with at least one plane of reference arranged on the robot, the calibration device includes an angle measuring member arranged for measuring an angle relative to the vertical line. The device further comprises two contact elements each having a curved surface, and the contact elements are arranged for being in contact with the plane of reference.
摘要翻译： 一种用于校准工业机器人的装置，该校准装置适于在校准过程中与布置在机器人上的至少一个参考平面接触，该校准装置包括角度测量构件，该角度测量构件被布置成用于相对于垂直方向 线。 该装置还包括两个具有弯曲表面的接触元件，并且接触元件布置成与参考平面接触。
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公开(公告)号：US20180085919A1
公开(公告)日：2018-03-29
申请号：US15662724
申请日：2017-07-28
发明人： Kenji NAGAMATSU
CPC分类号： B25J9/1633 , B25J9/161 , B25J9/1641 , B25J9/1679 , B25J9/1694 , G05B5/01 , G05B2219/39241 , G05B2219/40582 , G05B2219/40597
摘要： A control device controlling a robot including a driving unit, a moving unit that is slidable along a predetermined track and a predetermined shaft that is slidably supported by the moving unit includes an instruction value calculating unit calculating an instruction value that drives the driving unit such that the moving unit is moved to a target position, an accelerating-speed calculating unit calculating an angular accelerating speed of when the instruction value changes, a gravity-center distance calculating unit calculating a gravity center distance, a correction instruction-value calculating unit calculating a correction instruction value by correcting the instruction value such that a position of the gravity center which is projected on the predetermined track approaches the target position, and a driving control unit controlling the driving unit based on the correction instruction value.
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公开(公告)号：US20170028554A1
公开(公告)日：2017-02-02
申请号：US15208950
申请日：2016-07-13
发明人： Akihiro GOMI , Shunsuke TOSHIMITSU
CPC分类号： B25J9/1638 , B25J9/1651 , B25J9/1694 , B25J13/088 , G05B2219/37134 , G05B2219/37388 , G05B2219/39195 , G05B2219/40597 , G05B2219/41021 , G05B2219/41025 , Y10S901/46
摘要： A robot includes a robot arm and an inertial sensor provided in the robot arm. The robot arm is controlled using a weighting value for weighting output from the inertial sensor. In at least apart of a range in which the robot arm is movable, the weighting value is a first value when acceleration of the robot arm is first acceleration, and changes from the first value to a second value higher than the first value when the acceleration of the robot arm changes from the first acceleration to second acceleration lower than the first acceleration.
摘要翻译： 机器人包括设置在机器人手臂中的机器人臂和惯性传感器。 使用加权值对来自惯性传感器的输出进行加权来控制机器人手臂。 在机器人臂可移动的范围的至少一部分中，当机器人手臂的加速度为第一加速度时，加权值为第一值，并且当加速度从第一值变化到高于第一值时的第二值 机器人手臂从第一加速度变化到比第一加速度低的第二加速度。
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