利索-全球专利检索

  1. 登录
  2. 注册

搜索结果

30 条记录 (耗时 0.026 秒)

    Arm type three-dimensional measuring apparatus and deflection correction method in arm type three-dimensional measuring apparatus
    1.
    发明授权
    Arm type three-dimensional measuring apparatus and deflection correction method in arm type three-dimensional measuring apparatus 有权
    臂式三维测量装置中的臂式三维测量装置和偏转校正方法

    公开(公告)号：US09366592B2

    公开(公告)日：2016-06-14

    申请号：US14546356

    申请日：2014-11-18

    申请人： Mitutoyo Corporation

    发明人： Tomonori Goto

    IPC分类号： G01B5/008 ,  G01L5/16 ,  G01B21/04 ,  G01L5/22

    CPC分类号： G01L5/16 ,  G01B5/008 ,  G01B21/04 ,  G01L5/226 ,  G05B2219/39186 ,  G05B2219/40586 ,  G05B2219/40599

    摘要： An arm type three-dimensional measuring apparatus includes: a multi-jointed arm mechanism including a probe in a distal end; a processing part for computing a position of the probe, the probe being manually moved; a sensor which is formed in each axis of the multi-jointed arm mechanism and detects at least a force in one predetermined direction and torques in two predetermined axial directions generated in an attitude state of the multi-jointed arm mechanism, wherein the processing part computes a deflection amount in each axis of the multi-jointed arm mechanism based on an output of the sensor and sequentially computes a position of the probe based on the deflection amount.

    摘要翻译： 臂型立体测量装置包括：多接头臂机构，其包括在远端的探针; 用于计算探头的位置的处理部件，所述探针被手动移动; 传感器，其形成在所述多关节臂机构的各轴上，并且在所述多关节臂机构的姿态中产生的至少一个预定方向上的力并且以两个预定的轴向方向转动，其中，所述处理部计算 基于传感器的输出，多接头臂机构的各轴的偏转量，基于偏转量依次计算探头的位置。

    ROBOT, ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM
    4.
    发明申请
    ROBOT, ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM 有权
    机器人，机器人控制装置，机器人控制方法和机器人控制程序

    公开(公告)号：US20140107843A1

    公开(公告)日：2014-04-17

    申请号：US14134470

    申请日：2013-12-19

    申请人： Panasonic Corporation

    发明人： Yasunao OKAZAKI

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1612 ,  B25J13/085 ,  B66C23/005 ,  G05B19/423 ,  G05B2219/36429 ,  G05B2219/40579 ,  G05B2219/40599 ,  Y10S901/02

    摘要： Provided are a multi-joint robot arm, a manipulation force acquiring unit that acquires a manipulation force from a person, the manipulation force acquiring unit disposed on the multi-joint robot arm, an external force acquiring unit that acquires an external force to be applied to a gripped object, the external force acquiring unit disposed on the multi-joint robot arm, an impedance controller that performs impedance control on the multi-joint robot arm based on the manipulation force acquired by the manipulation force acquiring unit and a set impedance parameter, and an assist force correcting unit that corrects a force component vertical to the resistance force of an assist force generated by the impedance controller according to the resistance force generated by friction caused by contact between the gripped object and an external environment.

    摘要翻译： 本发明提供一种多关节机器人手臂，操作力获取单元，其获取来自人的操作力，设置在多关节机器人臂上的操作力获取单元，外力获取单元，其获取施加的外力 所述外力获取单元设置在所述多关节机器人臂上，阻抗控制器，其基于由所述操作力获取单元获取的操作力，对所述多关节机器人臂进行阻抗控制，以及设定阻抗参数 以及辅助力校正单元，其根据由夹持物体与外部环境之间的接触引起的摩擦产生的阻力来校正与阻抗控制器产生的辅助力的阻力垂直的力分量。

    Methods and systems for calibrating a sensor of a robotic device
    6.
    发明授权
    Methods and systems for calibrating a sensor of a robotic device 有权
    用于校准机器人装置的传感器的方法和系统

    公开(公告)号：US09505132B1

    公开(公告)日：2016-11-29

    申请号：US14673165

    申请日：2015-03-30

    申请人： X Development LLC

    发明人： Jeffrey Thomas Bingham ,  Rob Wilson ,  Adam Reich

    IPC分类号： B25J9/00 ,  B25J9/16

    CPC分类号： B25J9/1692 ,  B25J9/1671 ,  B25J9/1694 ,  G05B2219/40599 ,  G05B2219/41357

    摘要： Examples are provided that describe calibration of a sensor of a robotic device. In one example, a system includes least one processor and data storage comprising instructions executable by the at least one processor to cause the system to perform operations. The operations include simulating a movement of a robotic component of a robotic device to a plurality of positions. The operations may also include determining a relationship between a simulated torque values and simulated force values at the plurality of positions. The operations may also include determining expected torque values based on detected force values and the determined relationship. Based on the expected torque values satisfying a threshold associated with the simulated torque values, determining a plurality of calibration parameters of the one or more sensors according to the optimization.

    摘要翻译： 提供了描述机器人装置的传感器的校准的示例。 在一个示例中，系统包括至少一个处理器和数据存储器，该数据存储器包括可由所述至少一个处理器执行以使系统执行操作的指令。 这些操作包括模拟机器人装置的机器人部件到多个位置的运动。 操作还可以包括确定模拟扭矩值与多个位置处的模拟力值之间的关系。 操作还可以包括基于检测到的力值和所确定的关系来确定预期扭矩值。 基于满足与模拟转矩值相关联的阈值的预期转矩值，根据优化确定一个或多个传感器的多个校准参数。

    ROBOT APPARATUS, METHOD FOR CONTROLLING ROBOT, PROGRAM, AND RECORDING MEDIUM
    7.
    发明申请
    ROBOT APPARATUS, METHOD FOR CONTROLLING ROBOT, PROGRAM, AND RECORDING MEDIUM 审中-公开
    机器人装置，控制机器人，程序和记录介质的方法

    公开(公告)号：US20160221193A1

    公开(公告)日：2016-08-04

    申请号：US15002831

    申请日：2016-01-21

    申请人： CANON KABUSHIKI KAISHA

    发明人： Shuuichi Sato

    IPC分类号： B25J9/16 ,  B25J9/06

    CPC分类号： B25J9/1694 ,  B25J9/1674 ,  B25J9/1676 ,  B25J13/085 ,  G05B2219/39529 ,  G05B2219/40599 ,  G05B2219/40607 ,  Y10S901/04 ,  Y10S901/09

    摘要： An object of the present invention is to sense forces from a fine external force to a large external force with high precision, and enable high-precision control. A multi-joint robot arm has a first sensor arranged in an end portion, and second sensors arranged in joints, respectively. The first sensor and the second sensor have different detectable ranges from each other for a detectable force. A controlling apparatus selects which sensing result of a sensor should be used between sensing results of the first sensor 131 and the second sensor, and controls a robot arm by using the selected sensing result of the sensor.

    摘要翻译： 本发明的目的是以高精度从良好的外力力到大的外力感测力，并且能够进行高精度的控制。 多关节机器人臂具有布置在端部中的第一传感器和分别布置在接头中的第二传感器。 第一传感器和第二传感器对于可检测力彼此具有不同的可检测范围。 控制装置选择在第一传感器131和第二传感器的感测结果之间应使用传感器的感测结果，并且通过使用所选择的传感器的感测结果来控制机器人手臂。

    METHOD AND SYSTEM FOR CALCULATING WEIGHT AND CENTER OF GRAVITY OF OBJECT LIFTED BY ROBOT
    8.
    发明申请
    METHOD AND SYSTEM FOR CALCULATING WEIGHT AND CENTER OF GRAVITY OF OBJECT LIFTED BY ROBOT 有权
    计算机器人提升物体重量和重心的方法与系统

    公开(公告)号：US20150360368A1

    公开(公告)日：2015-12-17

    申请号：US14501586

    申请日：2014-09-30

    申请人： HYUNDAI MOTOR COMPANY

    发明人： Wan Jae Shin

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1638 ,  B25J9/1612 ,  B25J13/082 ,  B25J13/088 ,  G05B2219/35124 ,  G05B2219/39062 ,  G05B2219/39224 ,  G05B2219/39498 ,  G05B2219/39528 ,  G05B2219/40549 ,  G05B2219/40599 ,  G05B2219/40606

    摘要： A method for calculating weight and center of gravity of an object lifted by a robot includes lifting an object, measuring a change in angle of each joint through an angle sensor provided for each joint of the gripper in the event of the lifting, and calculating angular velocity and acceleration of each joint, calculating, via a controller, acceleration of the object, measuring an upper pressing force and a lower pressing force using force sensors installed on the joints, and calculating, via the controller, the weight of the object using a vertical component of the acceleration of the object, gravitational acceleration, and the upper and lower pressing forces.

    摘要翻译： 用于计算由机器人举起的物体的重量和重心的方法包括提升物体，通过在提升的情况下为夹持器的每个关节设置的角度传感器测量每个接头的角度变化，并计算角度 每个关节的速度和加速度，通过控制器计算物体的加速度，使用安装在关节上的力传感器测量上压力和下压力，以及通过控制器计算物体的重量，使用 物体加速度的垂直分量，重力加速度以及上下压力。

    System and method for using joint torque feedback to prevent oscillation in a flexible robotic manipulator
    10.
    发明申请
    System and method for using joint torque feedback to prevent oscillation in a flexible robotic manipulator 失效
    使用关节转矩反馈以防止柔性机器人操纵器中的振荡的系统和方法

    公开(公告)号：US20010045807A1

    公开(公告)日：2001-11-29

    申请号：US09803046

    申请日：2001-03-12

    发明人： Kenneth G. McConnell ,  Chad E. Bouton

    IPC分类号： G05B019/04

    CPC分类号： B25J9/1635 ,  G05B2219/39188 ,  G05B2219/40599

    摘要： A preferred embodiment of the invention includes a control system (and corresponding method) which monitors and controls both joint torque and arm position during operation of a device such as a manipulator, whereby oscillation is rapidly removed when the system is disturbed by either movement, stopping of the system after completing a movement, by disturbance from external forces, or any other disturbance. Furthermore, the system can achieve rapid motion over a wide manipulator payload range. This is achieved in a preferred embodiment by providing control of torque and thereby allowing control of the arm deflection. In this illustrative arrangement, the joint torque takes on high levels (below the arm's elastic limit), allowing rapid motion without causing arm oscillation. It has been found that the arm can be transformed from a cantilever-type structure to a pin-free-type structure. The invention allows for high joint torque levels with low frequency content, thereby enabling rapid arm movement without induced oscillation. The invention also provides for rapid arm stabilization in the event that the arm comes into contact with external disturbances.

    摘要翻译： 本发明的优选实施例包括控制系统（和相应的方法），其在诸如操纵器的装置的操作期间监视和控制关节扭矩和臂位置，由此当系统被任一运动，停止 完成运动后，受到外力的干扰或任何其他扰动。 此外，系统可以在宽的机械手有效载荷范围内实现快速运动。 这在优选实施例中通过提供扭矩的控制并由此允许控制臂偏转来实现。 在这种说明性的布置中，关节扭矩处于高水平（低于臂的弹性极限），允许快速运动而不引起臂振荡。 已经发现臂可以从悬臂型结构转变为无引脚型结构。 本发明允许具有低频率含量的高关节扭矩水平，从而使得能够在没有感应振荡的情况下快速臂移动。 本发明还提供了在臂与外部干扰接触的情况下的快速臂稳定。