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    ROBOT APPARATUS AND METHOD FOR CONTROLLING ROBOT APPARATUS
    2.
    发明申请
    ROBOT APPARATUS AND METHOD FOR CONTROLLING ROBOT APPARATUS 审中-公开
    机器人装置和控制机器人装置的方法

    公开(公告)号：US20160059419A1

    公开(公告)日：2016-03-03

    申请号：US14842561

    申请日：2015-09-01

    申请人： CANON KABUSHIKI KAISHA

    发明人： Hideaki Suzuki

    IPC分类号： B25J9/16

    CPC分类号： B25J9/1697 ,  B25J9/1692 ,  G05B2219/39039 ,  G05B2219/39057 ,  G05B2219/40014 ,  G05B2219/40604 ,  Y10S901/02 ,  Y10S901/14 ,  Y10S901/47

    摘要： A robot system includes a fixed camera that obtains first measurement data by detecting a plurality of features positioned within a detection range, the detection range including at least part of a range in which a robot arm is movable, a hand camera movable with the robot arm, and a control apparatus that controls the robot arm. A calibration function that relates a value obtained as part of the first measurement data to a command value provided to the robot arm at each of a plurality of positions and orientations at which the hand camera obtains second measurement data by detecting each mark.

    摘要翻译： 机器人系统包括：固定摄像机，其通过检测位于检测范围内的多个特征来获得第一测量数据，所述检测范围包括机器人手臂可移动的范围的至少一部分;手持相机，其可与所述机器人手臂一起移动 以及控制机器人手臂的控制装置。 一种校准功能，其将作为第一测量数据的一部分获得的值与在手照相机通过检测每个标记获得第二测量数据的多个位置和取向中的每一个处提供给机器人臂的命令值相关联。

    METHOD AND SYSTEM FOR HIGHLY PRECISELY POSITIONING AT LEAST ONE OBJECT IN AN END POSITION IN SPACE
    5.
    发明申请
    METHOD AND SYSTEM FOR HIGHLY PRECISELY POSITIONING AT LEAST ONE OBJECT IN AN END POSITION IN SPACE 有权
    用于在空间中的最终位置中的至少一个对象的高精度定位的方法和系统

    公开(公告)号：US20120072021A1

    公开(公告)日：2012-03-22

    申请号：US13322123

    申请日：2010-05-26

    申请人： Bernd Walser ,  Bernhard Metzler ,  Beat Aebischer ,  Knut Siercks ,  Bo Pettersson

    发明人： Bernd Walser ,  Bernhard Metzler ,  Beat Aebischer ,  Knut Siercks ,  Bo Pettersson

    IPC分类号： B25J13/08 ,  B25J19/04

    CPC分类号： B25J9/1697 ,  B25J9/1612 ,  B25J9/1692 ,  G05B19/402 ,  G05B2219/36412 ,  G05B2219/37555 ,  G05B2219/37567 ,  G05B2219/39387 ,  G05B2219/39391 ,  G05B2219/40555 ,  G05B2219/40604 ,  Y10S901/08 ,  Y10S901/09 ,  Y10S901/14 ,  Y10S901/31 ,  Y10S901/47

    摘要： An object is highly precisely moved by an industrial robot to an end position by the following steps, which are repeated until the end position is reached within a specified tolerance: Recording a three-dimensional image by means of a 3-D image recording device. Determining the present position of the object in the spatial coordinate system from the position of the 3-D image recording device the angular orientation of the 3-D image recording device detected by an angle measuring unit, the three-dimensional image, and the knowledge of features on the object. Calculating the position difference between the present position of the object and the end position. Calculating a new target position of the industrial robot while taking into consideration the compensation value from the present position of the industrial robot and a value linked to the position difference. Moving the industrial robot to the new target position.

    摘要翻译： 通过以下步骤将物体高度精确地移动到工业机器人到结束位置，这些步骤被重复，直到在特定公差范围内到达结束位置：通过3-D图像记录装置记录三维图像。 从三维图像记录装置的位置确定物体在空间坐标系中的当前位置，由角度测量单元检测的三维图像记录装置的角度取向，三维图像和知识 的对象上的功能。 计算物体的当前位置与终点位置之间的位置差。 计算工业机器人的新目标位置，同时考虑到工业机器人的当前位置的补偿值以及与位置差有关的值。 将工业机器人移动到新的目标位置。

    Information processing system, method, and program
    6.
    发明授权
    Information processing system, method, and program 有权

    公开(公告)号：US09746855B2

    公开(公告)日：2017-08-29

    申请号：US14013346

    申请日：2013-08-29

    申请人： CANON KABUSHIKI KAISHA

    发明人： Kazuhiko Kobayashi ,  Masahiro Suzuki ,  Shinji Uchiyama

    IPC分类号： B25J9/16 ,  G05D3/00

    CPC分类号： G05D3/00 ,  B25J9/1697 ,  G05B2219/37567 ,  G05B2219/40604

    摘要： An apparatus is provided with a first sensor unit that obtains two-dimensional information or three-dimensional information about a target object with a first position and orientation, a second sensor unit that obtains the two-dimensional information about the target object, a three-dimensional position and orientation measurement unit that measures three-dimensional position and orientation of the target object based on the information obtained by the first sensor unit, a second sensor position and orientation determination unit that calculates second position and orientation based on a measurement result with the three-dimensional position and orientation measurement unit and model information about the target object, and a three-dimensional position and orientation measurement unit that measures the three-dimensional position and orientation of the target object based on the information obtained by the second sensor unit with the second position and orientation and the model information about the target object.

    Drone Assisted Adaptive Robot Control
    7.
    发明申请
    Drone Assisted Adaptive Robot Control 审中-公开
    无人机辅助自适应机器人控制

    公开(公告)号：US20160271796A1

    公开(公告)日：2016-09-22

    申请号：US15073651

    申请日：2016-03-18

    申请人： Rahul Babu

    发明人： Rahul Babu

    IPC分类号： B25J9/16

    CPC分类号： B25J11/0075 ,  B05D1/02 ,  B25J9/1664 ,  B25J9/1666 ,  B25J9/1674 ,  B25J9/1694 ,  B25J9/1697 ,  G01B21/04 ,  G05B2219/37555 ,  G05B2219/39016 ,  G05B2219/40005 ,  G05B2219/40425 ,  G05B2219/40504 ,  G05B2219/40604 ,  G05B2219/40609 ,  G05B2219/40617 ,  G05D1/0094

    摘要： A method, a drone device, and an adaptive robot control system (ARCS) for adaptively controlling a programmable robot are provided. The ARCS receives environmental parameters of a work environment where the drone device operates and geometrical information of a target object to be operated on by the programmable robot. The ARCS dynamically receives a calibrated spatial location of the target object in the work environment based on the environmental parameters and a discernment of the target object from the drone device. The ARCS determines control information including parts geometry of the target object, a task trajectory of a task to be performed on the target object, and a collision-free robotic motion trajectory for the programmable robot, and dynamically transmits the control information to the programmable robot via a communication network to adaptively control the programmable robot while accounting for misalignments of the target object in the work environment.

    摘要翻译： 提供了一种用于自适应地控制可编程机器人的方法，无人机装置和自适应机器人控制系统（ARCS）。 ARCS接收无人机操作的工作环境的环境参数和可编程机器人操作的目标对象的几何信息。 ARCS基于环境参数动态地接收目标对象在工作环境中的校准空间位置，并且从无人机设备识别目标对象。 ARCS确定控制信息，包括目标对象的零件几何形状，要对目标对象执行的任务的任务轨迹，以及可编程机器人的无碰撞机器人运动轨迹，并且将控制信息动态地发送到可编程机器人 通过通信网络自适应地控制可编程机器人，同时考虑目标对象在工作环境中的不对准。

    WORKPIECE HOLDING METHOD
    8.
    发明申请
    WORKPIECE HOLDING METHOD 审中-公开
    工作控制方法

    公开(公告)号：US20110265311A1

    公开(公告)日：2011-11-03

    申请号：US13089572

    申请日：2011-04-19

    申请人： Toshiyuki Kondo ,  Shinji Sawada ,  Nobuhiro Nanba

    发明人： Toshiyuki Kondo ,  Shinji Sawada ,  Nobuhiro Nanba

    IPC分类号： B23Q7/04

    CPC分类号： B25J9/1697 ,  B25J9/0084 ,  B25J9/1612 ,  B25J15/0009 ,  G05B2219/39114 ,  G05B2219/39485 ,  G05B2219/39503 ,  G05B2219/40053 ,  G05B2219/40604 ,  Y10T29/49998

    摘要： It is an object of the present invention to provide a workpiece holding method which enables a workpiece to be held when a multi-fingered hand is used to grasp the workpiece that is in an untidy heap, even if a target workpiece is subject to interference from another workpiece, and thereby the method enhances the success rate for holding the workpiece. A workpiece holding method, when two holding devices (first to fourth fingers F1 to F4) are used to hold a workpiece (reinforcement W), including a unilateral holding process of inserting a first holding device (the first finger F1 and the second finger F2) at one holding device insert position (region A) to hold and lift a workpiece-to-be-held (reinforcement-to-be-held T) in a state where the workpiece-to-be-held has no interference from any other workpieces at the region A, and a bilateral holding process of inserting a second holding device (the third finger F3 and the fourth finger F4) around (region D) the workpiece-to-be-held lifted by the first holding device, to hold the workpiece-to-be-held.

    摘要翻译： 本发明的目的是提供一种工件保持方法，即使在使用多指手抓住位于不整齐的堆中的工件时能够保持工件，即使目标工件受到来自 另一工件，从而提高了保持工件的成功率。 当使用两个保持装置（第一至第四手指F1至F4）来夹持工件（加强件W）时的工件保持方法，包括插入第一保持装置的单边保持处理（第一手指F1和第二手指F2 ）在一个保持装置插入位置（区域A）处，以在要被保持的工件不受任何干扰的状态下保持和提起待保持的工件（待加固的T） 区域A中的其他工件，以及通过第一保持装置将第二保持装置（第三手指F3和第四手指F4）插入（区域D）被提升的工件的双边保持处理， 握住要保持的工件。

    INFORMATION PROCESSING SYSTEM, METHOD, AND PROGRAM
    10.
    发明申请
    INFORMATION PROCESSING SYSTEM, METHOD, AND PROGRAM 有权
    信息处理系统，方法和程序

    公开(公告)号：US20140067317A1

    公开(公告)日：2014-03-06

    申请号：US14013346

    申请日：2013-08-29

    申请人： CANON KABUSHIKI KAISHA

    发明人： Kazuhiko Kobayashi ,  Masahiro Suzuki ,  Shinji Uchiyama

    IPC分类号： G05D3/00

    CPC分类号： G05D3/00 ,  B25J9/1697 ,  G05B2219/37567 ,  G05B2219/40604

    摘要： An apparatus is provided with a first sensor unit that obtains two-dimensional information or three-dimensional information about a target object with a first position and orientation, a second sensor unit that obtains the two-dimensional information about the target object, a three-dimensional position and orientation measurement unit that measures three-dimensional position and orientation of the target object based on the information obtained by the first sensor unit, a second sensor position and orientation determination unit that calculates second position and orientation based on a measurement result with the three-dimensional position and orientation measurement unit and model information about the target object, and a three-dimensional position and orientation measurement unit that measures the three-dimensional position and orientation of the target object based on the information obtained by the second sensor unit with the second position and orientation and the model information about the target object.

    摘要翻译： 一种设备具有第一传感器单元，其获得关于具有第一位置和取向的目标对象的二维信息或三维信息;获得关于目标对象的二维信息的第二传感器单元， 基于由所述第一传感器单元获得的信息来测量所述目标物体的三维位置和姿态的第二位置和姿势测量单元，基于所述测量结果计算第二位置和姿态的第二传感器位置和姿势确定单元， 三维位置和方向测量单元以及关于目标对象的模型信息，以及三维位置和方向测量单元，其基于由第二传感器单元获得的信息来测量目标对象的三维位置和取向， 第二个位置和方向和模型信息 关于目标对象。