公开(公告)号：US09156164B2

公开(公告)日：2015-10-13

申请号：US14085794

申请日：2013-11-21

申请人： KABUSHIKI KAISHA YASKAWA DENKI

发明人： Shingo Ando ,  Ryoichi Nagai ,  Yasuyuki Inoue

IPC分类号： B25J9/16 ,  B25J13/08

CPC分类号： B25J9/1633 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1664 ,  B25J13/085 ,  G05B2219/36429 ,  G05B2219/37357 ,  G05B2219/39188 ,  G05B2219/39325 ,  G05B2219/39343 ,  G05B2219/39347 ,  G05B2219/39348 ,  G05B2219/41387

摘要： In a method for adjusting parameters of impedance control, an overshoot amount allowable value is set as an allowable maximum value of an overshoot amount of a time response of a force feedback from a force sensor provided for an end effector of a robot manipulator, and a setting time allowable value is set as an allowable maximum value of a setting time of the time response of the force feedback. A viscosity parameter with which the setting time is shortest is calculated while fixing the inertia parameter. An overshoot amount adjustment value and a setting time adjustment value which are obtained from a result of the calculating of the viscosity parameter are compared with the overshoot amount allowable value and the setting time allowable value, respectively, to determine whether a repeating process is finished or continued.

摘要翻译： 在调整阻抗控制参数的方法中，将过冲量允许值设定为来自设置在机器人机械手的端部执行器的力传感器的力反馈的时间响应的过冲量的容许最大值， 设定时间容许值被设定为力反馈的时间响应的设定时间的容许最大值。 在固定惯性参数的同时计算设定时间最短的粘度参数。 将从粘度参数的计算结果得到的过冲量调整值和设定时间调整值分别与过冲量允许值和设定时间容许值进行比较，以判断重复处理是否结束， 继续。

公开(公告)号：US20130211596A1

公开(公告)日：2013-08-15

申请号：US13722514

申请日：2012-12-20

申请人： CANON KABUSHIKI KAISHA

发明人： Kiyoshi Takagi

IPC分类号： B25J9/16

CPC分类号： B25J9/1633 ,  G05B2219/39201 ,  G05B2219/41387

摘要： A control method of a robot apparatus, the robot apparatus including a link and a pair of actuators, obtaining each driving force command value of each of the actuators, and controlling each of the actuators, the control method including: a torque command value computation step; a change computation step of computing a difference between the joint stiffness command value and a value and performing a computation of subtracting a value from the joint stiffness command value; an iterative step of iterating the computations of the torque command value computation step and the change computation step until the difference converges to a value equal to or smaller than a predetermined value; and a driving force command value computation step to compute each of the driving force command values when the difference is converged to a value equal to or smaller than the predetermined value.

公开(公告)号：US20110093120A1

公开(公告)日：2011-04-21

申请号：US12907946

申请日：2010-10-19

申请人： Shingo ANDO ,  Ryoichi Nagai ,  Yasuyuki Inoue

发明人： Shingo ANDO ,  Ryoichi Nagai ,  Yasuyuki Inoue

IPC分类号： G05B15/00

CPC分类号： B25J9/1633 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1664 ,  B25J13/085 ,  G05B2219/36429 ,  G05B2219/37357 ,  G05B2219/39188 ,  G05B2219/39325 ,  G05B2219/39343 ,  G05B2219/39347 ,  G05B2219/39348 ,  G05B2219/41387

摘要： An apparatus has a parameter initial value calculator, a force reference impression part, an evaluation data measurement part, an allowable value setting part, a viscosity parameter calculator, an end determining part, and an inertia parameter adjusting part. The force reference impression part intermittently supplies a force reference to an impedance controller. The evaluation data measurement part measures setting time of time response, an overshoot amount, and the number of vibration times. The allowable value setting part sets allowable values of the overshoot amount and the setting time. The viscosity parameter calculator calculates a viscosity parameter with which the setting time becomes shortest. The end determining part determines the end or continuation of the process by comparing the adjustment values with the allowable values. The inertia parameter calculator adjusts the inertia parameter according to the adjustment values of the overshoot amount and the setting time.

摘要翻译： 设备具有参数初始值计算器，力参考印象部分，评估数据测量部分，允许值设定部分，粘度参数计算器，结束确定部分和惯性参数调整部分。 力参考印模部分间歇地向阻抗控制器提供力参考。 评估数据测量部分测量时间响应的设定时间，过冲量和振动次数。 允许值设定部设定过冲量和设定时间的允许值。 粘度参数计算器计算设定时间变短的粘度参数。 结束确定部分通过将调整值与允许值进行比较来确定过程的结束或继续。 惯性参数计算器根据过冲量和设定时间的调整值调整惯性参数。

公开(公告)号：US20090105880A1

公开(公告)日：2009-04-23

申请号：US11919578

申请日：2006-12-12

申请人： Yasunao Okazaki

发明人： Yasunao Okazaki

IPC分类号： B25J19/06

CPC分类号： B25J9/1633 ,  G05B2219/39343 ,  G05B2219/40198 ,  G05B2219/40201 ,  G05B2219/41387

摘要： In a robot arm controlling device, a mechanical impedance set value of the arm is set by an object property-concordant impedance setting device based on information of an object property database in which information associated with properties of an object being gripped by the arm is recorded, and a mechanical impedance value of the arm is controlled to the set mechanical impedance set value by an impedance controlling device.

摘要翻译： 在机器人手臂控制装置中，通过对象属性一致的阻抗设定装置，基于物体属性数据库的信息来设定手臂的机械阻抗设定值，在该对象属性数据库中记录与被手抓握的物体的属性相关联的信息 并且通过阻抗控制装置将臂的机械阻抗值控制到设定的机械阻抗设定值。

公开(公告)号：US09597798B2

公开(公告)日：2017-03-21

申请号：US14724369

申请日：2015-05-28

申请人： CANON KABUSHIKI KAISHA

发明人： Kiyoshi Takagi

IPC分类号： B25J9/00 ,  B25J9/16

CPC分类号： B25J9/1633 ,  G05B2219/41387

摘要： A control method of a robot apparatus, the robot apparatus including a link and a pair of actuators, obtaining each driving force command value of each of the actuators, and controlling each of the actuators, the control method including: a torque command value calculation step of using the target stiffness, the target trajectory, angular velocity of the target trajectory, and angular acceleration of the target trajectory to calculate a torque command value; a determination step of determining whether each of the driving force command values is a value 0 or greater; a change step of performing at least one of a change of increasing the target stiffness and a change of reducing the angular acceleration; and a driving force command value calculation step of using the target stiffness and the torque command value to calculate each of the driving force command values.

公开(公告)号：US09044860B2

公开(公告)日：2015-06-02

申请号：US13722514

申请日：2012-12-20

申请人： CANON KABUSHIKI KAISHA

发明人： Kiyoshi Takagi

IPC分类号： G05B15/00 ,  B25J9/16

CPC分类号： B25J9/1633 ,  G05B2219/39201 ,  G05B2219/41387

摘要： A control method of a robot apparatus, the robot apparatus including a link and a pair of actuators, obtaining each driving force command value of each of the actuators, and controlling each of the actuators, the control method including: a torque command value computation step; a change computation step of computing a difference between the joint stiffness command value and a value and performing a computation of subtracting a value from the joint stiffness command value; an iterative step of iterating the computations of the torque command value computation step and the change computation step until the difference converges to a value equal to or smaller than a predetermined value; and a driving force command value computation step to compute each of the driving force command values when the difference is converged to a value equal to or smaller than the predetermined value.

摘要翻译： 一种机器人装置的控制方法，包括连杆和一对致动器的机器人装置，获得每个致动器的每个驱动力指令值，并控制每个致动器，所述控制方法包括：转矩指令值计算步骤 ; 改变计算步骤，计算所述关节刚度指令值与值之间的差，并且执行从所述关节刚度指令值中减去值的计算; 迭代步骤，迭代转矩指令值计算步骤和变化计算步骤的计算，直到差值收敛到等于或小于预定值的值; 以及驱动力指令值计算步骤，用于当该差被收敛到等于或小于该预定值的值时计算每个驱动力指令值。

公开(公告)号：US08626341B2

公开(公告)日：2014-01-07

申请号：US12907946

申请日：2010-10-19

申请人： Shingo Ando ,  Ryoichi Nagai ,  Yasuyuki Inoue

发明人： Shingo Ando ,  Ryoichi Nagai ,  Yasuyuki Inoue

IPC分类号： B25J13/00 ,  B25J15/00 ,  G05B15/00

CPC分类号： B25J9/1633 ,  B25J9/1638 ,  B25J9/1641 ,  B25J9/1664 ,  B25J13/085 ,  G05B2219/36429 ,  G05B2219/37357 ,  G05B2219/39188 ,  G05B2219/39325 ,  G05B2219/39343 ,  G05B2219/39347 ,  G05B2219/39348 ,  G05B2219/41387

摘要： An apparatus has a parameter initial value calculator, a force reference impression part, an evaluation data measurement part, an allowable value setting part, a viscosity parameter calculator, an end determining part, and an inertia parameter adjusting part. The force reference impression part intermittently supplies a force reference to an impedance controller. The evaluation data measurement part measures setting time of time response, an overshoot amount, and the number of vibration times. The allowable value setting part sets allowable values of the overshoot amount and the setting time. The viscosity parameter calculator calculates a viscosity parameter with which the setting time becomes shortest. The end determining part determines the end or continuation of the process by comparing the adjustment values with the allowable values. The inertia parameter calculator adjusts the inertia parameter according to the adjustment values of the overshoot amount and the setting time.

摘要翻译： 设备具有参数初始值计算器，力参考印象部分，评估数据测量部分，允许值设定部分，粘度参数计算器，结束确定部分和惯性参数调整部分。 力参考印模部分间歇地向阻抗控制器提供力参考。 评估数据测量部分测量时间响应的设定时间，过冲量和振动次数。 允许值设定部设定过冲量和设定时间的允许值。 粘度参数计算器计算设定时间变短的粘度参数。 结束确定部分通过将调整值与允许值进行比较来确定过程的结束或继续。 惯性参数计算器根据过冲量和设定时间的调整值调整惯性参数。

公开(公告)号：US20120283875A1

公开(公告)日：2012-11-08

申请号：US13515619

申请日：2010-12-08

申请人： Simon Klumpp ,  Günter Schreiber

发明人： Simon Klumpp ,  Günter Schreiber

IPC分类号： B25J13/08 ,  B25J19/02

CPC分类号： B25J9/1687 ,  B25J9/1605 ,  B25J9/1633 ,  B25J9/1648 ,  B25J9/1674 ,  B25J15/00 ,  G01L5/226 ,  G05B2219/39355 ,  G05B2219/41387 ,  Y10S901/02

摘要： A method according to the invention for controlling a manipulator, in particular of a robot, comprises the step of detecting a contact force between the manipulator and a workpiece (2; 20) on the basis of actual drive forces (t) and drive forces (tModell) of a dynamic model (M d2q/dt2+h(q, dq/dt)=tModell) of the manipulator. The method also comprises at least one of the steps of a) multistage measuring of a position of the workpiece (2) on the basis of detected contact forces (S40, S70), in particular comprising the steps of: determining positions of misaligned contours, in particular edges (2.1, 2.2), of the workpiece (2) by detecting poses of the manipulator and at the same time contact forces acting thereon (S40); moving to reference points of the workpiece (2), in particular defined by recesses (3.1, 3.2, 3.3), on the basis of contours (2.1, 2.2) of the workpiece thus detected (S50); and determining positions of said reference points by detecting contact forces that act on the manipulator upon a movement (S70); and/or b) assembling a workpiece (4, 40) with flexible regulation (S130; S230), wherein an assembled state of the workpiece is monitored on the basis of a detected contact force and/or an end pose of the manipulator reached under the flexible regulation, in particular with the steps: holding the workpiece with the manipulator in at least two force contacts (1.1, 1.2); placing the workpiece in a basic assembly position (FIG. 3A); moving the workpiece into a final assembly position (FIG. 3B) with at least one contact force (1.2) being released; and/or c) non-flexibly regulated movement to a pose (S10; S110; S210); and switching to a flexible regulation on the basis of a detected contact force (S30; S130; S230).

摘要翻译： 根据本发明的用于控制机械手，特别是机器人的方法包括基于实际驱动力（t）和驱动力（t）检测操纵器和工件（2; 20）之间的接触力的步骤 tModell）的机械手的动态模型（M d2q / dt2 + h（q，dq / dt）= tModell）。 该方法还包括以下步骤中的至少一个：a）基于检测到的接触力来多步测量工件（2）的位置（S40，S70），特别地包括以下步骤：确定未对准轮廓的位置， 特别是工件（2）的边缘（2.1,2.2），通过检测操纵器的姿态并同时作用在其上的接触力（S40）; 基于由此检测的工件的轮廓（2.1,2.2），移动到工件（2）的参考点，特别是由凹部（3.1,3.2,3.3）定义的参考点（S50）; 以及通过检测在移动时作用于所述操纵器的接触力来确定所述参考点的位置（S70）; 和/或b）组装具有柔性调节（S130; S230）的工件（4，40），其中基于所检测的接触力和/或所达到的操纵器的端部姿态来监测工件的组装状态 柔性调节，特别是以下步骤：用机械手将工件保持在至少两个力接触件（1.1,1.2）中; 将工件放置在基本组装位置（图3A）; 将工件移动到最终组装位置（图3B），其中至少一个接触力（1.2）被释放; 和/或c）不灵活地调节到姿势的运动（S10; S110; S210）; 并基于检测到的接触力切换到柔性调节（S30; S130; S230）。

公开(公告)号：US20180147724A1

公开(公告)日：2018-05-31

申请号：US15687902

申请日：2017-08-28

申请人： Kabushiki Kaisha Toshiba

发明人： Junji OAKI

IPC分类号： B25J9/16

CPC分类号： B25J9/1633 ,  B25J9/1638 ,  B25J9/1676 ,  G05B2219/39186 ,  G05B2219/39353 ,  G05B2219/39355 ,  G05B2219/41374 ,  G05B2219/41387

摘要： According to one embodiment, a robot control device is used for a robot arm including a link and a motor for rotationally driving the link. The robot control device includes a derivation part. The derivation part derives a first estimated value including a variation of a rotation angle of the link and a second estimated value including a variation of a rotation angle of the motor, based on an angular velocity and a current reference value of the motor. Furthermore, the derivation part derives an external force generated to the robot arm, based on a difference between the first estimated value and the second estimated value.

公开(公告)号：US20160107315A1

公开(公告)日：2016-04-21

申请号：US14976894

申请日：2015-12-21

申请人： KUKA Roboter GmbH

发明人： Simon Klumpp ,  Gunter Schreiber

IPC分类号： B25J9/16 ,  G01L5/22 ,  B25J15/00

CPC分类号： B25J9/1687 ,  B25J9/1605 ,  B25J9/1633 ,  B25J9/1648 ,  B25J9/1674 ,  B25J15/00 ,  G01L5/226 ,  G05B2219/39355 ,  G05B2219/41387 ,  Y10S901/02

摘要： A method for controlling a manipulator includes determining by a control device one or more contact force values between the manipulator and a first workpiece. Each of the contact force values is based on an actual driving force of the manipulator and a drive force according to a dynamic model of the manipulator. The method also includes at least one of a) measuring in multiple stages an orientation and location of the first workpiece based on at least one of the one or more determined contact force values or b) joining a second workpiece and the first workpiece under a compliant regulation, where a joining state of the first and second workpieces is monitored based on at least one of an end pose of the manipulator obtained under the compliant regulation, a speed of a temporal change of the manipulator, or at least one of the one or more determined contact force values.

摘要翻译： 一种用于控制机械手的方法包括由控制装置确定操纵器和第一工件之间的一个或多个接触力值。 每个接触力值基于操纵器的实际驱动力和根据机械手的动态模型的驱动力。 所述方法还包括以下至少一个：a）基于所述一个或多个确定的接触力值中的至少一个，在多个阶段中测量所述第一工件的取向和位置，或者b）将第二工件和所述第一工件接合在柔性 其中第一和第二工件的接合状态是基于在柔性调节条件下获得的操纵器的端部姿势，操纵器的时间变化速度，或至少一个或多个 更确定的接触力值。