公开(公告)号：US20020173878A1

公开(公告)日：2002-11-21

申请号：US10122218

申请日：2002-04-16

申请人： Fanuc Ltd.

发明人： Atsushi Watanabe ,  Tetsuaki Kato ,  Yukinobu Tsuchida

IPC分类号： G05B019/04

CPC分类号： B25J9/1638 ,  G05B2219/39176 ,  G05B2219/39186 ,  G05B2219/39529

摘要： Bendings nullnull, nullnull, and nullnull are determined by the torques about the axes of coordinate systems disposed to respective joints and by spring constants. Parameters null, null, and null0 are determined by adding an amount of twist to corrected D-H parameters nulls, nulls, and null0s when twist is null0null. A rotational angle nullnull (nullst) is determined from a target position x by executing inverse kinematics using the parameters nulls, nulls, and null0s (step S6). Further, a position xnull is determined from the rotational angle nullnull by executing forward kinematics using the parameters null, null, and null0, and the difference nullx between the target position x and the position xnull is determined. The difference is corrected, and a new target position x is set. Thereafter, the inverse kinematics and the forward kinematics are alternately repeated, and a rotational angle null when the difference nullx is equal to or less than a predetermined value is set as a rotational angle null after correction has been executed, thereby a commanded rotational angle j in which bending has been corrected is determined.

摘要翻译： 弯曲DELTAalpha，DELTAbeta和DELTAtheta由关于设置在各个接头处的坐标系的轴的扭矩和弹簧常数决定。 参数α，β和θ0通过在扭曲为“0”时将校正的D-H参数α，β和θ0s的加捻量相加来确定。 通过使用参数alphas，betas和theta0s执行逆运动学，从目标位置x确定旋转角θ'（最大值）（步骤S6）。 此外，通过使用参数α，β和θ0执行正向运动，从旋转角θ'确定位置x'，并且确定目标位置x和位置x'之间的差DELTAx。 差异被校正，并且设置新的目标位置x。 此后，交替地重复逆运动学和正向运动学，并且当差DELTAx等于或小于预定值时的旋转角度θ被设置为在执行校正之后的旋转角度θ，从而命令旋转角度j 其中确定了弯曲已被校正。

公开(公告)号：US20020052671A1

公开(公告)日：2002-05-02

申请号：US09943816

申请日：2001-08-31

发明人： Kipley Tad Carpenter

IPC分类号： G05B019/04

CPC分类号： G05D23/1951 ,  G05D1/028 ,  G05D2201/0211

摘要： A method and apparatus in an automated data storage library for identifying a location of a robot in the automated data storage library. Signals are transmitted from a set of transmitters in the automated data storage library, wherein a location of the set of transmitters is known. The signals transmitted from the set of transmitters are received at a receiver located on the robot to form a set of received signals. The location of the robot is determined using the set of received signals and the location of the set of transmitters.

摘要翻译： 一种用于识别机器人在自动数据存储库中的位置的自动化数据存储库中的方法和装置。 信号从自动数据存储库中的一组发射机传输，其中该组发射机的位置是已知的。 从发送机组发送的信号在位于机器人上的接收机处被接收以形成一组接收信号。 机器人的位置使用一组接收信号和发射机组的位置来确定。

公开(公告)号：US20020007230A1

公开(公告)日：2002-01-17

申请号：US09862401

申请日：2001-05-21

发明人： Kenichiro Ueno ,  Osamu Koyama

IPC分类号： G05B019/04

CPC分类号： B25J19/005 ,  H01M2/1055 ,  H01M6/42 ,  H01M10/345 ,  H01M10/44 ,  H02J9/005 ,  H02J2007/005 ,  Y02E60/124

摘要： When the remaining capacity of a battery of a robot comes to a low level at a position in an operational area, power consumption can be reduced, thereby extending the life of the battery, by changing control parameters used by actuators and successively suspending operations of driving members of which the suspension of operations does not significantly affect the motion using a leg unit. Therefore, the robot can operate for a longer time, and energy, which is required for the motion for connection to a charging station or an external power supply device, can be maintained.

公开(公告)号：US20020007229A1

公开(公告)日：2002-01-17

申请号：US09802486

申请日：2001-03-09

发明人： Edison T. Hudson ,  Ronald G. Genise

IPC分类号： G05B019/04

CPC分类号： G05B19/042 ,  G05B19/4148 ,  G05B2219/25232 ,  G05B2219/31186 ,  G05B2219/33104 ,  G05B2219/33151

摘要： Distributed machine control software architecture permits modular development of complex machine control systems and allows functional subsystems comprised of object modules to be distributed and remotely controlled and monitored. Software applications are broken into logical subsystems with standardized data and transaction interfaces that act as servers and clients. This permits flexible reconfiguration of machine functions for a variety of applications and promotes system security and reliability by isolating modifications to functional subsystems. In addition, functional modules of the same application do not need to reside in the same host, but can be remotely located over local intranet or via public Internet. In machine control applications this permits real-time and time critical process sequence objects to be resident in the local machine controller while the user interface, database and command generator are at any remote network location, including any Internet addressed location. Control can be quickly and temporarily reconfigured to allow a remote operator or specialist to study, monitor, or modify a machine control process.

摘要翻译： 分布式机器控制软件架构允许复杂机器控制系统的模块化开发，并允许由对象模块组成的功能子系统进行分布和远程控制和监视。 软件应用程序分为逻辑子系统，标准化数据和事务接口作为服务器和客户端。 这允许对各种应用的机器功能的灵活重新配置，并通过隔离对功能子系统的修改来提高系统的安全性和可靠性。 另外，同一应用程序的功能模块不需要驻留在同一主机上，而是可以远程位于本地内部网或通过公共Internet。 在机器控制应用中，这允许实时和时间关键的过程序列对象驻留在本地机器控制器中，而用户界面，数据库和命令生成器位于任何远程网络位置，包括任何因特网寻址位置。 控制可以快速和临时重新配置，以允许远程操作员或专家学习，监视或修改机器控制过程。

公开(公告)号：US20040162638A1

公开(公告)日：2004-08-19

申请号：US10647034

申请日：2003-08-21

发明人： Neal Solomon

IPC分类号： G05B019/04

CPC分类号： G05D1/0088 ,  F41H13/00

摘要： A system of self-organizing mobile robotic agents (MRAs) in a multi-robotic system (MRS) is disclosed. MRAs cooperate, learn and interact with the environment. The system uses various AI technologies including genetic algorithms, genetic programming and evolving artificial neural networks to develop emergent dynamic behaviors. The collective behaviors of autonomous intelligent robotic agents are applied to numerous applications. The system uses hybrid control architectures. The system also develops dynamic coalitions of groups of autonomous MRAs for formation and reformation in order to perform complex tasks.

摘要翻译： 公开了一种多机器人系统（MRS）中的自组织移动机器人（MRA）系统。 MRA合作，学习和与环境互动。 该系统使用各种AI技术，包括遗传算法，遗传编程和演进人工神经网络，以发展紧急动态行为。 自主智能机器人的集体行为适用于众多应用。 该系统采用混合控制架构。 该系统还开展动态组合的自动MRA组的形成和改造，以执行复杂的任务。

公开(公告)号：US20040044441A1

公开(公告)日：2004-03-04

申请号：US10235165

申请日：2002-09-04

发明人： Rakesh Gupta ,  Jie Gao

IPC分类号： G05B019/04

CPC分类号： G06T17/20

摘要： A method of representing spatial relations among objects in the environment uses a Delaunay triangulation as the data structure to store the spatial relations when the objects are represented in the form of simplified objects such as cuboids. The method receives image data corresponding to the environment and recognizes the objects in the image data, and updates the Delaunay triangulation so that the Delaunay triangulation is consistent with the recognized objects. Furthermore, a proximity query can be carried out using the Delaunay triangulation.

摘要翻译： 在环境中的对象之间表示空间关系的方法使用Delaunay三角测量作为数据结构来存储空间关系，当对象以诸如立方体的简化对象的形式表示时。 该方法接收与环境相对应的图像数据，并识别图像数据中的对象，并更新Delaunay三角剖分，使得Delaunay三角测量与识别的对象一致。 此外，可以使用Delaunay三角测量来进行邻近度查询。

公开(公告)号：US20030167103A1

公开(公告)日：2003-09-04

申请号：US10355764

申请日：2003-01-31

发明人： Qing Tang ,  Hakan Brantmark ,  Zhongxue Gan ,  Torgny Brogardh

IPC分类号： G05B019/18 ,  G05B019/04

CPC分类号： B25J9/1692 ,  B23Q17/22 ,  G05B2219/39019 ,  G05B2219/39026 ,  G05B2219/50291

摘要： A robot having a spindle is calibrated by disposing a calibration tool in the robot spindle. The position of the calibration tool is measured. An axis of the spindle is determined based on the measured position. A calibration tool center point is determined based on the measured position. A robot tool rotation axis is determined based on the determined spindle axis, robot tool center point, the determined calibration tool center point, and difference in length between the calibration tool and a robot tool.

摘要翻译： 具有主轴的机器人通过将校准工具放置在机器人主轴中来校准。 测量校准工具的位置。 基于测量位置确定主轴的轴。 基于测量位置确定校准工具中心点。 基于确定的主轴，机器人工具中心点，确定的校准工具中心点以及校准工具与机器人工具之间的长度差确定机器人工具旋转轴。

公开(公告)号：US20030114958A1

公开(公告)日：2003-06-19

申请号：US10015430

申请日：2001-12-13

申请人： Storage Technology Corporation

发明人： Daniel James Plutt ,  Timothy C. Ostwald

IPC分类号： G06F019/00 ,  G05B019/04 ,  G05B019/418

CPC分类号： G11B17/225 ,  G11B15/6835

摘要： A nullhot sparenull method for facilitating the seamless transition from a failed robotic mechanism to backup unit is provided. A spare robot is located inside a storage library on a section of rail (robotic track) from which it can be utilized on any rail layer in a multi-layer architecture. In one embodiment of the present invention, a motorized elevator assembly is used to transport the spare robot to the proper library level, which allows a single redundant robot to support multiple robots on multiple library rail levels. In another embodiment, a hot spare robot is used on each rail level and is utilized if needed on that particular level. In both embodiments, the spare robots are available for immediate backup without direct user intervention.

摘要翻译： 提供了一种用于促进从故障机器人机构到备用单元的无缝转换的“热备用”方法。 备用机器人位于轨道（机器人轨道）部分的存储库内，可以在多层架构中的任何轨道层上使用。 在本发明的一个实施例中，电动电梯组件用于将备用机器人运送到适当的库级别，其允许单个冗余机器人在多个库轨道级上支持多个机器人。 在另一个实施例中，在每个导轨水平上使用热备用机器人，并且如果需要在该特定级别上使用热备用机器人。 在两个实施例中，备用机器人可用于立即备份，而不需要直接的用户干预。

公开(公告)号：US20020165643A1

公开(公告)日：2002-11-07

申请号：US10139717

申请日：2002-05-06

发明人： Allen John Bancroft ,  Charles W. Ward ,  Stephen A. Storey

IPC分类号： G05B019/04

CPC分类号： G06Q10/087

摘要： A method of utilizing a robot system, the method comprising the steps of offering for consideration a usage unit for the robot system, accepting an order for the usage unit, and performing a retail function by the robot system for the duration of the usage unit.

摘要翻译： 一种使用机器人系统的方法，所述方法包括以下步骤：在所述使用单元的持续时间期间，考虑所述机器人系统的使用单元，接受所述使用单元的订单，以及由所述机器人系统执行零售功能。

公开(公告)号：US20010047225A1

公开(公告)日：2001-11-29

申请号：US09493230

申请日：2000-01-28

发明人： Hiroshi Shimoike ,  Takashi Nakahara

IPC分类号： G05B019/04 ,  G06F019/00

CPC分类号： G05B19/41815 ,  Y02P90/08 ,  Y02P90/083 ,  Y02P90/28 ,  Y10S414/135 ,  Y10S414/137

摘要： A substrate conveying system wherein, at a substrate transfer position of a conveyance robot, a robot arm is moved upwardly at a normal speed from its lowermost position, and wherein the movement speed is changed to a lower speed at a predetermined position. During upward motion at the lower speed, the substrate is received and, while continuing the upward motion, the movement speed is changed back to the normal speed, at a second predetermined position. The robot arm continues its upward motion to its topmost position, with this normal speed.

摘要翻译： 一种基板输送系统，其中，在输送机器人的基板输送位置处，机器人手臂以其最低位置的正常速度向上移动，并且其中移动速度在预定位置处变为较低速度。 在较低速度的向上运动期间，接收基板，并且在继续向上运动的同时，在第二预定位置将移动速度改变回正常速度。 机器人臂以其正常速度将其向上运动继续到其最高位置。