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    CONTROL DEVICE AND METHOD FOR CONTROLLING A ROBOT
    74.
    发明申请
    CONTROL DEVICE AND METHOD FOR CONTROLLING A ROBOT 审中-公开
    用于控制机器人的控制装置和方法

    公开(公告)号：WO2010136961A1

    公开(公告)日：2010-12-02

    申请号：PCT/IB2010/052303

    申请日：2010-05-25

    Applicant: KONINKLIJKE PHILIPS ELECTRONICS N.V. ,  VERHAAR, Boudewijn Theodorus ,  BRUIJNEN, Dennis Johannes Hubertinus

    Inventor： VERHAAR, Boudewijn Theodorus ,  BRUIJNEN, Dennis Johannes Hubertinus

    IPC: G05B19/423 ,  B25J9/16

    CPC classification number: G05B19/423 ,  B25J9/1661 ,  G05B2219/36442 ,  G05B2219/36489 ,  G05B2219/40116 ,  G05B2219/40391

    Abstract: The present invention relates to a control device for controlling a robot (12) having a robot arm (18) with a number of individual arm sections (26, 42), an end effector (24) connected to one of the arm sections and a number of actuators (30, 46, 64, 126) for moving at least one of the end effector (24) and at least one of the arm sections (26, 42), wherein the control device (14) has at least two different modes of operation, encompassing a working mode and a training mode, wherein in the working mode for controlling the robot (12) at least one of the actuators (30, 46, 64, 126) is controlled depending on a number of set points (152) representing a working movement and in the training mode a training movement is imparted onto at least one of the end effector (24) and at least one of the arm sections (26, 42), wherein the training movement corresponds to the working movement, said control device comprising: an activation unit (130) for activating the training mode, a constraint determination unit (138) for determining a number of constraint values (140) representing a motion constraint imposed on at least one of the end effector (24) and at least one of the arm sections (26, 42) while imparting the training movement, and a set point determination unit (150) for determining the number of set points (152) depending on the number of constraint values (140). The present invention further relates to a corresponding method as well as to a computer program. In addition, the present invention relates to a robot, to a robot system and to a teacher interface.

    Abstract translation: 本发明涉及一种用于控制机器人（12）的控制装置，所述机器人具有具有多个独立臂部分（26,42）的机器人臂（18），连接到所述臂部分之一的末端执行器（24）和 用于移动末端执行器（24）和至少一个臂部分（26,42）中的至少一个的致动器（30,46,64,126）的数量，其中控制装置（14）具有至少两个不同的 操作模式，包括工作模式和训练模式，其中在用于控制机器人的工作模式（12）中，至少一个致动器（30,46,64,126）根据设定点的数量（ 152），并且在训练模式中，训练运动被赋予到末端执行器（24）和至少一个臂部分（26,42）中的至少一个上，其中训练运动对应于工作运动 ，所述控制装置包括：用于激活训练模式的激活单元（130），约束确定 国家单位（138），用于确定表示施加在末端执行器（24）和至少一个臂部分（26,42）中的至少一个上的运动约束的约束值（140）的数量，同时施加训练运动， 以及用于根据约束值（140）的数量确定设定点数（152）的设定点确定单元（150）。 本发明还涉及相应的方法以及计算机程序。 另外，本发明涉及机器人，机器人系统和教师界面。

    MOTOR FOR LINEAR AND ROTARY MOVEMENT
    77.
    发明申请
    MOTOR FOR LINEAR AND ROTARY MOVEMENT 审中-公开
    用于线性和旋转运动的电机

    公开(公告)号：WO2010109407A1

    公开(公告)日：2010-09-30

    申请号：PCT/IB2010/051248

    申请日：2010-03-23

    Applicant: KONINKLIJKE PHILIPS ELECTRONICS N.V. ,  ANGELIS, Georgo, Z. ,  GOOSSENS, Hendrikus, M., W.

    Inventor： ANGELIS, Georgo, Z. ,  GOOSSENS, Hendrikus, M., W.

    IPC: H02K33/12 ,  H02K33/16 ,  H02K41/03 ,  H02K57/00

    CPC classification number: H02P25/06 ,  H02K11/225 ,  H02K21/12 ,  H02K41/031 ,  H02K2201/18

    Abstract: In summary, the present invention relates to a device, a method and a computer program enabling a rotating and translating movement by means of a single motor. An electric motor (102) for linear and rotary movement can comprise a stator (104) having a multi-phase coil arrangement including a number of coils or coil sets and a rotor (106) being movable along a direction of its rotational axis and having a number of poles respectively comprising at least one permanent magnet. A control unit (108) may determine currents based on at least the number of coils or coil sets, an angle of rotation of the rotor and a parameter depending on an axial position of the rotor, and supply the determined currents to the coils or coil sets.

    Abstract translation: 总之，本发明涉及通过单个电动机进行旋转和平移运动的装置，方法和计算机程序。 用于线性和旋转运动的电动机（102）可以包括具有包括多个线圈或线圈组的多相线圈装置的定子（104）和可沿其旋转轴线的方向移动的转子（106），并且具有 分别包括至少一个永磁体的极数。 控制单元（108）可基于至少线圈或线圈组的数量，转子的旋转角度和取决于转子的轴向位置的参数来确定电流，并将确定的电流提供给线圈或线圈 集。

    METHOD AND APPARATUS FOR MEASURING AN OBJECT OF INTEREST
    78.
    发明申请
    METHOD AND APPARATUS FOR MEASURING AN OBJECT OF INTEREST 审中-公开
    用于测量兴趣对象的方法和装置

    公开(公告)号：WO2010103461A1

    公开(公告)日：2010-09-16

    申请号：PCT/IB2010/051019

    申请日：2010-03-10

    Applicant: KONINKLIJKE PHILIPS ELECTRONICS N.V. ,  YAN, Hua ,  YAN, Ming ,  LIU, Hui

    Inventor： YAN, Hua ,  YAN, Ming ,  LIU, Hui

    IPC: A61B5/053

    CPC classification number: A61B5/0536 ,  A61B5/0522 ,  G01V3/104

    Abstract: This invention relates to a method of, and apparatus for, measuring an object of interest. The apparatus (100) comprises an outer layer (102), an inner layer (101) which is intended to be attached to the object of interest, a coil arrangement comprising at least one transmitting coil (111) and at least one measurement coil (111') arranged on the inner layer (101) obtains measurement signals, exciting circuits (112) and processing circuits (112') are configured to cooperate with the coils (111, 111') to get the measurement result. The inner layer (101) is movable together with the object of interest. At least part of the exciting circuits (112) and the processing circuits (112') are arranged on the outer layer (102). In this way, the measurement error caused by movement of the object of interest can be avoided and the object of interest can feel comfortable by being mobile.

    Abstract translation: 本发明涉及测量感兴趣对象的方法和装置。 设备（100）包括外层（102），旨在附着到感兴趣物体的内层（101），包括至少一个传输线圈（111）和至少一个测量线圈（ 111'）设置在内层（101）上，获得测量信号，激励电路（112）和处理电路（112'）被配置为与线圈（111,111'）配合以获得测量结果。 内层（101）可与感兴趣的物体一起移动。 励磁电路（112）和处理电路（112'）的至少一部分布置在外层（102）上。 以这种方式，可以避免由感兴趣的对象的移动引起的测量误差，并且感兴趣的对象可以通过移动来感觉舒适。

    IRRADIATING AN ABSORPTION CONTRAST AGENT CONTAINED IN A TURBID MEDIUM
    79.
    发明申请
    IRRADIATING AN ABSORPTION CONTRAST AGENT CONTAINED IN A TURBID MEDIUM 审中-公开
    吸收涡轮介质中含有的吸收剂对照剂

    公开(公告)号：WO2010103440A1

    公开(公告)日：2010-09-16

    申请号：PCT/IB2010/050952

    申请日：2010-03-05

    Applicant: KONINKLIJKE PHILIPS ELECTRONICS N.V. ,  PHILIPS INTELLECTUAL PROPERTY & STANDARDS GMBH ,  BRENDEL, Bernhard, J. ,  NIELSEN, Tim ,  KOEHLER, Thomas ,  ZIEGLER, Ronny

    Inventor： BRENDEL, Bernhard, J. ,  NIELSEN, Tim ,  KOEHLER, Thomas ,  ZIEGLER, Ronny

    IPC: A61B5/00

    CPC classification number: A61B5/0073 ,  A61B5/0091 ,  A61B5/4312 ,  A61B2562/146 ,  A61B2562/228

    Abstract: The invention relates to a device and a method of irradiating an absorption contrast agent contained in a turbid medium (10). The absorption contrast agent has different absorption coefficients for light of a first wavelength (λ1) and light of a second wavelength (λ2), and the turbid medium (10) has similar optical properties for light of the first and second wavelengths (λ1, λ2). The turbid medium (10) is irradiated with light of the first wavelength (λ1) and light of the second wavelength (λ2) at the same source position, and an intensity of light having the first wavelength (λ1) emanating from the turbid medium (10) at at least one detection position, and an intensity of light having the second wavelength (λ2) emanating substantially simultaneously from the turbid medium (10) at the same detection position are measured. An image may be reconstructed from the measured intensities.

    Abstract translation: 本发明涉及一种照射包含在浑浊介质（10）中的吸收造影剂的装置和方法。 吸收造影剂对于第一波长（λ1）的光和第二波长（λ2）的光具有不同的吸收系数，并且浑浊介质（10）对于第一和第二波长（λ2）的光具有相似的光学性质。 1，θ2）。 在相同的源位置处照射第一波长（λ1）的光和第二波长的光（λ2）的混浊介质（10），并且从第一波长（λ1）发出的光的强度从 测量至少一个检测位置处的混浊介质（10），并且测量在相同检测位置从混浊介质（10）基本同时发出的具有第二波长（λ2）的光强度。 可以从测量的强度重建图像。

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