公开(公告)号：WO1996030169A1

公开(公告)日：1996-10-03

申请号：PCT/JP1996000566

申请日：1996-03-08

Applicant: TOYO KOHAN CO., LTD. ,  TAKAHASHI, Toshiyuki ,  NAKAJIMA, Atsushi ,  SHIOMICHI, Yukimasa

Inventor： TOYO KOHAN CO., LTD.

IPC: B25J13/00

CPC classification number: B25J9/1612 ,  G05B2219/39105 ,  G05B2219/39474 ,  G05B2219/43152 ,  G05B2219/43155 ,  Y02P90/087

Abstract: A method of handling a robot, comprising a work search step of allowing an arm to approach a stack base at high speed and then at low speed until a work is detected; a step of stopping the arm when the work is detected, storing the position of the work as the work height, and gripping the work; a step of allowing the arm at high speed to approach a deceleration starting position defined by adding a predetermined value to the stored work height when the arm again approaches the stack base, allowing the arm to approach the work to the stored work height at low speed, detecting the work, and allowing the arm to grip the work; and a step of correcting the value of the work height when the work is not detected and again allowing the arm to approach the work at low speed. Since the range in which the arm moves at low speed is reduced, the cycle time is shortened.

Abstract translation: 一种处理机器人的方法，包括：工作搜索步骤，允许臂以高速然后以低速直接接近堆叠基座，直到检测到工件; 检测到工件时停止臂的步骤，将工件的位置存储为工件高度，并且夹紧工件; 当臂再次接近堆叠底座时，允许臂高速接近减速开始位置所限定的步骤，允许臂以低速接近工作到存储的工作高度 检测工作，并允许手臂抓住工作; 以及在没有检测到作业时校正工作高度的值的步骤，并且再次允许手臂以低速接近作业。 由于手臂以低速移动的范围减小，所以循环时间缩短。

公开(公告)号：WO2005105390A3

公开(公告)日：2006-06-15

申请号：PCT/US2005014157

申请日：2005-04-26

Applicant: GORELIK VLADIMIR A ,  GORELIK PAVEL V

Inventor： GORELIK VLADIMIR A ,  GORELIK PAVEL V

IPC: B25J9/16 ,  B25J17/02 ,  B62D57/032 ,  H04N13/00

CPC classification number: B62D57/032 ,  B25J9/1602 ,  B25J9/161 ,  B25J17/0241 ,  G05B2219/37289 ,  G05B2219/37297 ,  G05B2219/39262 ,  G05B2219/39474 ,  G05B2219/39484 ,  G05B2219/40236 ,  G05B2219/40617 ,  H04N13/0239

Abstract: An intrinsically stable neuromorphic motion controller (100) comprising two an agonistic actuators (110, 111) coupled with paired torque (112, 113) and position (103, 105) sensors. Each mechanical linkage having at least one degree of freedom is actuated by two motors via two flexible tendons (114, 115) with built-in-stretch (torque) sensors.

Abstract translation: 一种本征稳定的神经形态运动控制器（100），包括两个与成对扭矩（112,113）和位置（103,105）传感器耦合的激动执行器（110,111）。 具有至少一个自由度的每个机械联动装置通过具有内置拉伸（扭矩）传感器的两个柔性腱（114,115）由两个电动机致动。

公开(公告)号：WO2005105390A2

公开(公告)日：2005-11-10

申请号：PCT/US2005/014157

申请日：2005-04-26

Applicant: GORELIK, Vladimir, A. ,  GORELIK, Pavel, V.

Inventor： GORELIK, Vladimir, A. ,  GORELIK, Pavel, V.

IPC: B25J9/16

CPC classification number: B62D57/032 ,  B25J9/1602 ,  B25J9/161 ,  B25J17/0241 ,  G05B2219/37289 ,  G05B2219/37297 ,  G05B2219/39262 ,  G05B2219/39474 ,  G05B2219/39484 ,  G05B2219/40236 ,  G05B2219/40617 ,  H04N13/239

Abstract: An intrinsically stable neuromorphic motion controller comprising of two an agonistic actuators coupled with paired torque and position sensors. Each mechanical linkage having at least one degree of freedom is actuated by two motors via two flexible tendons with built-in-stretch (torque) sensors.

Abstract translation: 本征稳定的神经形态运动控制器，包括两个与成对的扭矩和位置传感器耦合的激动执行器。 具有至少一个自由度的每个机械连杆通过具有内置拉伸（扭矩）传感器的两个柔性钢筋由两个电动机致动。