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1. 发明授权

US06218801B1 Method for supervision of the movement control of a manipulator 有权
标题翻译：操纵器运动控制监控方法
公开(公告)号：US06218801B1
公开(公告)日：2001-04-17
申请号：US09403612
申请日：2000-03-07
申请人： Torgny Brogårdh , Staffan Elfving , Ingvar Jonsson , Stig Moberg , Fredrik Skantze
发明人： Torgny Brogårdh , Staffan Elfving , Ingvar Jonsson , Stig Moberg , Fredrik Skantze
IPC分类号： G05B2302
CPC分类号： B25J9/1674 , G05B2219/39178 , G05B2219/39187 , G05B2219/39194 , G05B2219/39237 , G05B2219/40226 , G05B2219/42307
摘要： A method for supervision of the movement control of a manipulator. The manipulator comprises at least one movement axis, a servo (9) for controlling the axis in accordance with supplied reference values for position, speed and acceleration (&psgr;ref, {dot over (&psgr;)}ref, {umlaut over (&psgr;)}ref). A plurality of dynamic parameters (dyn-par) are calculated in dependence on reference values for the position and speed of the axis and a dynamic model (7) which describes the static and dynamic properties of the robot. A torque signal (&tgr;mr) is generated by the servo in dependence on the control error torque (&tgr;err) of the servo. An alarm value (LV) is calculated as a function of the current acceleration ({umlaut over (&psgr;)}m), at least any of the dynamic parameters and one or more of the following signals: the control error torque (&tgr;err) of the servo, the reference value for the acceleration ({umlaut over (&psgr;)}ref) and the torque signal from the servo (&tgr;mr), and while using one or more signal filters. An alarm limit (LG) is calculated as a function of one or more of the following parameters: a constant, the current position (&psgr;m), the current speed ({dot over (&psgr;)}m), the current acceleration ({umlaut over (&psgr;)}m) any of the dynamic parameters, the control error torque (&tgr;err) of the servo, the reference value for the acceleration ({umlaut over (&psgr;)}ref) and the torque signal from the servo (&tgr;mr). The alarm value is compared with the alarm limit and an alarm signal (ALARM) is generated in dependence on the comparison.
摘要翻译：一种用于监视机械手的运动控制的方法。操纵器包括至少一个移动轴线，伺服机构（9），用于根据提供的位置，速度和加速度的参考值（psiref，{dot over（psi）} ref，{umlaut over（psi）} ref ）。根据轴的位置和速度的参考值和描述机器人的静态和动态属性的动态模型（7）来计算多个动态参数（dyn-par）。根据伺服的控制误差转矩（＆Tgr; err），伺服产生转矩信号（＆tgr; mr）。计算报警值（LV）作为当前加速度（{umlaut over（psi）} m）的函数，至少动态参数和以下信号中的一个或多个：控制误差转矩（＆tgr; err ），加速度的参考值（{umlaut over（psi）} ref）和来自伺服（＆tgr; mr）的转矩信号，以及使用一个或多个信号滤波器时。根据一个或多个以下参数计算报警极限（LG）：常数，当前位置（psim），当前速度（{dot over（psi）} m），当前加速度（{umlaut 超过（psi）} m）任何动态参数，伺服的控制误差转矩（＆Tgr; err），加速度的参考值（{umlaut over（psi）} ref）和来自伺服的转矩信号＆tgr; mr）。将报警值与报警限值进行比较，并根据比较生成报警信号（ALARM）。

2. 发明申请

US20150100156A1 Adjusting Parameters Of A Dynamical Robot Model 有权
标题翻译：动态机器人模型的调整参数
公开(公告)号：US20150100156A1
公开(公告)日：2015-04-09
申请号：US14570806
申请日：2014-12-15
申请人： Ingvar Jonsson , Stig Moberg , Sven Hanssen
发明人： Ingvar Jonsson , Stig Moberg , Sven Hanssen
IPC分类号： B25J9/16 , G05B13/04
CPC分类号： B25J9/1605 , B25J9/1653 , G05B13/04 , G05B2219/40527 , Y10S901/02
摘要： A method, robot arrangement and computer program product for tuning a dynamical model of an industrial robot on a foundation. The parameter determining device includes a model memory with a first dynamical model of the robot, the first dynamical model including first model parameters representing dynamical properties of the robot; and a second dynamical model of a foundation to which the robot is to be attached, the second dynamical model including second model parameters representing dynamical properties of the foundation, and a parameter adjusting unit that obtains information about dynamical properties of the foundation by ordering the actuator to move the robot and by receiving, from the detector, measurements of at least one property affected by the movement; and set at least one of the second model parameters on the basis of the dynamical properties of the foundation.
摘要翻译：一种用于调整基础上的工业机器人的动力学模型的方法，机器人布置和计算机程序产品。所述参数确定装置包括具有所述机器人的第一动力学模型的模型存储器，所述第一动力学模型包括表示所述机器人的动力特性的第一模型参数; 以及第二动力学模型，所述第二动力学模型包括所述机器人要附着的基础，所述第二动力学模型包括表示所述基础的动力特性的第二模型参数，以及参数调整单元，通过排序所述致动器来获取关于所述基础的动力特性的信息移动机器人并通过从检测器接收受运动影响的至少一个属性的测量; 并且基于所述基础的动力特性来设定所述第二模型参数中的至少一个。

3. 发明授权

US08172048B2 Braking device for a robot drive and method of detecting a braking state 失效
标题翻译：用于机器人驱动的制动装置和检测制动状态的方法
公开(公告)号：US08172048B2
公开(公告)日：2012-05-08
申请号：US12086746
申请日：2006-12-05
申请人： Ingvar Jonsson
发明人： Ingvar Jonsson
IPC分类号： B60T13/74
CPC分类号： B25J19/0004 , F16D66/02 , F16D2066/006 , F16D2121/22
摘要： Method of detecting a braking state of a braking device of a robot drive, having a frame device which, if required, applies braking forces to a rotating component of the robot drive by means of a first movable frame element. As a result, the braking device is shifted into at least two operating states, in particular a closed state or an open state. In the process, during the transition of the braking device from one state into the other, at least one measuring signal is recorded and a braking state is determined by comparing the at least one measuring signal with reference values established beforehand. The invention also relates to a braking device on which the above method can be carried out.
摘要翻译：用于检测机器人驱动器的制动装置的制动状态的方法，其具有框架装置，如果需要，借助于第一可移动框架元件将制动力施加到机器人驱动器的旋转部件。结果，制动装置转移到至少两个操作状态，特别是关闭状态或打开状态。在该过程中，在制动装置从一个状态转换到另一个状态期间，记录至少一个测量信号，并且通过将至少一个测量信号与预先建立的参考值进行比较来确定制动状态。本发明还涉及可以进行上述方法的制动装置。

4. 发明授权

US07707893B2 Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US07707893B2
公开(公告)日：2010-05-04
申请号：US11991103
申请日：2006-09-12
申请人： Görgen Johansson , Ingvar Jonsson
发明人： Görgen Johansson , Ingvar Jonsson
IPC分类号： G01B5/30
CPC分类号： B25J13/085
摘要： An industrial robot including a tool flange at an end of an outer arm of the robot. A tool is secured to the tool flange. A sensor is configured to sense forces and/or torques applied to a tool secured to the tool flange. The sensor is built into the structure of the robot in the region of the tool flange.
摘要翻译：一种工业机器人，其包括在机器人的外臂的端部处的工具凸缘。工具固定在工具法兰上。传感器构造成感测施加到固定到工具凸缘上的工具的力和/或扭矩。传感器内置在机器人的工具法兰区域的结构中。

5. 发明申请

US20090088899A1 Industrial robot 失效
标题翻译：工业机器人
公开(公告)号：US20090088899A1
公开(公告)日：2009-04-02
申请号：US11991103
申请日：2006-09-12
申请人： Gorgen Johansson , Ingvar Jonsson
发明人： Gorgen Johansson , Ingvar Jonsson
IPC分类号： B25J13/08 , G01L3/02 , G01L1/00
CPC分类号： B25J13/085
摘要： An industrial robot including a tool flange at an end of an outer arm of the robot. A tool is secured to the tool flange. A sensor is configured to sense forces and/or torques applied to a tool secured to the tool flange. The sensor is built into the structure of the robot in the region of the tool flange.
摘要翻译：一种工业机器人，其包括在机器人的外臂的端部处的工具凸缘。工具固定在工具法兰上。传感器构造成感测施加到固定到工具凸缘上的工具的力和/或扭矩。传感器内置在机器人的工具法兰区域的结构中。

6. 发明申请

US20090145699A1 BRAKING DEVICE FOR A ROBOT DRIVE AND METHOD OF DETECTING A BRAKING STATE 失效
标题翻译：用于机器人驱动的制动装置和检测制动状态的方法
公开(公告)号：US20090145699A1
公开(公告)日：2009-06-11
申请号：US12086746
申请日：2006-12-05
申请人： Ingvar Jonsson
发明人： Ingvar Jonsson
IPC分类号： F16D66/02 , F16D66/00
CPC分类号： B25J19/0004 , F16D66/02 , F16D2066/006 , F16D2121/22
摘要： Method of detecting a braking state of a braking device of a robot drive, having a frame device which, if required, applies braking forces to a rotating component of the robot drive by means of a first movable frame element. As a result, the braking device is shifted into at least two operating states, in particular a closed state or an open state. In the process, during the transition of the braking device from one state into the other, at least one measuring signal is recorded and a braking state is determined by comparing the at least one measuring signal with reference values established beforehand. The invention also relates to a braking device on which the above method can be carried out
摘要翻译：用于检测机器人驱动器的制动装置的制动状态的方法，其具有框架装置，如果需要，借助于第一可移动框架元件将制动力施加到机器人驱动器的旋转部件。结果，制动装置转移到至少两个操作状态，特别是关闭状态或打开状态。在该过程中，在制动装置从一个状态转换到另一个状态期间，记录至少一个测量信号，并且通过将至少一个测量信号与预先建立的参考值进行比较来确定制动状态。本发明还涉及可以进行上述方法的制动装置

7. 发明申请

US20100231158A1 SERVER CONTROLLER AND A METHOD FOR CONTROLLING A PLURALITY OF MOTORS 审中-公开
标题翻译：伺服控制器及其控制方法
公开(公告)号：US20100231158A1
公开(公告)日：2010-09-16
申请号：US12306723
申请日：2007-12-28
申请人： Ingvar Jonsson
发明人： Ingvar Jonsson
IPC分类号： G05B11/42 , G05B11/32
CPC分类号： H02P5/46 , G05B19/258 , G05B19/318 , G05B19/378 , G05B2219/42033 , G05B2219/42186 , H05K7/1452
摘要： Servo controller for controlling a plurality of motors including a master motor and a slave motor cooperatively driving a movable member. The servo controller is configured to control the master motor and the slave motor based on position references for the master motor. The servo controller includes a master speed controller configured to calculate a reference torque for the master motor based on speed errors for the master motor. The slave speed controller is configured to calculate reference torques for the slave motor based on speed errors for the slave motor. Each of the reference torques includes a proportional torque part and an integral torque part. The servo controller is configured to calculate each of the integral torque parts based on the speed errors of the master motor and the speed errors of the slave motor, such that the torques due to the integral torque parts will be distributed equally between the master and slave motors or according to a predefined ratio.
摘要翻译：伺服控制器，用于控制包括主电动机和从动电动机的多个电动机，协同驱动可移动部件。伺服控制器配置为根据主电机的位置参考值控制主电机和从动电机。伺服控制器包括主速度控制器，其被配置为基于主电动机的速度误差来计算主电动机的参考转矩。从速控制器被配置为基于从动马达的速度误差来计算从动马达的基准转矩。每个参考转矩包括比例扭矩部分和整体转矩部分。伺服控制器被配置为基于主电动机的速度误差和从动电机的速度误差来计算每个积分转矩部分，使得由于整体转矩部分引起的转矩将平均分配在主机和从机之间电机或按照预定比例。

8. 发明授权

US4701698A Microprocessor based energy consumption meter 失效
标题翻译：基于微处理器的能耗计
公开(公告)号：US4701698A
公开(公告)日：1987-10-20
申请号：US914519
申请日：1986-10-02
申请人： Bjorn; G. Karlsson , Ingvar Jonsson
发明人： Bjorn; G. Karlsson , Ingvar Jonsson
IPC分类号： G01D4/00 , G01R11/00 , G01R21/133 , G08C15/00 , G01R15/08 , G01R11/64 , G06F15/20
CPC分类号： G01R21/133
摘要： This invention relates to an electricity meter mainly intended for measuring, registration and reading of one or more consumers' electricity power consumption and/or energy consumption. To the electricity meter a display (12) is connected which is adapted to indicate momentary power consumption, present electricity tariff and accumulated energy consumption expressed in monentary units. The electricity meter is an electronic construction and includes a central processing unit (1) with a microprocessor, one sensor(2) intended for detecting of a consumer's power consumption and a number of memory cells (1a-52d) adapted in a predetermined manner to consecutively receive and store information, calculated and transferred by the central processing unit (1). The electricity meter is also adapted to be connected to a read unit (5) by which stored information and electricity tariffs can be transferred to a central computer, located at, for example, an electrical power producer.
摘要翻译： PCT No.PCT / SE81 / 00163 Sec。 371日期1982年1月26日 102（e）日期1982年1月26日PCT归档1981年6月4日PCT公布。公开号WO81 / 03541 日期为1981年12月10日。本发明涉及一种主要用于测量，注册和阅读一个或多个消费者的电力消耗和/或能量消耗的电表。对于电表，连接显示器（12），其指示瞬时功率消耗，当前电价和一次性单位表示的累积能量消耗。电表是电子结构，包括具有微处理器的中央处理单元（1），用于检测消费者的功耗的一个传感器（2）和以预定方式适配的多个存储单元（1a-52d）连续接收和存储由中央处理单元（1）计算和传送的信息。电表还适于连接到读取单元（5），通过该读取单元（5）可以将存储的信息和电费转移到位于例如电力生产者的中央计算机。

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