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1. 发明授权

US09043024B2 Vision correction method for tool center point of a robot manipulator 有权
标题翻译：机器人机械手工具中心点视觉校正方法
公开(公告)号：US09043024B2
公开(公告)日：2015-05-26
申请号：US13414919
申请日：2012-03-08
申请人： Long-En Chiu , Shu-Jun Fu , Gang Zhao
发明人： Long-En Chiu , Shu-Jun Fu , Gang Zhao
IPC分类号： G05B19/18 , B25J9/16
CPC分类号： B25J9/1692 , G05B2219/39026
摘要： A vision correction method for establishing the position of a tool center point (TCP) for a robot manipulator includes the steps of: defining a preset position of the TCP; defining a preset coordinate system TG with the preset position of the TCP as its origin; capturing a two-dimensional picture of the preset coordinate system TG to establish a visual coordinate system TV; calculating a scaling ratio λ of the vision coordinate system TV relative to the preset coordinate system TG; rotating the TCP relative to axes of the preset coordinate system TG; capturing pictures of the TCP prior to and after rotation; calculating the deviation ΔP between the preset position and actual position of the TCP; correcting the preset position and corresponding coordinate system TG using ΔP, and repeating the rotation through correction steps until ΔP is less than or equal to a maximum allowable deviation of the robot manipulator.
摘要翻译：一种用于建立机器人操纵器的工具中心点（TCP）的位置的视觉校正方法包括以下步骤：定义TCP的预置位置; 以TCP的预设位置为原点定义预设坐标系TG; 捕获预设坐标系TG的二维图像以建立视觉坐标系TV; 计算视觉坐标系TV相对于预设坐标系TG的缩放比率λ; 旋转TCP相对于预设坐标系TG的轴; 在旋转之前和之后捕获TCP的图片; 计算TCP的预设位置和实际位置之间的偏差＆Dgr; P; 使用＆Dgr; P校正预设位置和相应的坐标系TG，并通过校正步骤重复旋转直到＆Dgr; P小于或等于机器人操纵器的最大允许偏差。

2. 发明申请

US20100036540A1 OPTIMIZING USAGE OF POWERED SYSTEMS 审中-公开
标题翻译：优化供电系统的使用
公开(公告)号：US20100036540A1
公开(公告)日：2010-02-11
申请号：US12185978
申请日：2008-08-05
申请人： John Lyle Vian , Stephen Long-En Chiu , Alexander Alexandrovich Bogdanov , Joseph Sherman Breit
发明人： John Lyle Vian , Stephen Long-En Chiu , Alexander Alexandrovich Bogdanov , Joseph Sherman Breit
IPC分类号： G05F1/00
CPC分类号： H02J3/14 , G05B13/048
摘要： An apparatus comprised of a power source, a set of primary loads, a set of life extension loads, and a controller. The power source is capable of supplying power and the set of primary loads is capable of being operated using the power. The set of life extension loads is capable of being operated using the power and capable of extending life of the set of primary loads. The controller is capable of controlling an operation of the set of primary loads and the set of life extension loads to optimize a total systems operating metric consisting of performance, energy use, and life to reduce a total cost.
摘要翻译：一种由电源，一组主负载，一组寿命延长负载和一个控制器组成的装置。电源能够供电，主负载组能够使用电源进行运行。寿命延长负载的集合能够使用电力进行操作并且能够延长一组主要负载的寿命。控制器能够控制一组主要负载和一组寿命延长负载的操作，以优化由性能，能源使用和寿命组成的总体系统运行度量，以降低总成本。

3. 发明申请

US20130123982A1 CALIBRATION METHOD FOR TOOL CENTER POINT OF A ROBOT MANIPULATOR 有权
标题翻译：机器人操纵器工具中心点的校准方法
公开(公告)号：US20130123982A1
公开(公告)日：2013-05-16
申请号：US13648416
申请日：2012-10-10
申请人： LONG-EN CHIU , YONG WU
发明人： LONG-EN CHIU , YONG WU
IPC分类号： G05B19/402
CPC分类号： B25J9/1692
摘要： A calibration method for calibration a tool center point for a robot manipulator includes the steps of: driving the tool to move above one of the inclined surfaces; defining a preset coordinate system TG; rotating the TCP relative to the UG-axis by about 180 degrees, calculating the value of Δw; updating the position parameters of the preset TCP, defining a new preset coordinate system TG′; rotating the TCP relative to the UG′-axis by about 90 degrees, calculating the value of Δv; updating the position parameters of the new preset TCP, defining a new preset coordinate system TG″; driving the tool to move above a planar horizontal surface; rotating the TCP relative to a axis by about 30 degrees, calculating the value of Δu; repeating the aforementioned steps until the deviation ΔP (Δw, Δv, Δu) is less than or equal to a maximum allowable deviation of the robot manipulator.
摘要翻译：用于校准机器人操纵器的工具中心点的校准方法包括以下步骤：驱动所述工具以在所述倾斜表面之一上方移动; 定义预设坐标系TG; 将TCP相对于UG轴旋转约180度，计算Deltaw的值; 更新预设TCP的位置参数，定义新的预设坐标系TG'; 将TCP相对于UG'轴旋转约90度，计算Deltav的值; 更新新的预设TCP的位置参数，定义新的预设坐标系TG“; 驱动工具移动到平面水平面上方; 将TCP相对于轴旋转大约30度，计算Deltau的值; 重复上述步骤，直到偏差DeltaP（Deltaw，Deltav，Deltau）小于或等于机器人操纵器的最大允许偏差。

4. 发明授权

US09002516B2 Calibration method for tool center point of a robot manipulator 有权
标题翻译：机器人机械手工具中心点的校准方法
公开(公告)号：US09002516B2
公开(公告)日：2015-04-07
申请号：US13648416
申请日：2012-10-10
申请人： Long-En Chiu , Yong Wu
发明人： Long-En Chiu , Yong Wu
IPC分类号： G05B19/04 , G01L25/00 , B25J9/16
CPC分类号： B25J9/1692
摘要： A calibration method for calibration a tool center point for a robot manipulator includes the steps of: driving the tool to move above one of the inclined surfaces; defining a preset coordinate system TG; rotating the TCP relative to the UG-axis by about 180 degrees, calculating the value of Δw; updating the position parameters of the preset TCP, defining a new preset coordinate system TG′; rotating the TCP relative to the UG′-axis by about 90 degrees, calculating the value of Δv; updating the position parameters of the new preset TCP, defining a new preset coordinate system TG″; driving the tool to move above a planar horizontal surface; rotating the TCP relative to a axis by about 30 degrees, calculating the value of Δu; repeating the aforementioned steps until the deviation ΔP (Δw, Δv, Δu) is less than or equal to a maximum allowable deviation of the robot manipulator.
摘要翻译：用于校准机器人操纵器的工具中心点的校准方法包括以下步骤：驱动所述工具以在所述倾斜表面之一上方移动; 定义预设坐标系TG; 将TCP相对于UG轴旋转约180度，计算＆Dgr; w的值; 更新预设TCP的位置参数，定义新的预设坐标系TG'; 将TCP相对于UG'轴旋转约90度，计算＆Dgr; v的值; 更新新的预设TCP的位置参数，定义新的预设坐标系TG“; 驱动工具移动到平面水平面上方; 将TCP相对于轴旋转大约30度，计算＆Dgr; u的值; 重复上述步骤，直到偏差＆Dgr; P（＆Dgr; w，＆Dgr; v，＆Dgr; u）小于或等于机器人操纵器的最大允许偏差。

5. 发明申请

US20130035791A1 VISION CORRECTION METHOD FOR TOOL CENTER POINT OF A ROBOT MANIPULATOR 有权
标题翻译：机器人操纵器工具中心点的视觉校正方法
公开(公告)号：US20130035791A1
公开(公告)日：2013-02-07
申请号：US13414919
申请日：2012-03-08
申请人： LONG-EN CHIU , SHU-JUN FU , GANG ZHAO
发明人： LONG-EN CHIU , SHU-JUN FU , GANG ZHAO
IPC分类号： G05B15/00
CPC分类号： B25J9/1692 , G05B2219/39026
摘要： A vision correction method for establishing the position of a tool center point (TCP) for a robot manipulator includes the steps of: defining a preset position of the TCP; defining a preset coordinate system TG with the preset position of the TCP as its origin; capturing a two-dimensional picture of the preset coordinate system TG to establish a visual coordinate system TV; calculating a scaling ratio λ of the vision coordinate system TV relative to the preset coordinate system TG; rotating the TCP relative to axes of the preset coordinate system TG; capturing pictures of the TCP prior to and after rotation; calculating the deviation ΔP between the preset position and actual position of the TCP; correcting the preset position and corresponding coordinate system TG using ΔP, and repeating the rotation through correction steps until ΔP is less than or equal to a maximum allowable deviation of the robot manipulator.
摘要翻译：一种用于建立机器人操纵器的工具中心点（TCP）的位置的视觉校正方法包括以下步骤：定义TCP的预置位置; 以TCP的预设位置为原点定义预设坐标系TG; 捕获预设坐标系TG的二维图像以建立视觉坐标系TV; 计算视觉坐标系TV相对于预设坐标系TG的缩放比率λ; 旋转TCP相对于预设坐标系TG的轴; 在旋转之前和之后捕获TCP的图片; 计算TCP的预设位置和实际位置之间的偏差＆Dgr; P; 使用＆Dgr; P校正预设位置和相应的坐标系TG，并通过校正步骤重复旋转，直到＆Dgr; P小于或等于机器人操纵器的最大允许偏差。

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