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1. 发明申请

US20060108967A1 Synchronous motor control method and synchronous motor control system 有权
标题翻译：同步电机控制方式和同步电机控制系统
公开(公告)号：US20060108967A1
公开(公告)日：2006-05-25
申请号：US11283728
申请日：2005-11-22
申请人： Hideki Tanaka , Shinji Kajihara , Tsuyoshi Maehara , Tetsuya Kubota
发明人： Hideki Tanaka , Shinji Kajihara , Tsuyoshi Maehara , Tetsuya Kubota
IPC分类号： H02P1/46
CPC分类号： H02P21/22 , H02P25/024 , Y02P80/116
摘要： A desired q-axis current is determined based on a desired torque, and a desired d-axis current is determined based on the rotating speed of a synchronous motor when the terminal voltage of the synchronous motor coincides with a predetermined maximum permissible voltage to weaken a magnetic field created by the synchronous motor equivalently and to prevent the drop of the output torque of the synchronous motor. The desired d-axis current is determined based on the desired torque and the rotating speed. Therefore, the desired d-axis current can be reduced when a high torque is not necessary and undesired increase of the desired d-axis current can be prevented. Thus the synchronous motor operates efficiently, heat generation of the synchronous motor is prevented and power factor is improved.
摘要翻译：所需的q轴电流根据期望的转矩来确定，当同步电动机的端电压与预定的最大允许电压一致时，基于同步电动机的转速来确定期望的d轴电流以削弱等效同步电机产生的磁场，并防止同步电机的输出转矩下降。所需的d轴电流根据期望的转矩和转速来确定。因此，当不需要高扭矩时，可以减小期望的d轴电流，并且可以防止期望的d轴电流的不期望的增加。因此，同步电动机有效地工作，防止了同步电动机的发热，提高了功率因数。

2. 发明授权

US07558646B2 Cooperative control system of robots 有权
标题翻译：机器人协同控制系统
公开(公告)号：US07558646B2
公开(公告)日：2009-07-07
申请号：US10494583
申请日：2002-11-07
申请人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
发明人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
IPC分类号： G05B19/042
CPC分类号： B25J9/1682 , G05B2219/33097 , G05B2219/39051 , G05B2219/39124 , G05B2219/39141
摘要： The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation. By doing this, the control units are always kept in the synchronized state, thus the operations of the robots can be prevented from variations.
摘要翻译：本发明具有通信连接装置（21），其连接用于单独控制机器人（Ra，Rb）的操作的可通信控制单元（Ca，Cb）以构成网络，输入装置（37a，37b）分别安装在机器人的控制单元和输入操作指令，以及定时信号生成装置（69a，69b）。控制单元被选择性地设置为独立功能执行模式，主功能执行模式和从功能执行模式中的任何一个，并且在控制单元中，执行主操作的控制单元（Ca）被设置为主功能执行模式，剩余控制单元（Cb）被设定为从功能执行模式，并且通过校正从侧控制单元（Cb）的最小中断周期（Ts（b）），控制时间（ta11 ，ta12，ta13）到主控制单元（Ca）的主机器人（Ra）延迟预定时间（T）以执行协作操作。通过这样做，控制单元总是保持在同步状态，从而可以防止机器人的操作变化。

3. 发明申请

US20050055132A1 Robot collaboration control system 有权
标题翻译：机器人协调控制系统
公开(公告)号：US20050055132A1
公开(公告)日：2005-03-10
申请号：US10494583
申请日：2002-11-07
申请人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
发明人： Naoyuki Matsumoto , Masatoshi Sano , Tsuyoshi Maehara , Nobuyasu Shimomura , Takahiro Ueno
IPC分类号： B25J9/16 , B25J9/18 , B25J9/22 , B25J13/00 , G06F19/00
CPC分类号： B25J9/1682 , G05B2219/33097 , G05B2219/39051 , G05B2219/39124 , G05B2219/39141
摘要： The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation. By doing this, the control units are always kept in the synchronized state, thus the operations of the robots can be prevented from variations.
摘要翻译：本发明具有通信连接装置（21），其连接用于单独控制机器人（Ra，Rb）的操作的可通信控制单元（Ca，Cb）以构成网络，输入装置（37a，37b）分别安装在机器人的控制单元和输入操作指令，以及定时信号生成装置（69a，69b）。控制单元被选择性地设置为独立功能执行模式，主功能执行模式和从功能执行模式中的任何一个，并且在控制单元中，执行主操作的控制单元（Ca）被设置为主功能执行模式，剩余控制单元（Cb）被设定为从功能执行模式，并且通过校正从侧控制单元（Cb）的最小中断周期（Ts（b）），控制时间（ta11 ，ta12，ta13）到主控制单元（Ca）的主机器人（Ra）延迟预定时间（T）以执行协作操作。通过这样做，控制单元总是保持在同步状态，从而可以防止机器人的操作变化。

4. 发明授权

US07235947B2 Synchronous motor control method and synchronous motor control system 有权
标题翻译：同步电机控制方式和同步电机控制系统
公开(公告)号：US07235947B2
公开(公告)日：2007-06-26
申请号：US11283728
申请日：2005-11-22
申请人： Hideki Tanaka , Shinji Kajihara , Tsuyoshi Maehara , Tetsuya Kubota
发明人： Hideki Tanaka , Shinji Kajihara , Tsuyoshi Maehara , Tetsuya Kubota
IPC分类号： H02P1/46
CPC分类号： H02P21/22 , H02P25/024 , Y02P80/116
摘要： A desired q-axis current is determined based on a desired torque, and a desired d-axis current is determined based on the rotating speed of a synchronous motor when the terminal voltage of the synchronous motor coincides with a predetermined maximum permissible voltage to weaken a magnetic field created by the synchronous motor equivalently and to prevent the drop of the output torque of the synchronous motor. The desired d-axis current is determined based on the desired torque and the rotating speed. Therefore, the desired d-axis current can be reduced when a high torque is not necessary and undesired increase of the desired d-axis current can be prevented. Thus the synchronous motor operates efficiently, heat generation of the synchronous motor is prevented and power factor is improved.
摘要翻译：所需的q轴电流根据期望的转矩来确定，当同步电动机的端电压与预定的最大允许电压一致时，基于同步电动机的转速来确定期望的d轴电流以削弱等效同步电机产生的磁场，并防止同步电机的输出转矩下降。所需的d轴电流根据期望的转矩和转速来确定。因此，当不需要高扭矩时，可以减小期望的d轴电流，并且可以防止期望的d轴电流的不期望的增加。因此，同步电动机有效地工作，防止了同步电动机的发热，提高了功率因数。

5. 发明授权

US06429617B1 Drive-controlling method and apparatus and robot having the apparatus 有权
标题翻译：具有该装置的驱动控制方法和装置以及机器人
公开(公告)号：US06429617B1
公开(公告)日：2002-08-06
申请号：US09692870
申请日：2000-10-20
申请人： Masatoshi Sano , Tsuyoshi Maehara , Tetsuhiko Nishimura , Hiroaki Kagaya , Naoyuki Matsumoto
发明人： Masatoshi Sano , Tsuyoshi Maehara , Tetsuhiko Nishimura , Hiroaki Kagaya , Naoyuki Matsumoto
IPC分类号： G05B1101
CPC分类号： B25J9/1676 , B25J9/1666 , G05B19/406 , G05B2219/37285 , G05B2219/37632 , G05B2219/40476 , G05B2219/40497
摘要： Provided is a drive-controlling method and apparatus and a robot having the apparatus for precisely detecting a collision of a arm being driven by a robot with obstacles, and for keeping damages of the arm from the collision minimum: storing a route of the arm being driven by the robot in a memory; detecting a collision by comparing a current value of a servo motor which drives the arm and a reference current value; and controlling the robot such that the arm leaves a predetermined distance from the obstacle based on the stored route, backing up the arm along the same route as before the collision.
摘要翻译：提供一种驱动控制方法和装置以及机器人，其具有用于精确地检测由机器人驱动的臂与障碍物的碰撞并且用于保持臂的碰撞最小化的装置的装置：将臂的路径保持为由机器人在记忆体中驱动; 通过比较驱动臂的伺服电动机的电流值和参考电流值来检测碰撞; 并且控制机器人使得臂基于存储的路线离开障碍物预定的距离，沿着与碰撞之前相同的路线备份臂。

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