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1. 发明授权

US08405340B2 Robot arm and method of controlling the same 有权
标题翻译：机器人手臂及其控制方法
公开(公告)号：US08405340B2
公开(公告)日：2013-03-26
申请号：US12588691
申请日：2009-10-23
申请人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
发明人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
IPC分类号： G05B9/02
CPC分类号： B25J9/1638 , G05B2219/39194 , G05B2219/40264
摘要： Disclosed are a robot arm having high back-drivability to interact with a human being, which is safely stopped, and a method of controlling the robot arm. When the operation of the robot arm having high back-drivability to interact with a human being is converted into a safety mode due to the occurrence of an emergency, in which the operation of the robot arm is stopped, only a torque having a degree to compensate for gravity applied to the robot arm, i.e., only a torque to maintain the kinematical position of the current state of the robot arm without falling of the robot arm due to gravity, is outputted to control the robot arm as if the robot arm is in a weightless state, thus being capable of safely stopping the robot arm.
摘要翻译：公开了一种机器人臂，其具有高的后驾驶性能，与人类相互作用，其被安全地停止，以及控制机器人手臂的方法。当机器人臂具有高反向驾驶性能与人相互作用的操作由于出现紧急情况而被转换为安全模式，其中机器人手臂的操作停止时，仅具有一定程度的扭矩补偿施加到机器人手臂的重力，即，仅输出维持机器人手臂的当前状态的运动学位置而不会因重力而使机器人手臂下降的扭矩，以控制机器人手臂，就好像机器人臂是在失重状态下，能够安全地停止机器人手臂。

2. 发明申请

US20100141197A1 Robot arm and method of controlling the same 有权
标题翻译：机器人手臂及其控制方法
公开(公告)号：US20100141197A1
公开(公告)日：2010-06-10
申请号：US12588691
申请日：2009-10-23
申请人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
发明人： Kyung Won Moon , Kyung Shik Roh , Jong Do Choi , Hyun Kyu Kim
IPC分类号： G05B9/02
CPC分类号： B25J9/1638 , G05B2219/39194 , G05B2219/40264
摘要： Disclosed are a robot arm having high back-drivability to interact with a human being, which is safely stopped, and a method of controlling the robot arm. When the operation of the robot arm having high back-drivability to interact with a human being is converted into a safety mode due to the occurrence of an emergency, in which the operation of the robot arm is stopped, only a torque having a degree to compensate for gravity applied to the robot arm, i.e., only a torque to maintain the kinematical position of the current state of the robot arm without falling of the robot arm due to gravity, is outputted to control the robot arm as if the robot arm is in a weightless state, thus being capable of safely stopping the robot arm. Thereby, a user can easily move the robot arm and thus safely escape from the robot arm, and it is possible to prevent the falling of the robot arm due to gravity and thus to protect devices of the robot arm and peripheral environment around the robot arm.
摘要翻译：公开了一种机器人臂，其具有高的后驾驶性能，与人类相互作用，其被安全地停止，以及控制机器人手臂的方法。当机器人臂具有高反向驾驶性能与人相互作用的操作由于出现紧急情况而被转换为安全模式，其中机器人手臂的操作停止时，仅具有一定程度的扭矩补偿施加到机器人手臂的重力，即，仅输出维持机器人手臂的当前状态的运动学位置而不会因重力而使机器人手臂下降的扭矩，以控制机器人手臂，就好像机器人臂是在失重状态下，能够安全地停止机器人手臂。由此，使用者能够容易地移动机器人手臂，从而可以安全地从机器人臂逃逸，并且能够防止机器人臂因重力而坠落，从而保护机器人手臂的装置和机器人臂周围的环境。

3. 发明申请

US20110172819A1 MANIPULATOR AND CONTROL METHOD THEREOF 有权
标题翻译：操纵器及其控制方法
公开(公告)号：US20110172819A1
公开(公告)日：2011-07-14
申请号：US13004515
申请日：2011-01-11
申请人： Kwang Kyu LEE , Kyung Shik Roh , Jong Do Choi , Kyung Won Moon , Ji Young Kim
发明人： Kwang Kyu LEE , Kyung Shik Roh , Jong Do Choi , Kyung Won Moon , Ji Young Kim
IPC分类号： B25J9/00
CPC分类号： B25J9/1676 , G05B2219/40338 , G05B2219/40362
摘要： A manipulator, and a control method thereof, calculates a degree of freedom (DOF) used to prevent collision with an obstacle in consideration of an order of priority of DOFs for an operation and collision avoidance contribution. The manipulator judges whether there is danger of collision of the manipulator with an obstacle, judges whether or not there is at least one operating DOF capable of avoiding collision with the obstacle among the plurality of operating DOFs, upon judging that there is danger of collision with the obstacle, and avoids collision with the obstacle using at least one operating DOF having the lowest priority while performing the operation among the at least one operating DOF capable of avoiding collision with the obstacle, upon judging that there is the at least one operating DOF capable of avoiding collision with the obstacle.
摘要翻译：操纵器及其控制方法考虑到操作的自由度优先顺序和防碰撞贡献，计算用于防止与障碍物碰撞的自由度（DOF）。操纵器判断机械手是否存在障碍物碰撞的危险，判断是否存在与多个操作DOF中的障碍物碰撞的至少一个操作DOF，障碍物，并且在判断出存在至少一个操作DOF能力的情况下，在执行能够避免与障碍物碰撞的至少一个操作DOF之间的操作时，使用具有最低优先级的至少一个操作DOF来避免与障碍物的碰撞避免与障碍物的碰撞。

4. 发明申请

US20110166709A1 ROBOT AND CONTROL METHOD 有权
标题翻译：机器人和控制方法
公开(公告)号：US20110166709A1
公开(公告)日：2011-07-07
申请号：US12985623
申请日：2011-01-06
申请人： Ji Young KIM , Kyung Shik Roh , Jong Do Choi , Kwang Kyu Lee , Kyung Won Moon
发明人： Ji Young KIM , Kyung Shik Roh , Jong Do Choi , Kwang Kyu Lee , Kyung Won Moon
IPC分类号： G05B15/00
CPC分类号： B25J9/1612 , G05B2219/40202
摘要： A robot one of transfers an article to an external subject and receives the article from the human subject and flexibly copes with changes in human intention. If a pushing force applied to robot hands is sensed, the robot hands grip and pull the article to inform the external subject that the robot hands are prepared to receive the article from the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or a pulling force applied to the robot hands is sensed. If the pulling force applied to a robot hands is sensed, the robot pushes the article to inform the external subject that the robot hands are prepared to transfer the article to the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or the pulling force applied to the robot hands is sensed.
摘要翻译：机器人将文章转移到外部对象，并从人类受试者接收物品，并灵活应对人类意图的变化。如果感测到施加到机器人手的推力，则机器人手抓住并拉动物品以通知外部对象，机器人手准备从外部主体接收物品，并将物品转移到外部物体根据是否感测到施加到机器人手的推力或拉力，来自外部被摄体的物品。如果感测到施加到机器人手的拉力，则机器人推动物品以通知外部对象，机器人手准备将物品转移到外部物体，并将物品转移到外部物体或将物品从根据是否感测到施加到机器人手的推力或拉力，外部被检体。

5. 发明授权

US08606402B2 Manipulator and control method thereof 有权
标题翻译：机械手及其控制方法
公开(公告)号：US08606402B2
公开(公告)日：2013-12-10
申请号：US13004515
申请日：2011-01-11
申请人： Kwang Kyu Lee , Kyung Shik Roh , Jong Do Choi , Kyung Won Moon , Ji Young Kim
发明人： Kwang Kyu Lee , Kyung Shik Roh , Jong Do Choi , Kyung Won Moon , Ji Young Kim
IPC分类号： B25J9/02
CPC分类号： B25J9/1676 , G05B2219/40338 , G05B2219/40362
摘要： A manipulator, and a control method thereof, calculates a degree of freedom (DOF) used to prevent collision with an obstacle in consideration of an order of priority of DOFs for an operation and collision avoidance contribution. The manipulator judges whether there is danger of collision of the manipulator with an obstacle, judges whether or not there is at least one operating DOF capable of avoiding collision with the obstacle among the plurality of operating DOFs, upon judging that there is danger of collision with the obstacle, and avoids collision with the obstacle using at least one operating DOF having the lowest priority while performing the operation among the at least one operating DOF capable of avoiding collision with the obstacle, upon judging that there is the at least one operating DOF capable of avoiding collision with the obstacle.
摘要翻译：操纵器及其控制方法考虑到操作的自由度优先顺序和防碰撞贡献，计算用于防止与障碍物碰撞的自由度（DOF）。操纵器判断机械手是否存在障碍物碰撞的危险，判断是否存在与多个操作DOF中的障碍物碰撞的至少一个操作DOF，障碍物，并且在判断出存在至少一个操作DOF能力的情况下，在执行能够避免与障碍物碰撞的至少一个操作DOF之间的操作时，使用具有最低优先级的至少一个操作DOF来避免与障碍物的碰撞避免与障碍物的碰撞。

6. 发明授权

US08538583B2 Robot and control method 有权
标题翻译：机器人和控制方法
公开(公告)号：US08538583B2
公开(公告)日：2013-09-17
申请号：US12985623
申请日：2011-01-06
申请人： Ji Young Kim , Kyung Shik Roh , Jong Do Choi , Kwang Kyu Lee , Kyung Won Moon
发明人： Ji Young Kim , Kyung Shik Roh , Jong Do Choi , Kwang Kyu Lee , Kyung Won Moon
IPC分类号： B25J13/02 , B25J13/08
CPC分类号： B25J9/1612 , G05B2219/40202
摘要： A robot one of transfers an article to an external subject and receives the article from the human subject and flexibly copes with changes in human intention. If a pushing force applied to robot hands is sensed, the robot hands grip and pull the article to inform the external subject that the robot hands are prepared to receive the article from the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or a pulling force applied to the robot hands is sensed. If the pulling force applied to a robot hands is sensed, the robot pushes the article to inform the external subject that the robot hands are prepared to transfer the article to the external subject, and transfers the article to the external subject or takes the article from the external subject according to whether the pushing force or the pulling force applied to the robot hands is sensed.
摘要翻译：机器人将文章转移到外部对象，并从人类受试者接收物品，并灵活应对人类意图的变化。如果感测到施加到机器人手的推力，则机器人手抓住并拉动物品以通知外部对象，机器人手准备从外部主体接收物品，并将物品转移到外部物体根据是否感测到施加到机器人手的推力或拉力，来自外部被摄体的物品。如果感测到施加到机器人手的拉力，则机器人推动物品以通知外部对象，机器人手准备将物品转移到外部物体，并将物品转移到外部物体或将物品从根据是否感测到施加到机器人手的推力或拉力，外部被检体。

7. 发明申请

US20100161130A1 Control apparatus of multi-finger hand and grasping method using the same 有权
标题翻译：多指手掌控制装置及其使用方法
公开(公告)号：US20100161130A1
公开(公告)日：2010-06-24
申请号：US12654166
申请日：2009-12-11
申请人： Ji Young Kim , Jong Do Choi , Hyun Kyu Kim , Kyung Won Moon
发明人： Ji Young Kim , Jong Do Choi , Hyun Kyu Kim , Kyung Won Moon
IPC分类号： B25J15/08 , G05D17/02
CPC分类号： B25J9/1612 , G05B2219/39524
摘要： A grasping method of a multi-finger hand including calculating positions of tips of plural actual fingers; calculating positions of tips of plural virtual fingers using the calculated positions of the tips of the plural actual fingers; judging that a central position among the calculated positions of the tips of the plural virtual fingers is a central position of a virtual object based on the calculated positions of the tips of the plural virtual fingers; and controlling joint torques of the respective actual fingers corresponding to the tips of the virtual fingers such that motions of the tips of the plural virtual fingers are carried out while uniformly maintaining the relative positional relationships of the tips of the plural virtual fingers based on the central position of the virtual object.
摘要翻译：一种多指手指的握持方法，包括计算多个实际手指的尖端的位置; 使用所计算的多个实际手指的尖端的位置来计算多个虚拟手指的尖端的位置; 根据计算出的多个虚拟手指的尖端的位置，判断所述多个虚拟手指的前端的计算位置的中心位置是虚拟对象的中心位置; 并且控制对应于虚拟指尖的相应实际手指的关节扭矩，使得多个虚拟手指的尖端的运动被执行，同时基于中心来均匀地保持多个虚拟手指的尖端的相对位置关系虚拟对象的位置。

8. 发明授权

US08909376B2 Robot hand and method of controlling the same 有权
标题翻译：机器人手和控制方法
公开(公告)号：US08909376B2
公开(公告)日：2014-12-09
申请号：US12588766
申请日：2009-10-27
申请人： Kyung Won Moon , Hyun Kyu Kim , Jong Do Choi
发明人： Kyung Won Moon , Hyun Kyu Kim , Jong Do Choi
IPC分类号： B66C1/42 , C25D11/04 , C25D7/00
CPC分类号： B25J15/0009 , B25J9/1612 , B25J9/1633 , G05B2219/39344 , G05B2219/39492
摘要： Disclosed herein is a method of controlling a robot hand similar to a hand of a human being such that the robot hand naturally and safely grasps an object. The robot hand, including fingers and a palm, is capable of naturally and safely grasping an object, by the tip of each finger performing impedance control while following the optimal path on a Cartesian coordinate system, although the robot hand cannot reach a position ideal to grasp the object due to sensor errors or shape information of the object to be grasped is not correctly recognized. Also, the robot hand is capable of stably grasping the object even when moving or manipulating the object.
摘要翻译：这里公开了一种控制类似于人的手的机器人手的方法，使得机器人手自然且安全地抓住物体。包括手指和手掌在内的机器人手能够自然地和安全地抓住物体，每个手指的尖端在跟随笛卡尔坐标系上的最佳路径时执行阻抗控制，尽管机器人手不能达到理想的位置由于传感器错误而抓住对象，或者被抓握对象的形状信息未被正确识别。此外，即使在移动或操纵物体时，机器人手也能够稳定地抓住物体。

9. 发明授权

US08346393B2 Control apparatus of multi-finger hand and grasping method using the same 有权
标题翻译：多指手掌控制装置及其使用方法
公开(公告)号：US08346393B2
公开(公告)日：2013-01-01
申请号：US12654166
申请日：2009-12-11
申请人： Ji Young Kim , Jong Do Choi , Hyun Kyu Kim , Kyung Won Moon
发明人： Ji Young Kim , Jong Do Choi , Hyun Kyu Kim , Kyung Won Moon
IPC分类号： B25J15/08 , G05D17/02
CPC分类号： B25J9/1612 , G05B2219/39524
摘要： A grasping method of a multi-finger hand including calculating positions of tips of plural actual fingers; calculating positions of tips of plural virtual fingers using the calculated positions of the tips of the plural actual fingers; judging that a central position among the calculated positions of the tips of the plural virtual fingers is a central position of a virtual object based on the calculated positions of the tips of the plural virtual fingers; and controlling joint torques of the respective actual fingers corresponding to the tips of the virtual fingers such that motions of the tips of the plural virtual fingers are carried out while uniformly maintaining the relative positional relationships of the tips of the plural virtual fingers based on the central position of the virtual object.
摘要翻译：一种多指手指的握持方法，包括计算多个实际手指的尖端的位置; 使用所计算的多个实际手指的尖端的位置来计算多个虚拟手指的尖端的位置; 根据计算出的多个虚拟手指的尖端的位置，判断所述多个虚拟手指的前端的计算位置的中心位置是虚拟对象的中心位置; 并且控制对应于虚拟指尖的相应实际手指的关节扭矩，使得多个虚拟手指的尖端的运动被执行，同时基于中心来均匀地保持多个虚拟手指的尖端的相对位置关系虚拟对象的位置。

10. 发明授权

US09043030B2 Manipulator and path generation method thereof 有权
标题翻译：机器人及其路径生成方法
公开(公告)号：US09043030B2
公开(公告)日：2015-05-26
申请号：US13492993
申请日：2012-06-11
申请人： Jong Do Choi , Kyung Shik Roh , Young Bo Shim
发明人： Jong Do Choi , Kyung Shik Roh , Young Bo Shim
IPC分类号： G05B15/00
CPC分类号： G05B15/00 , B25J9/1664 , G05B2219/40465 , G05B2219/40476 , G05B2219/40512 , Y10S901/01 , Y10S901/02 , Y10S901/46
摘要： A manipulator and a method of generating the shortest path along which the manipulator moves to grip an object without collision with the object models a target object and a gripper into a spherical shape, measures a current position of the gripper and a position of the target object and a target position of the gripper, calculates an arc-shaped path in a two-dimensional plane along which the gripper needs to move by calculating an included angle of a triangle consisting of the position of the object and the current position and target position of the gripper, transforms the arc-shaped path in the two-dimensional plane into an arc-shaped path in a three-dimensional space using a transform matrix consisting of the position of the object and the current position and target position of the gripper, thereby automatically generating the shortest path of the manipulator.
摘要翻译：一种操纵器和一种产生操纵器移动以夹持物体而不与物体碰撞的最短路径的方法将目标物体和夹持器成型为球形，测量夹具的当前位置和目标物体的位置并且夹持器的目标位置通过计算由对象的位置和当前位置组成的三角形的夹角和当前位置以及目标位置的目标位置，计算夹持器需要移动的二维平面中的弧形路径夹持器使用由物体的位置和夹持器的当前位置和目标位置组成的变换矩阵将二维平面中的弧形路径变换为三维空间中的弧形路径，从而自动生成机械手的最短路径。

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