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1. 发明授权

US10099367B2 Robot arm and robot 有权
公开(公告)号：US10099367B2
公开(公告)日：2018-10-16
申请号：US14481072
申请日：2014-09-09
申请人： Seiko Epson Corporation
发明人： Tomokazu Hirabayashi
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00 , B25J9/12 , B25J19/00
摘要： A joint driving device includes: a reduction gear output shaft that transmits a torque to a second link; a transmission shaft that transmits reaction of the torque to a first link; a transmission shaft outer cylinder arranged on the outer circumference of the transmission shaft and connected to the transmission shaft; a reduction gear output shaft outer cylinder arranged in the outer circumference of the reduction gear output shaft and connected to the reduction gear output shaft; and a wire body arranged between the first link and the second link and including at least one of a wire and a pipe. The transmission shaft includes the motor frame as at least a part. The wire body is housed in a space between the transmission shaft outer cylinder and the transmission shaft, and a space between the reduction gear output shaft outer cylinder and the reduction gear output shaft.

2. 发明授权

US08838275B2 Robot and robot control method 有权
标题翻译：机器人和机器人控制方法
公开(公告)号：US08838275B2
公开(公告)日：2014-09-16
申请号：US13623432
申请日：2012-09-20
申请人： Seiko Epson Corporation
发明人： Masaki Motoyoshi , Tomokazu Hirabayashi
IPC分类号： G05B15/00
CPC分类号： B25J9/1694 , B25J9/1635 , G05B15/00 , G05B2219/37388 , G05B2219/41025 , Y10S901/02 , Y10S901/46
摘要： An arm drive mechanism which rotates an arm, an angle sensor which detects a rotation angle of the arm drive mechanism and outputs angle information, an angular velocity sensor which is attached to the arm, detects angular velocity acting on the arm and outputs angular velocity information, a control command generating unit which outputs a control command value prescribing a rotational operation of the arm, a gain adjusting unit which incrementally or decrementally changes and thus adjusts a gain of the angular velocity information, and an arm operation control unit which controls an operation of the arm based on the control command value, the angle information and the gain-adjusted angular velocity information, are provided.
摘要翻译：旋转臂的臂驱动机构，检测臂驱动机构的旋转角度并输出角度信息的角度传感器，附接到臂的角速度传感器，检测作用在臂上的角速度，并输出角速度信息输出指定所述手臂的旋转动作的控制指令值的控制指令生成部，增量或递减地变化的增益调整部，调整所述角速度信息的增益，以及控制操作的手臂操作控制部提供基于控制命令值的角度信息和增益调整角速度信息。

3. 发明授权

US10239204B2 Method of controlling robot and robot 有权
公开(公告)号：US10239204B2
公开(公告)日：2019-03-26
申请号：US14807643
申请日：2015-07-23
申请人： Seiko Epson Corporation
发明人： Masaki Motoyoshi , Tomokazu Hirabayashi
IPC分类号： B25J9/16 , G01P3/44 , G01P21/02
摘要： A method of controlling a robot includes the steps of calculating a torsional angular velocity of an arm using a difference between an angular velocity detected by a gyro sensor and an angular velocity in a gyro sensor coordinate obtained from information detected by a first encoder and a second encoder, calculating a correction amount of a sensitivity error of the gyro sensor using a variation in the torsional angular velocity, and correcting sensitivity of the gyro sensor using the correction amount of the sensitivity error.

4. 发明授权

US09120228B2 Method of controlling robot and robot 有权
标题翻译：控制机器人和机器人的方法
公开(公告)号：US09120228B2
公开(公告)日：2015-09-01
申请号：US13744589
申请日：2013-01-18
申请人： Seiko Epson Corporation
发明人： Masaki Motoyoshi , Tomokazu Hirabayashi
IPC分类号： B25J9/16 , G01P3/44 , G01P21/02
CPC分类号： B25J9/1607 , B25J9/1653 , G01P3/44 , G01P21/02 , G05B2219/40597 , Y10S901/02
摘要： A method of controlling a robot includes the steps of calculating a torsional angular velocity of an arm using a difference between an angular velocity detected by a gyro sensor and an angular velocity in a gyro sensor coordinate obtained from information detected by a first encoder and a second encoder, calculating a correction amount of a sensitivity error of the gyro sensor using a variation in the torsional angular velocity, and correcting sensitivity of the gyro sensor using the correction amount of the sensitivity error.
摘要翻译：一种控制机器人的方法包括以下步骤：使用由陀螺传感器检测的角速度与由第一编码器检测的信息获得的陀螺仪传感器坐标中的角速度之间的差异来计算臂的扭转角速度，编码器，使用扭转角速度的变化计算陀螺仪传感器的灵敏度误差的校正量，以及使用灵敏度误差的校正量校正陀螺仪传感器的灵敏度。

5. 发明授权

US11167415B2 Control apparatus, horizontal articulated robot and robot system 有权
公开(公告)号：US11167415B2
公开(公告)日：2021-11-09
申请号：US16516488
申请日：2019-07-19
申请人： Seiko Epson Corporation
发明人： Tomokazu Hirabayashi
IPC分类号： B25J13/08 , B25J9/16 , B25J9/06
摘要： A control apparatus controls a horizontal articulated robot including a base, a first arm provided at the base and pivoting around a first axis relative to the base, a second arm provided at the first arm and pivoting around a second axis relative to the first arm, a shaft provided in the second arm and linearly moving in directions along a third axis, a motor that drives linear motion of the shaft, a position detector that detects a position of the motor, and an inertial sensor provided in the second arm, and includes a control section that feeds back output of the inertial sensor to control of the motor and drives the motor.

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