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1. 发明授权

US11364630B2 Method for controlling an industrial robot during lead-through programming of the robot and an industrial robot 有权
公开(公告)号：US11364630B2
公开(公告)日：2022-06-21
申请号：US16482600
申请日：2017-02-17
申请人： ABB Schweiz AG
发明人： Adam Henriksson , Alvaro Aranda Munoz , Elina Vartiainen , Jonatan Blom , Maria Ralph
IPC分类号： B25J9/16 , G05B19/423
摘要： An industrial robot having a manipulator and a robot controller configured to control the motions of the manipulator. The robot controller is configured during lead-through programming of the robot to compare a robot position or a robot orientation (TCP) with at least one virtual position or virtual orientation defined in space, and to actively control the motions of the robot in relation to the at least one virtual position or virtual orientation when the difference between the robot position or robot orientation and the least one virtual position or virtual orientation is smaller than an offset value.

2. 发明授权

US11054814B2 Robot teaching device, and robot teaching method 有权
公开(公告)号：US11054814B2
公开(公告)日：2021-07-06
申请号：US15953510
申请日：2018-04-16
申请人： Kabushiki Kaisha Yaskawa Denki
发明人： Yoshifumi Onoyama , Koichi Kuwahara
IPC分类号： G05B19/423 , G05B19/42
摘要： To enhance the productivity of an offline teaching work by visualizing the working position, path, and the like of an end effector in offline teaching. A robot teaching device, includes: a teaching point marker display unit configured to display, on a GUI, teaching point markers for marking teaching points in a three-dimensional modeling space in which at least a three-dimensional model of a robot including an end effector and a three-dimensional model of a work piece are arranged, the teaching points serving as target passing points of the end effector; a joined path display unit configured to display, on the GUI, a joined path, which is a path connecting successive points among the teaching points to each other; and a changing point marker display unit configured to display, on the GUI, a changing point marker marking a point at which a working state of the end effector changes.

3. 发明授权

US11040456B2 Robot operating apparatus provided with handles for operating robot 有权
公开(公告)号：US11040456B2
公开(公告)日：2021-06-22
申请号：US16372570
申请日：2019-04-02
申请人： Fanuc Corporation
发明人： Wataru Murakami
IPC分类号： B25J13/08 , B25J9/00 , B25J9/16 , G05B19/423
摘要： A robot operating apparatus includes a force sensor mounted on the distal end part of an arm unit and a handle supporting unit mounted on the distal end part of the arm unit via the force sensor. The handle supporting unit supports two handles, and a handle structure including the two handles has two force points where forces are applied while being gripped with both hands. The force sensor detects a resultant force of forces acting on the two force points, and transmits the same to a robot control apparatus, so that the distal end part of the arm unit moves in accordance with a direction and a magnitude of the resultant force detected by the force sensor.

4. 发明授权

US10994415B2 Robot with control system for discrete manual input of positions and/or poses 有权
公开(公告)号：US10994415B2
公开(公告)日：2021-05-04
申请号：US15773630
申请日：2016-10-25
申请人： FRANKA EMIKA GmbH
发明人： Sami Haddadin
IPC分类号： B25J9/16 , G05B19/423
摘要： The invention relates to a robot, a robot control system, and a method for controlling a robot. The robot comprises a movable, multi-membered robot structure (102) that can be driven by means of actuators (101), at least one marked structural element S being defined on the movable robot structure (102), with at least one point PS marked on the structural element S. The robot is designed such that, in an input mode, it learns positions POSPS of the point PS and/or poses of the structural element S in a work space of the robot, the user exerting an input force FEING on the movable robot structure in order to move the structural element S, which is conveyed to the point PS as FEING,PS, and/or to the structural element S as torque MEING,S. A control device (103) of the robot is designed such that, in the input mode, the actuators (101) are controlled on the basis of a pre-defined space-fixed virtual 3D grid that at least partially fills the work space, such that the structural element S is moved with a pre-defined force FGRID (POSPS), according to the current position POSPS of the point PS in the 3D grid, to the adjacent grid point of the 3D grid or in a grid point space defined around the adjacent grid point of the 3D grid, the point PS of the structural element S remaining on said adjacent grid point or in said grid point space in the event of the following holding true: |FEING,PS|

5. 发明申请

US20190283259A1 ROBOT CONTROL METHOD 审中-公开
公开(公告)号：US20190283259A1
公开(公告)日：2019-09-19
申请号：US16430513
申请日：2019-06-04
申请人： Seiko Epson Corporation
发明人： Kaoru TAKEUCHI
IPC分类号： B25J13/08 , B25J9/16 , G05B19/423
摘要： A control device includes a robot control section that controls a robot including a hand and a force detecting section; and an operation-mode switching section that switches, when storing a position and a posture of the robot, a first mode for moving the robot by the robot control section until an external force applied to the hand satisfies a predetermined condition and a second mode for moving the robot by the robot control section on the basis of an external force applied to a first part included in the robot.

6. 发明授权

US10350749B2 Robot control device having learning control function 有权
公开(公告)号：US10350749B2
公开(公告)日：2019-07-16
申请号：US15792832
申请日：2017-10-25
申请人： FANUC CORPORATION
发明人： Kaimeng Wang
IPC分类号： B25J9/16 , G05B19/423 , B25J9/00 , B25J13/08
摘要： A robot control device includes a learning control unit for calculating a learning correction amount, a position storage unit for storing a position of a leading end of a robot mechanism part during the learning control, and a speed storage unit for storing a speed of the leading end of the robot mechanism part during the learning control. The robot control device determines, while the robot mechanism part is operated by a position command after the learning control, whether or not the position and the speed of the leading end are in an abnormal state based on errors with respect to the position and the speed of the leading end stored during the learning control. The robot control device switches a determination as to whether the learning correction amount is applied in accordance with this determination result.

7. 发明申请

US20190118375A1 RELATED TO GENERATING A ROBOT CONTROL POLICY FROM DEMONSTRATIONS COLLECTED VIA KINESTHETIC TEACHING OF A ROBOT 审中-公开
公开(公告)号：US20190118375A1
公开(公告)日：2019-04-25
申请号：US16230478
申请日：2018-12-21
申请人： X DEVELOPMENT LLC
发明人： Seyed Mohammad Khansari Zadeh
IPC分类号： B25J9/16 , G05B19/423 , B25J13/08
CPC分类号： B25J9/163 , B25J9/1664 , B25J13/088 , G05B19/423 , G05B2219/40465 , G05B2219/40471 , G05B2219/40474 , Y10S901/04
摘要： Generating a robot control policy that regulates both motion control and interaction with an environment and/or includes a learned potential function and/or dissipative field. Some implementations relate to resampling temporally distributed data points to generate spatially distributed data points, and generating the control policy using the spatially distributed data points. Some implementations additionally or alternatively relate to automatically determining a potential gradient for data points, and generating the control policy using the automatically determined potential gradient. Some implementations additionally or alternatively relate to determining and assigning a prior weight to each of the data points of multiple groups, and generating the control policy using the weights. Some implementations additionally or alternatively relate to defining and using non-uniform smoothness parameters at each data point, defining and using d parameters for stiffness and/or damping at each data point, and/or obviating the need to utilize virtual data points in generating the control policy.

8. 发明授权

US10260970B2 Force/torque sensor, apparatus and method for robot teaching and operation 有权
公开(公告)号：US10260970B2
公开(公告)日：2019-04-16
申请号：US15600105
申请日：2017-05-19
申请人： ROBOTIQ INC.
发明人： Nicolas Lauzier , Simon Lefrançois , David Castonguay , Louis-Alexis Allen Demers , Jean-François Duval , Yan Drolet Mihelic , Pierre Olivier Proulx , Rachid Bekhti , Philippe Cardou , Vincent Duchaine , Samuel Bouchard , Jean-Philippe Jobin
IPC分类号： G01L5/00 , G01L1/14 , B25J9/16 , B25J9/00 , B25J13/08 , G01L25/00 , G01L5/16 , G01L5/22 , G05B19/423
摘要： This invention relates to force/torque sensor and more particularly to multi-axis force/torque sensor and the methods of use for directly teaching a task to a mechatronic manipulator. The force/torque sensor has a casing, an outer frame forming part of or connected to the casing, an inner frame forming part of or connected to the casing, a compliant member connecting the outer frame to the inner frame, and one or more measurement elements mounted in the casing for measuring compliance of the compliant member when a force or torque is applied between the outer frame and the inner frame.

9. 发明申请

US20190086907A1 PROGRAMMING A ROBOT BY DEMONSTRATION 审中-公开
公开(公告)号：US20190086907A1
公开(公告)日：2019-03-21
申请号：US16087524
申请日：2017-04-11
申请人： Universal Robots A/S
发明人： Esben H. Oestergaard , Iñigo Iturrate , Thiusius Rajeeth Savarimuthu
IPC分类号： G05B19/423 , B25J9/16
摘要： There is provided a method and computer program product for programming a robot by manually operating it in gravity-compensation kinesthetic-guidance mode. More specifically there is provided method and computer program product that uses kinesthetic teaching as a demonstration input modality and does not require the installation or use of any external sensing or data-capturing modules. It requires a single user demonstration to extract a representation of the program, and presents the user with a series of easily-controllable parameters that allow them to modify or constrain the parameters of the extracted program representation of the task.

10. 发明申请

US20190061148A1 ROBOT WITH CONTROL SYSTEM FOR DISCRETE MANUAL INPUT OF POSITIONS AND/OR POSES 审中-公开
公开(公告)号：US20190061148A1
公开(公告)日：2019-02-28
申请号：US15773630
申请日：2016-10-25
申请人： FRANKA EMIKA GmbH
发明人： Sami HADDADIN
IPC分类号： B25J9/16 , G05B19/423
摘要： The invention relates to a robot, a robot control system, and a method for controlling a robot. The robot comprises a movable, multi-membered robot structure (102) that can be driven by means of actuators (101), at least one marked structural element S being defined on the movable robot structure (102), with at least one point PS marked on the structural element S. The robot is designed such that, in an input mode, it learns positions POSPS of the point PS and/or poses of the structural element S in a work space of the robot, the user exerting an input force FEING on the movable robot structure in order to move the structural element S, which is conveyed to the point PS as FEING,PS, and/or to the structural element S as torque MEING,S. A control device (103) of the robot is designed such that, in the input mode, the actuators (101) are controlled on the basis of a pre-defined space-fixed virtual 3D grid that at least partially fills the work space, such that the structural element S is moved with a pre-defined force FGRID (POSPS), according to the current position POSPS of the point PS in the 3D grid, to the adjacent grid point of the 3D grid or in a grid point space defined around the adjacent grid point of the 3D grid, the point PS of the structural element S remaining on said adjacent grid point or in said grid point space in the event of the following holding true: |FEING,PS|

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