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1. 发明授权

US11373017B2 Computer-based design system for an electric drive system 有权
公开(公告)号：US11373017B2
公开(公告)日：2022-06-28
申请号：US15529380
申请日：2015-11-23
申请人： Lenze Automation GmbH
发明人： Tobias Schilgen , Otmar Foessing
IPC分类号： G06F30/17 , G05B19/18 , G05B19/4097 , G06F111/04 , G05B19/418 , G05B19/42 , G05B19/427
摘要： A computer-based design system for an electric drive system includes: a cam editor having a graphical user interface, wherein the graphical user interface sets values of parameters of a motion profile of the electric drive system on the basis of user inputs, a limit value memory, which stores limit values of the motion profile, and a limit value monitoring device, which monitors whether a value of a parameter inputted by a user input causes one or more of the stored limit values to be violated by the resulting motion profile and, in the case that one or more of the stored limit values are violated by the resulting motion profile, to adjust the inputted value of the parameter to such a value of the parameter that none of the stored limit values are violated by the resulting motion profile.

2. 发明授权

US11045956B2 Programming of a robotic arm using a motion capture system 有权
公开(公告)号：US11045956B2
公开(公告)日：2021-06-29
申请号：US16273361
申请日：2019-02-12
申请人： X Development LLC
发明人： Jeffrey Linnell
IPC分类号： G06F17/00 , B25J9/16 , G05B19/427
摘要： An example method includes receiving position data indicative of position of a demonstration tool. Based on the received position data, the method further includes determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool. The method additionally includes determining a replication control path for a robotic device, where the replication control path includes one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool. The method also includes providing for display of a visual simulation of the one or more robot movements within the replication control path.

3. 发明申请

US20190168390A1 Programming of a Robotic Arm Using a Motion Capture System 审中-公开
公开(公告)号：US20190168390A1
公开(公告)日：2019-06-06
申请号：US16273361
申请日：2019-02-12
申请人： X Development LLC
发明人： Jeffrey Linnell
IPC分类号： B25J9/16 , G05B19/427
摘要： An example method includes receiving position data indicative of position of a demonstration tool. Based on the received position data, the method further includes determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool. The method additionally includes determining a replication control path for a robotic device, where the replication control path includes one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool. The method also includes providing for display of a visual simulation of the one or more robot movements within the replication control path.

4. 发明授权

US09604357B2 Robot and device having multi-axis motion sensor, and method of use thereof 有权
公开(公告)号：US09604357B2
公开(公告)日：2017-03-28
申请号：US14813045
申请日：2015-07-29
申请人： KABUSHIKI KAISHA YASKAWA DENKI
发明人： Chetan Kapoor , Changbeom Park , Ratheesh Rajan , Andrew Boddiford
IPC分类号： G05B15/00 , G05B19/00 , B25J9/00 , B25J13/00 , G05B19/427
CPC分类号： B25J9/0081 , B25J13/003 , G05B19/427 , Y10S901/05
摘要： A device including a housing configured to attach to a robot arm, and a multi-axis motion sensor provided within the housing. The multi-axis motion sensor is configured to detect movement of the housing, and is configured to communicate with a controller of the robot arm. The device further includes a user interface configured to operate in conjunction with the multi-axis motion sensor, and a connection port provided on the housing. The connection port is configured to connect to an external device.

5. 发明授权

US5748854A Robot position teaching system and method 失效
标题翻译：机器人位置教学系统与方法
公开(公告)号：US5748854A
公开(公告)日：1998-05-05
申请号：US490761
申请日：1995-06-15
申请人： Atsushi Watanabe , Tomoyuki Terada , Shinsuke Sakamoto
发明人： Atsushi Watanabe , Tomoyuki Terada , Shinsuke Sakamoto
IPC分类号： B25J9/22 , G05B19/19 , G05B19/42 , G05B19/423 , G05B19/427 , G06K9/62 , G06F15/46
CPC分类号： G05B19/423 , G05B2219/36452
摘要： A robot position teaching system and method including a robot controller to control a robot, a visual sensor to measure a three-dimensional position, an image processing device to measure a position by processing and analyzing an image recognized by the visual sensor, and a position teaching unit provided with a grasping portion having a size which can be grasped by a hand of an operator, and an index which can visually be recognized by the visual sensor, and is disposed at a distal end of a rod-type body extending from the grasping portion. The operator turns on a moving switch of the position teaching unit such that the robot controller moves the robot toward a position of the index recognized by a camera. When an approach teaching switch of the position teaching unit is turned on after movement of the robot is stopped, data of a current position of the index recognized by the camera is stored as teaching position data. On the other hand, by turning on an arrival teaching switch, a current position of the robot is stored as the teaching position data.
摘要翻译：一种机器人位置教学系统和方法，包括：机器人控制器，用于控制机器人，用于测量三维位置的视觉传感器;图像处理装置，用于通过处理和分析由视觉传感器识别的图像来测量位置;以及位置教学单元设置有具有可由操作者的手掌握的尺寸的抓握部分，以及可视觉地由视觉传感器识别的索引，并且设置在从所述视觉传感器延伸的杆状体的远端抓握部分。操作者打开位置示教单元的移动开关，使得机器人控制器将机器人移动到由相机识别的索引的位置。当停止机器人的移动之后接通位置教学单元的接近教导开关时，存储由摄像机识别的索引的当前位置的数据作为教学位置数据。另一方面，通过接通到达教导开关，存储机器人的当前位置作为教学位置数据。

6. 发明授权

US5513100A Velocity controller with force feedback stiffness control 失效
标题翻译：速度控制器采用力反馈刚度控制
公开(公告)号：US5513100A
公开(公告)日：1996-04-30
申请号：US74645
申请日：1993-06-10
申请人： Niall R. Parker , Peter D. Lawrence , Septimiu E. Salcudean
发明人： Niall R. Parker , Peter D. Lawrence , Septimiu E. Salcudean
IPC分类号： G05B19/427 , G06F19/00
CPC分类号： G05B19/427 , G05B2219/39529 , G05B2219/40144 , G05B2219/40194
摘要： A force feedback velocity control measures the forces adjacent the end point of an arm being controlled and adjusts the stiffness of a manual controller in any one direction by scaling the end point force in the corresponding direction and adjusting the scaled force based on the degree of displacement of the manual controller away from a datum or zero velocity position in the one direction. A suitable deadband zone is provided surrounding the datum position.
摘要翻译：力反馈速度控制测量邻近臂的端点的力被控制，并且通过在相应方向上缩放终点力并调整基于位移程度的缩放力来调节手动控制器在任何一个方向上的刚度手动控制器远离原点或零速度位置在一个方向。围绕基准位置设置一个合适的死区。

7. 发明授权

US5196998A Adaptive control man-augmentation system for a suspended work station 失效
标题翻译：用于悬挂工作站的自适应控制人员增强系统
公开(公告)号：US5196998A
公开(公告)日：1993-03-23
申请号：US503379
申请日：1990-04-02
申请人： Francis M. Fulton
发明人： Francis M. Fulton
IPC分类号： B25J9/16 , G05B19/427
CPC分类号： B25J9/1689 , G05B19/427 , G05B2219/31018 , G05B2219/40298 , G05B2219/45071
摘要： An adaptive control man-augmentation system controls the movement of a suspended work station. A support structure, usually mounted on a chassis, has with an extendable boom and a work station at the end of the boom. A directing member pivots in accordance with operator movements and the pivotal movement is resolved along two axes, normal to each other and having a fixed relationship within the boom. Resolving of operator movements provides signals for moving the boom so as to move the work station to any desired location, in response to operator movements. The position of the work station is monitored. The signals are continuously monitored and adapted with respect to situation variables to produce immediate and accurate movement response of the workstation to match operator requirements.
摘要翻译：自适应控制人员增强系统控制悬挂工作站的移动。通常安装在底盘上的支撑结构具有可伸长的起重臂和在起重臂末端的工作台。导向构件根据操作者的运动而枢转，并且枢转运动沿两个轴线彼此平行地分离，并且在起重臂内具有固定的关系。操作者移动的解决提供了用于移动动臂的信号，以便响应于操作者移动将工作站移动到任何期望的位置。监控工位的位置。信号被连续地监测并适应于情况变量，以产生工作站的即时和准确的运动响应以匹配操作者的要求。

8. 发明授权

US5041991A Data conversion system for an industrial robot system 失效
标题翻译：工业机器人系统的数据转换系统
公开(公告)号：US5041991A
公开(公告)日：1991-08-20
申请号：US324254
申请日：1989-03-14
申请人： Kazuyuki Fujiki
发明人： Kazuyuki Fujiki
IPC分类号： B25J9/22 , B25J9/18 , G05B19/18 , G05B19/404 , G05B19/408 , G05B19/42 , G05B19/427
CPC分类号： G05B19/408 , G05B19/427 , G05B2219/36078 , G05B2219/45083
摘要： A data conversion system for an industrial robot system comprises a first read/write apparatus loaded with a first recording disk recorded with a control data produced by a mother robot and a first scale data specifying a maximum rotational angle and a minimum rotational angle of an arm of the mother robot about a rotational axis, for reading out the control data and the first scale data from the recording disk, a second read/write apparatus loaded with a second recording disk recorded with a second scale data specifying a maximum rotational angle and a minimum rotational angle of an arm about a rotational axis of a duty robot for reading out the second scale data from the second recording disk, and a processor supplied with the control data and first scale data from said first read/write apparatus and further supplied with the second scale data from the second read/write apparatus for modifying the control data in proportion to ratio of the first and second scale data. The converted control data thus obtained is recorded on the second recording disk by the second read/write apparatus.
摘要翻译：一种用于工业机器人系统的数据转换系统，包括装载有由母机器人产生的控制数据的第一记录盘的第一读/写装置和指定臂的最大旋转角度和最小旋转角度的第一刻度数据所述母机器人围绕旋转轴线读出控制数据和来自记录盘的第一刻度数据;第二读/写装置，装载有记录有指定最大旋转角度的第二刻度数据的第二记录盘，以及围绕用于从第二记录盘读出第二刻度数据的任务机器人的旋转轴的最小旋转角度以及从所述第一读/写装置提供控制数据和第一刻度数据的处理器，并进一步提供来自第二读/写装置的第二比例数据，用于与第一和第二比例数据的比例成比例地修改控制数据。由此获得的经转换的控制数据由第二读/写装置记录在第二记录盘上。

9. 发明授权

US5019761A Force feedback control for backhoe 失效
标题翻译：对反铲的力反馈控制
公开(公告)号：US5019761A
公开(公告)日：1991-05-28
申请号：US313958
申请日：1989-02-21
申请人： Brett W. Kraft
发明人： Brett W. Kraft
IPC分类号： G05B19/427
CPC分类号： G05B19/427 , G05B2219/37396 , G05B2219/45012
摘要： A force feedback control system for a backhoe includes a single grip articulated control arm having members and joints therebetween analogous to the members and joints of an articulated backhoe arm connecting an excavation bucket to a backhoe frame. A bilateral closed loop control circuit compares slave position signals from output joint position sensors associated with the backhoe arm joints with corresponding master position signals from input joint sensors associated with the control arm joints and provides command signals to actuators associated with the backhoe joints to move them so that differences in corresponding master and slave position signals are minimized. Backhoe joint load sensors provide load signals indicating resistance to movement of the associated backhoe joints, and the control circuit generates force feedback signals to drive feedback motors associated with the control arm joints to apply toruqes thereto to reflect the resistance to movement of the associated backhoe joints.
摘要翻译：用于反铲的力反馈控制系统包括单个握柄铰接控制臂，其间具有类似于将挖掘铲斗连接到反铲框架的铰接式反铲臂的构件和接头之间的构件和接头。双向闭环控制电路将来自与反铲臂接头相关联的输出接头位置传感器的从动位置信号与与控制臂接头相关联的输入接头传感器的相应主位置信号进行比较，并向与反铲接头相关联的致动器提供命令信号以移动它们使得相应的主从位置信号的差异最小化。反铲接头负载传感器提供指示相关反铲接头运动阻力的负载信号，并且控制电路产生力反馈信号以驱动与控制臂接头相关联的反馈电机，以向其施加电弧以反映相关反铲接头的运动阻力。

10. 发明授权

US4941106A Apparatus for recognizing and approaching a three-dimensional target 失效
标题翻译：用于识别和接近三维目标的装置
公开(公告)号：US4941106A
公开(公告)日：1990-07-10
申请号：US280398
申请日：1988-12-05
申请人： Friedrich Krieger
发明人： Friedrich Krieger
IPC分类号： G01B11/00 , B23Q17/24 , B25J9/04 , B25J9/16 , B25J9/18 , B25J19/02 , B25J19/04 , G01V8/10 , G05B19/427 , G05D3/12
CPC分类号： B25J9/1689 , B23Q17/24 , B25J19/023 , B25J9/04 , G05B19/427
摘要： An apparatus for recognizing and approaching a target in a space not directly visible within the maximum range of an industrial robot with camera on the end of a boom. The camera is used to observe an environment of the space including the target and to send images to a monitor at a remote control station. The apparatus includes an industrial robot with a plurality of axes having degrees of freedom and a camera with a lens having an optical axis which can be selectively rotated 360 degrees around a first axis and selectively pivoted 180 degrees around a second axis that is perpendicular to the first axis. The rotating and pivoting motions are used to move the camera and the optical axis until the target can be seen in the monitor. A system is used to control various movements of the robot while sensing and maintaining the camera position and the target direction during movement of the end of the boom from the robot to the target.
摘要翻译：一种用于识别和接近在臂架末端具有照相机的工业机器人的最大范围内不直接可见的空间中的目标的装置。相机用于观察包括目标在内的空间的环境，并将图像发送到远程控制台的监视器。该装置包括具有多个具有自由度的轴的工业机器人和具有光轴的透镜的相机，所述透镜具有可以围绕第一轴线选择性地旋转360度并围绕垂直于第二轴线的第二轴选择性地旋转180度第一轴。旋转和枢转运动用于移动相机和光轴，直到目标在显示器中可见。一个系统用于控制机器人的各种运动，同时在动臂末端从机器人移动到目标位置期间检测并保持摄像机位置和目标方向。

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