[특허]Robot with virtual arm positioning based on sensed camera image

Robot with virtual arm positioning based on sensed camera image 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	B25J-009/00
출원번호	US-0883773 (1992-05-15)
우선권정보	JP-0144191 (1991-05-21)
발명자 / 주소	Nagata Yasuyuki (Saitama JPX)
출원인 / 주소	Sony Corporation (Tokyo JPX 03)
인용정보	피인용 횟수 : 149 인용 특허 : 0

초록 ▼

A robot numerical control apparatus for following a program and utilizing, in the program, the result of processing an image obtained by a camera attached to an arm of a robot. Either a first command for displacing the manipulating end of the robot to a designated position or a second command for displacing the center of the output image of the camera to the designated position is selectable as a displacement command to actuate the robot. A coordinate transformer is provided for controlling the movement of the robot\s arm with pseudo-control in such a manner that when the second command is selected the center of the sensed image is positioned at the manipulating end of a virtual arm measured from the center of the sensed image to the center of the articulation of the robot\s arm equipped with the camera, whereby the subject being photographed can be caught exactly at the image sensing center of the camera attached to the robot\s arm.

대표청구항 ▼

A robot numerical control apparatus for controlling the operation of a robot equipped with a camera on one of a plurality of arms thereof for sensing an image, comprising: a memory for storing a program wherein instructions for operation of said robot are written; a coordinate transformer for transforming coordinate data of a desired displacement position expressed by an orthogonal coordinate system to a coordinate value expressed by an axial coordinate system which represents a positional relationship between mutually adjacent arms and for outputting axial coordinate data; a program analyzer for retrieving the program from said memory, for analyzing the program, and for supplying to said coordinate transformer the coordinate data of the desired displacement position with respect to either a manipulating end of the robot or the center of a sensed image; an arm data memory for storing data relative to the respective lengths of said plurality of arms; a virtual arm data memory for storing data representing the length of a virtual arm measured from the center of the sensed image to the center of articulation of the arm equipped with said camera, and also for storing data representing the value of a deviation angle formed by said virtual arm and said arm equipped with said camera; an adder/subtractor for adding or subtracting the value of the deviation angle stored in said virtual arm data memory, to or from the axial coordinate data outputted from said coordinate transformer; and a selector for selecting, in response to the coordinate data supplied from said program analyzer, either the content of said arm data memory or the content of said virtual arm data memory as the arm data to be supplied to said coordinate transformer; whereby, when said program analyzer receives a displacement command relative to the center of said sensed image, the content of said arm data memory is selected by said selector, and said virtual arm length data is supplied to said coordinate transformer, while said virtual arm deviation angle data is supplied to said adder/subtractor to control movement of the arm, thereby controlling the displacement of the image center with pseudo control in such a manner that the center of the sensed image is positioned at the manipulating end of said virtual arm.

이 특허를 인용한 특허 (149)

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Wang, Yulun; Pinter, Marco; Hanrahan, Kevin; Sanchez, Daniel Steven; Jordan, Charles S.; Roe, David Bjorn; Rosenthal, James; Walters, Derek, Tele-presence robot system with software modularity, projector and laser pointer.
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Ballantyne, James; Temby, Kelton; Rosenthal, James; Roe, David, Tele-presence system with a user interface that displays different communication links.
상세보기
Ballantyne, James; Temby, Kelton; Rosenthal, James; Roe, David B., Tele-presence system with a user interface that displays different communication links.
상세보기
Wang,Yulun; Jordan,Charles S., Tele-robotic system used to provide remote consultation services.
상세보기
Wang, Yulun; Jordan, Charles S.; Hanrahan, Kevin; Sanchez, Daniel Steven; Pinter, Marco, Telepresence robot with a camera boom.
상세보기
Walters, Derek; Pinter, Marco; Southard, Jonathan; Jordan, Charles S., Telepresence robot with a printer.
상세보기
Wang, Yulun; Jordan, Charles S.; Wright, Tim; Chan, Michael; Pinter, Marco; Hanrahan, Kevin; Sanchez, Daniel; Ballantyne, James; Herzog, Cody; Whitney, Blair; Lai, Fuji; Temby, Kelton; Rauhut, Eben Christopher; Kearns, Justin H.; Wong, Cheuk Wah; Farlow, Timothy Sturtevant, Time-dependent navigation of telepresence robots.
상세보기
Wang, Yulun; Jordan, Charles S.; Wright, Tim; Chan, Michael; Pinter, Marco; Hanrahan, Kevin; Sanchez, Daniel; Ballantyne, James; Herzog, Cody; Whitney, Blair; Lai, Fuji; Temby, Kelton; Rauhut, Eben Christopher; Kearns, Justin H.; Wong, Cheuk Wah; Farlow, Timothy Sturtevant, Time-dependent navigation of telepresence robots.
상세보기
Islam, Mohammed N., Wearable devices using near-infrared light sources.
상세보기

IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

내보내기 구분	파일저장 인쇄 메일전송
구성항목	기본정보 상세정보 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표IPC 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 공고번호, 공고일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표출원인, 출원인국적, 출원인주소, 발명자, 발명자E, 발명자코드, 발명자주소, 발명자 우편번호, 발명자국적, 대표IPC, IPC코드, 요약, 미국특허분류, 대리인주소, 대리인코드, 대리인(한글), 대리인(영문), 국제공개일자, 국제공개번호, 국제출원일자, 국제출원번호, 우선권, 우선권주장일, 우선권국가, 우선권출원번호, 원출원일자, 원출원번호, 지정국, Citing Patents, Cited Patents
저장형식	Text(ASCII format) Excel format PIAS분석(.xls)
메일정보	받는사람 (필수) @ 보내는사람 (선택) @ 제목 내용 KISTI 검색결과 이메일 서비스
안내	총 건의 자료가 검색되었습니다. 다운받으실 자료의 인덱스를 입력하세요. (1-10,000) 검색결과의 순서대로 최대 10,000건 까지 다운로드가 가능합니다. 데이타가 많을 경우 속도가 느려질 수 있습니다.(최대 2~3분 소요) 다운로드 파일은 UTF-8 형태로 저장됩니다. 파일의 내용이 제대로 보이지 않을실 때는 웹브라우저 상단의 보기 -> 인코딩 -> 자동선택 여부를 확인하십시오. ~ Text(ASCII format) Excel format

연합인증

Robot with virtual arm positioning based on sensed camera image 원문보기

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대표청구항 ▼

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연합인증

Robot with virtual arm positioning based on sensed camera image 원문보기

초록 ▼

대표청구항 ▼

연구과제 타임라인

전체(0) 논문(0) 특허(0) 보고서(0)

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이 특허를 인용한 특허 (149)

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AI-Helper ※ AI-Helper는 오픈소스 모델을 사용합니다.

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