Patents by Inventor Yasuyoshi Honuchi
Yasuyoshi Honuchi has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 11613013Abstract: A robot control device includes the following: a main control unit; a servo control unit, which receives a position command ?c from the main control unit; and a bending correction block (24), which corrects the bending of the reduction gear connected to the servo motor. The bending correction block (24) includes the following: a first position-correction-value calculation means (63), which finds a first position-command correction value ?sgc based on the position command ?c; and a second position-command-correction-value calculation means (64), which finds a second position-command correction value ?skc based on the interference torque ?a. The servo control unit drives the servo motor based on a new position command obtained by adding the first position-command correction value ?sgc and the second position-command correction value ?skc to the position command ?c.Type: GrantFiled: December 24, 2019Date of Patent: March 28, 2023Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.Inventors: Hiroyuki Nakata, Hiroyoshi Ueda, Atsumi Hashimoto, Ryosuke Yamamoto, Yasuyoshi Honuchi
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Publication number: 20220176557Abstract: Stop and start detection block (63) determines whether or not a joint portion is in a stopped state before a rotation direction of the joint portion is inverted based on stop flag signal (Stop_Flg). When it is determined that the joint portion is in the stopped state, filter processing block (65) changes a frequency component of a correction amount for correcting backlash to a low frequency lower than a predetermined threshold value.Type: ApplicationFiled: February 22, 2022Publication date: June 9, 2022Inventors: HIROYUKI NAKATA, HIROYOSHI UEDA, RYOSUKE YAMAMOTO, ATSUMI HASHIMOTO, YASUYOSHI HONUCHI, MASAYOSHI IWATANI
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Publication number: 20220168891Abstract: When workpiece (W) is brought into a non-gripping state after deflection compensation of robot arm (10) is performed in a gripping state of workpiece (W), the deflection compensation of robot arm (10) is performed in a non-gripping state of workpiece (W). Here, the deflection compensation of robot arm (10) in the non-gripping state of workpiece (W) is performed while a compensation amount is changed to gradually decrease, while hand (18) is moved from a first teaching point to a second teaching point.Type: ApplicationFiled: February 18, 2022Publication date: June 2, 2022Inventors: MASAYOSHI IWATANI, HIROYUKI NAKATA, HIROYOSHI UEDA, ATSUMI HASHIMOTO, YASUYOSHI HONUCHI, RYOSUKE YAMAMOTO
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Patent number: 11298819Abstract: A robot control method of controlling motion of a robot arm by using a servo motor includes adding d-axis electric current to a motor electric current command (steps 15-6, 15-8) if external temperature is less than or equal to a predetermined value (step 15-3), and if an absolute value of the motor electric current command is less than or equal to a predetermined value (step 15-4), and if a value of detected overload is less than or equal to a predetermined value (step 15-5).Type: GrantFiled: August 22, 2019Date of Patent: April 12, 2022Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.Inventors: Hiroyuki Nakata, Atsumi Hashimoto, Ryosuke Yamamoto, Yasuyoshi Honuchi
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Patent number: 11161242Abstract: In a robot having a first rotary shaft and a second rotary shaft driven by respective motors and extending in the same direction, the second rotary shaft is rotated while vibrating the first rotary shaft that is holding a load directly or indirectly, thereby rotating the first rotary shaft relative to a load. This enables calculating the gravitational torque of the load applied to the first rotary shaft.Type: GrantFiled: May 30, 2019Date of Patent: November 2, 2021Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.Inventors: Ryosuke Yamamoto, Hiroyuki Nakata, Atsumi Hashimoto, Yasuyoshi Honuchi
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Patent number: 10882183Abstract: A robot controlling method for operating an arm using a motor includes: performing, before the arm stops, addition to add a backlash compensation value to a position command which is input to the motor; and performing, in a period during which the robot arm is not in motion, subtraction to reduce the backlash compensation value added to the position command.Type: GrantFiled: May 9, 2017Date of Patent: January 5, 2021Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.Inventors: Hiroyuki Nakata, Atsumi Hashimoto, Yasuyoshi Honuchi, Ryosuke Yamamoto
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Patent number: 10751880Abstract: A first acquisition unit acquires first data on first malfunction of a robot. A second acquisition unit acquires second data on second malfunction of the robot. A first determination unit determines whether or not to store the first data in accordance with the first data. A second determination unit determines whether or not to store the second data in accordance with the second data. A memory stores the first data and the second data. A controller stores the first data in the memory at a first period when the first determination unit determines to store the first data. The controller further stores the second data in the memory at a second period longer than the first period, when the first determination unit determines not to store the first data and the second determination unit determines to store the second data.Type: GrantFiled: March 17, 2017Date of Patent: August 25, 2020Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.Inventors: Yasuyoshi Honuchi, Hiroyuki Nakata, Atsumi Hashimoto, Ryosuke Yamamoto
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Patent number: 10690558Abstract: An external force torque due to a collision as a collision torque estimation value is estimated by subtracting a dynamic torque obtained by an inverse dynamic calculation of a robot from a torque output to a gear reducer by a motor. It is determined that the robot receives an external force if the collision torque estimation value is greater than a predetermined collision detection threshold.Type: GrantFiled: August 24, 2016Date of Patent: June 23, 2020Assignee: Panasonic Intellectual Property Management Co., Ltd.Inventors: Hiroyuki Nakata, Atsumi Hashimoto, Ryosuke Yamamoto, Yasuyoshi Honuchi
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Patent number: 10644619Abstract: A disclosed motor control device includes: a PI controller which controls a velocity of a motor; an input unit which receives specification information including information of a weight and a center of mass of a tool; a calculation unit which calculates a gravitational torque based on the specification information; a storage which stores the gravitational torque output from the calculation unit and an integral value output from the PI controller, and outputs the gravitational torque and the integral value in response to a break signal; and a selection unit which sets, to the PI controller, the integral value output from the storage, according to a collision sensitivity input from the input unit.Type: GrantFiled: March 27, 2017Date of Patent: May 5, 2020Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.Inventors: Ryosuke Yamamoto, Hiroyuki Nakata, Atsumi Hashimoto, Yasuyoshi Honuchi
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Publication number: 20200130181Abstract: A robot control device includes the following: a main control unit; a servo control unit, which receives a position command ?c from the main control unit; and a bending correction block (24), which corrects the bending of the reduction gear connected to the servo motor. The bending correction block (24) includes the following: a first position-correction-value calculation means (63), which finds a first position-command correction value ?sgc based on the position command ?c; and a second position-command-correction-value calculation means (64), which finds a second position-command correction value ?skc based on the interference torque ?a. The servo control unit drives the servo motor based on a new position command obtained by adding the first position-command correction value ?sgc and the second position-command correction value ?skc to the position command ?c.Type: ApplicationFiled: December 24, 2019Publication date: April 30, 2020Inventors: HIROYUKI NAKATA, HIROYOSHI UEDA, ATSUMI HASHIMOTO, RYOSUKE YAMAMOTO, YASUYOSHI HONUCHI
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Patent number: 10606235Abstract: A motor control device includes a movement command generation unit, a movement command processing unit, and a control unit. The movement command generation unit outputs a movement command of a motor. The movement command processing unit includes a buffer, a filter, and a processing unit. The buffer holds the movement command. The filter performs filter processing of a constant and generates a new constant. The processing unit performs arithmetic processing based on the movement command held in the buffer and the new constant generated by the filter, and generates and outputs a new movement command proportional to the new constant. The control unit controls the motor based on the new movement command.Type: GrantFiled: April 7, 2017Date of Patent: March 31, 2020Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.Inventors: Atsumi Hashimoto, Hiroyuki Nakata, Yasuyoshi Honuchi, Ryosuke Yamamoto
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Publication number: 20200009726Abstract: A robot controlling method for operating an arm using a motor includes: performing, before the arm stops, addition to add a backlash compensation value to a position command which is input to the motor; and performing, in a period during which the robot arm is not in motion, subtraction to reduce the backlash compensation value added to the position command.Type: ApplicationFiled: May 9, 2017Publication date: January 9, 2020Inventors: HIROYUKI NAKATA, ATSUMI HASHIMOTO, YASUYOSHI HONUCHI, RYOSUKE YAMAMOTO
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Publication number: 20190375098Abstract: A robot control method of controlling motion of a robot arm by using a servo motor includes adding d-axis electric current to a motor electric current command (steps 15-6, 15-8) if external temperature is less than or equal to a predetermined value (step 15-3), and if an absolute value of the motor electric current command is less than or equal to a predetermined value (step 15-4), and if a value of detected overload is less than or equal to a predetermined value (step 15-5).Type: ApplicationFiled: August 22, 2019Publication date: December 12, 2019Inventors: HIROYUKI NAKATA, ATSUMI HASHIMOTO, RYOSUKE YAMAMOTO, YASUYOSHI HONUCHI
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Publication number: 20190339666Abstract: A motor control device includes a movement command generation unit, a movement command processing unit, and a control unit. The movement command generation unit outputs a movement command of a motor. The movement command processing unit includes a buffer, a filter, and a processing unit. The buffer holds the movement command. The filter performs filter processing of a constant and generates a new constant. The processing unit performs arithmetic processing based on the movement command held in the buffer and the new constant generated by the filter, and generates and outputs a new movement command proportional to the new constant.Type: ApplicationFiled: April 7, 2017Publication date: November 7, 2019Inventors: ATSUMI HASHIMOTO, HIROYUKI NAKATA, YASUYOSHI HONUCHI, RYOSUKE YAMAMOTO
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Publication number: 20190275674Abstract: In a robot having a first rotary shaft and a second rotary shaft driven by respective motors and extending in the same direction, the second rotary shaft is rotated while vibrating the first rotary shaft that is holding a load directly or indirectly, thereby rotating the first rotary shaft relative to a load. This enables calculating the gravitational torque of the load applied to the first rotary shaft.Type: ApplicationFiled: May 30, 2019Publication date: September 12, 2019Inventors: RYOSUKE YAMAMOTO, HIROYUKI NAKATA, ATSUMI HASHIMOTO, YASUYOSHI HONUCHI
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Publication number: 20190260313Abstract: A disclosed motor control device includes: a PI controller which controls a velocity of a motor; an input unit which receives specification information including information of a weight and a center of mass of a tool; a calculation unit which calculates a gravitational torque based on the specification information; a storage which stores the gravitational torque output from the calculation unit and an integral value output from the PI controller, and outputs the gravitational torque and the integral value in response to a break signal; and a selection unit which sets, to the PI controller, the integral value output from the storage, according to a collision sensitivity input from the input unit.Type: ApplicationFiled: March 27, 2017Publication date: August 22, 2019Inventors: RYOSUKE YAMAMOTO, HIROYUKI NAKATA, ATSUMI HASHIMOTO, YASUYOSHI HONUCHI
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Patent number: 10355635Abstract: A motor control device includes a movement command generator that outputs a movement command of a motor, a filter that performs filter processing of the movement command and outputs the filtered movement command, and a position controller that performs a position control of the motor. The filter is an infinite impulse response digital filter that is represented by a transfer function H(z): H(z)=(b0+b1·z?1+b2·z?2)/{1?(a1·z?1+a2·z?2)} with filter coefficients a1, a2, b0, b1, and b2. The filter is configured to change the filter coefficient b0 in a first sample period, to change the filter coefficients a1 and b1 in a second sample period which follows the first sample period, and to change the filter coefficients a2 and b2 in a third sample period which follows the second sample period.Type: GrantFiled: June 29, 2016Date of Patent: July 16, 2019Assignee: Panasonic Intellectual PropertyInventors: Atsumi Hashimoto, Hiroyuki Nakata, Yasuyoshi Honuchi, Ryosuke Yamamoto
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Publication number: 20190022865Abstract: A first acquisition unit acquires first data on first malfunction of a robot. A second acquisition unit acquires second data on second malfunction of the robot. A first determination unit determines whether or not to store the first data in accordance with the first data. A second determination unit determines whether or not to store the second data in accordance with the second data. A memory stores the first data and the second data. A controller stores the first data in the memory at a first period when the first determination unit determines to store the first data. The controller further stores the second data in the memory at a second period longer than the first period, when the first determination unit determines not to store the first data and the second determination unit determines to store the second data.Type: ApplicationFiled: March 17, 2017Publication date: January 24, 2019Inventors: YASUYOSHI HONUCHI, HIROYUKI NAKATA, ATSUMI HASHIMOTO, RYOSUKE YAMAMOTO
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Publication number: 20180275627Abstract: A motor control device includes a movement command generator that outputs a movement command of a motor, a filter that performs filter processing of the movement command and outputs the filtered movement command, and a position controller that performs a position control of the motor. The filter is an infinite impulse response digital filter that is represented by a transfer function H(z): H(z)=(b0+b1·z?1+b2·z?2)/{1?(a1·z?1+a2·z?2)} with filter coefficients a1, a2, b0, b1, and b2. The filter is configured to change the filter coefficient b0 in a first sample period, to change the filter coefficients a1 and b1 in a second sample period which follows the first sample period, and to change the filter coefficients a2 and b2 in a third sample period which follows the second sample period.Type: ApplicationFiled: June 29, 2016Publication date: September 27, 2018Inventors: ATSUMI HASHIMOTO, HIROYUKI NAKATA, YASUYOSHI HONUCHI, RYOSUKE YAMAMOTO
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Publication number: 20180164170Abstract: Collision of a robot is detected by the following method. The robot includes a motor, a gear reducer connected to the motor, an encoder detecting a rotation of the motor, a temperature sensor installed to the encoder, and an object which is driven by the motor via the gear reducer. An external force torque due to a collision as a collision torque estimation value is estimated by subtracting a dynamic torque obtained by an inverse dynamic calculation of the robot from a torque output to the gear reducer by the motor. It is determined that the robot receives an external force if the collision torque estimation value is greater than a predetermined collision detection threshold. The predetermined collision detection threshold is set to a first value in a case where a temperature detected by the temperature sensor is less than a predetermined temperature threshold.Type: ApplicationFiled: August 24, 2016Publication date: June 14, 2018Inventors: HIROYUKI NAKATA, ATSUMI HASHIMOTO, RYOSUKE YAMAMOTO, YASUYOSHI HONUCHI