Patents by Inventor Hiroyuki Nakata
Hiroyuki Nakata 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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Publication number: 20240088794Abstract: A DC-DC converter includes: a DC-AC conversion circuit that converts a DC input voltage into a primary AC voltage; a transformer including a primary coil to which the primary AC voltage is applied and generates a secondary AC voltage at a secondary coil; a rectifier circuit that outputs a rectified voltage obtained by full-wave rectifying the secondary AC voltage; a smoothing circuit that smooths the rectified voltage; and a control circuit that causes the rectifier circuit to perform rectification by a diode such that, in a free-wheeling period in which power of the input voltage is not transmitted to the transformer, a current does not flow via the rectifier circuit from a first intermediate terminal to a second intermediate terminal, the first and second intermediate terminals connected to the smoothing circuit, and a current flows via the rectifier circuit from the second intermediate terminal to the first intermediate terminal.Type: ApplicationFiled: November 22, 2023Publication date: March 14, 2024Inventors: Hiroyuki HOSOI, Hideki NAKATA
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Patent number: 11926054Abstract: A determination value calculated based on a distance from a work point of a tip of robot arm (10) to virtual straight line (30) passing through an axis of second joint (J2) and an axis of third joint (J3) is compared with a predetermined threshold. A method of calculating deflection compensation amounts for second joint (J2) and third joint (J3) is changed depending on whether the determination value is larger or smaller than the threshold. Second joint (J2) and third joint (J3) are caused to pivot based on the calculated deflection compensation amounts.Type: GrantFiled: November 19, 2021Date of Patent: March 12, 2024Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.Inventors: Hiroyoshi Ueda, Hiroyuki Nakata, Atsumi Hashimoto, Ryosuke Yamamoto, Masayoshi Iwatani
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Publication number: 20240074318Abstract: [Object] To provide a transducer capable of providing a high degree of freedom in deformation and suppressing a risk of breakage and a method of producing the transducer. [Solving Means] In order to achieve the above-described object, a transducer according to an embodiment of the present technology includes an elastomer. The elastomer extends along a predetermined axis direction, and has both end portions in which at least two electrodes having followability are disposed on both sides around a predetermined axis in the predetermined axis direction, the both end portions being elongated to be folded in a direction perpendicular to the predetermined axis. This makes it possible to provide a high degree of freedom in deformation and to suppress a risk of breakage.Type: ApplicationFiled: December 9, 2021Publication date: February 29, 2024Inventors: YUSAKU KATO, AKIHIRO NAKATA, RYO IWAMURO, DAISUKE YAMAMOTO, HIROYUKI MITSUHASHI, YOSHIO GOTO
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Patent number: 11890759Abstract: Load information on a tool to be attached to a robot arm and collision sensitivity are input. Gravitational torque is calculated based on the input load information. A deflection amount of the robot arm is calculated based on the gravitational torque. A correction amount is calculated based on the collision sensitivity input. The deflection amount is corrected while the robot arm moves.Type: GrantFiled: October 29, 2020Date of Patent: February 6, 2024Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.Inventors: Ryosuke Yamamoto, Hiroyuki Nakata, Hiroyoshi Ueda, Atsumi Hashimoto, Masayoshi Iwatani
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Patent number: 11717961Abstract: In an angular velocity calculation block, an angular velocity component is calculated based on a position command for a joint portion. In a kinetic calculation block, a kinetic torque is calculated based on the position command for the joint portion. In a command velocity component reversal detection block, a reversal timing is calculated based on the angular velocity component. In a reverse torque detection block, a reverse torque is calculated based on the kinetic torque and the reversal timing. In a backlash correction amount calculation block, the correction amount of the joint portion is calculated based on the kinetic torque, the reverse torque, and the reversal timing.Type: GrantFiled: December 29, 2020Date of Patent: August 8, 2023Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.Inventors: Hiroyuki Nakata, Hiroyoshi Ueda, Atsumi Hashimoto, Ryosuke Yamamoto, Masayoshi Iwatani
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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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Publication number: 20220072702Abstract: A determination value calculated based on a distance from a work point of a tip of robot arm (10) to virtual straight line (30) passing through an axis of second joint (J2) and an axis of third joint (J3) is compared with a predetermined threshold. A method of calculating deflection compensation amounts for second joint (J2) and third joint (J3) is changed depending on whether the determination value is larger or smaller than the threshold. Second joint (J2) and third joint (J3) are caused to pivot based on the calculated deflection compensation amounts.Type: ApplicationFiled: November 19, 2021Publication date: March 10, 2022Inventors: HIROYOSHI UEDA, HIROYUKI NAKATA, ATSUMI HASHIMOTO, RYOSUKE YAMAMOTO, MASAYOSHI IWATANI
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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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Publication number: 20210114212Abstract: In an angular velocity calculation block, an angular velocity component is calculated based on a position command for a joint portion. In a kinetic calculation block, a kinetic torque is calculated based on the position command for the joint portion. In a command velocity component reversal detection block, a reversal timing is calculated based on the angular velocity component. In a reverse torque detection block, a reverse torque is calculated based on the kinetic torque and the reversal timing. In a backlash correction amount calculation block, the correction amount of the joint portion is calculated based on the kinetic torque, the reverse torque, and the reversal timing.Type: ApplicationFiled: December 29, 2020Publication date: April 22, 2021Inventors: Hiroyuki NAKATA, Hiroyoshi UEDA, Atsumi HASHIMOTO, Ryosuke YAMAMOTO, Masayoshi IWATANI
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Publication number: 20210039256Abstract: Load information on a tool to be attached to a robot arm and collision sensitivity are input. Gravitational torque is calculated based on the input load information. A deflection amount of the robot arm is calculated based on the gravitational torque. A correction amount is calculated based on the collision sensitivity input. The deflection amount is corrected while the robot arm moves.Type: ApplicationFiled: October 29, 2020Publication date: February 11, 2021Inventors: Ryosuke YAMAMOTO, Hiroyuki NAKATA, Hiroyoshi UEDA, Atsumi HASHIMOTO, Masayoshi IWATANI
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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