JP2013086258A - ロボット制御インターフェイスの動的最適化のための方法 - Google Patents
ロボット制御インターフェイスの動的最適化のための方法 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims description 29
- 238000005457 optimization Methods 0.000 title description 2
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36133—MMI, HMI: man machine interface, communication
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36137—Configuration of display device, operator panel
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36542—Cryptography, encrypt, access, authorize with key, code, password
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Abstract
【解決手段】表示される制御インターフェイスの特定の構成は、実施される作業、ロボットシステムの性能、人間−機械インターフェイスデバイスの性能、およびユーザの専門知識のレベルに基づく。制御インターフェイスの特定の構成は、上記の基準に基づいて、ユーザとロボットシステムの間の相互作用を最適化するように設計される。
【選択図】図1
Description
[0001]本発明は、NASA Space Act Agreement number SAA−AT−07−003による政府の支援の下でなされた。本明細書に記載される発明は、米国政府の(換言すれば、非商業的な)目的のために、ロイヤリティの支払いなしに、米国政府によりまたは米国政府のために製造および使用され得る。
11 制御信号およびフィードバック信号
12 頭部
13 電源
14 胴体
15 腰
16 腕
17 プロセッサ
18 手
19 指
20 物体
21 母指
22 センサ信号
24 コントローラ、工業用ロボットコントローラ
25 コンピュータ可読メモリ、有形の非一過性メモリ
27 電力制御信号およびフィードバック信号
29 センサ
48 人間−機械インターフェイスデバイス
50 データ、構成パラメータ
52 制御インターフェイスモジュール
54 制御インターフェイス
60 ブロック
62 ブロック
64 ブロック
66 ブロック
68 ブロック
69 ブロック
70 ブロック
72 ブロック
74 ブロック
76 ブロック
110 器用なロボット
Claims (10)
- 機械の制御を最適化する方法であって、
人間−機械インターフェイスデバイスを前記機械に接続するステップと、
実施される作業を選択するステップと、
前記機械の性能および前記人間−機械インターフェイスデバイスの性能を識別するステップと、
実施される前記選択された作業、前記人間−機械インターフェイスデバイスの前記識別された性能、および前記機械の前記識別された性能に基づいて事前定義された制御インターフェイスを表示し、前記機械の前記制御を最適化するステップとを含む方法。 - 実施される作業を選択するステップは、前記機械が実施する新規の動作を開発するステップ、既存の動作を調整するステップ、または既存の動作の再生を制御するステップを含む一群の作業から作業を選択するステップを含む、請求項1に記載の方法。
- 前記機械の前記性能を識別するステップは、前記機械の自由度の総数、前記機械の移動の速度、前記機械のセンサ、または前記機械の利用可能な動作モードを識別するステップを含む、請求項1に記載の方法。
- 前記人間−機械インターフェイスデバイスの性能を識別するステップは、視覚ディスプレイ性能、入出力性能、音声性能、画面ディスプレイサイズまたは画面解像度を識別するステップを含む、請求項3に記載の方法。
- 複数の制御インターフェイスを定義するステップであって、前記複数の制御インターフェイスのそれぞれは、実施される特定の作業用、および前記機械および前記人間−機械インターフェイスデバイスの特定の性能用に、ユーザと前記人間−機械インターフェイスデバイスとの間の相互作用を最適化するように構成された、ステップをさらに含む、請求項1に記載の方法。
- 前記事前定義された制御インターフェイスを表示するステップの前に、許可されたユーザを認証するステップをさらに含む、請求項1に記載の方法。
- 前記人間−機械インターフェイスデバイスの各ユーザ用にユーザアカウントを確立するステップをさらに含む、請求項6に記載の方法。
- 各ユーザアカウント用に専門知識のレベルを定義するステップをさらに含む、請求項7に記載の方法。
- 実施される前記選択された作業、前記人間−機械インターフェイスデバイスの前記識別された性能、および前記機械の前記識別された性能に基づいて事前定義された制御インターフェイスを表示するステップは、前記認証されたユーザの専門知識の前記レベルに基づいて前記事前定義された制御インターフェイスを表示するステップをさらに含む、請求項8に記載の方法。
- 複数の制御インターフェイスを定義するステップであって、前記複数の制御インターフェイスのそれぞれは、実施される特定の作業用、前記機械および前記人間−機械インターフェイスデバイスの前記特定の性能用、および前記認証されたユーザの専門知識の前記レベル用に、ユーザと前記人間−機械インターフェイスデバイスとの間の相互作用を最適化するように構成された、ステップをさらに含む、請求項9に記載の方法。
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US13/272,442 | 2011-10-13 | ||
US13/272,442 US20130096719A1 (en) | 2011-10-13 | 2011-10-13 | Method for dynamic optimization of a robot control interface |
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JP2013086258A true JP2013086258A (ja) | 2013-05-13 |
JP5686775B2 JP5686775B2 (ja) | 2015-03-18 |
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US (1) | US20130096719A1 (ja) |
JP (1) | JP5686775B2 (ja) |
DE (1) | DE102012218297B4 (ja) |
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US20130096719A1 (en) | 2013-04-18 |
DE102012218297A1 (de) | 2013-04-18 |
JP5686775B2 (ja) | 2015-03-18 |
DE102012218297B4 (de) | 2015-07-16 |
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