Patents by Inventor Akihiro Gomi
Akihiro Gomi 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).
-
Patent number: 11090805Abstract: A robot includes a first arm that rotates around the first axis, a second arm that rotates around a second axis in a direction different from the first axis, a third arm that rotates around a third axis parallel to the second axis, a first inertia sensor that is installed at the first arm, a second (a) inertia sensor that is installed at the third arm, first to third angle sensors, a posture detection unit that detects the posture of the third arm with the second arm as a reference and derives a feedback gain, and a second drive source control unit that feeds back a second correction component, which is obtained by multiplying a value, which is obtained by subtracting the angular velocity ?A2m and the angular velocity ?A3m from the angular velocity ?A3, by the feedback gain, and controls the second drive source.Type: GrantFiled: July 16, 2019Date of Patent: August 17, 2021Inventors: Akihiro Gomi, Masaki Motoyoshi, Shunsuke Toshimitsu
-
Patent number: 10688659Abstract: A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.Type: GrantFiled: November 13, 2017Date of Patent: June 23, 2020Assignee: Seiko Epson CorporationInventors: Akihiro Gomi, Masaki Motoyoshi, Akio Niu
-
Publication number: 20190337153Abstract: A robot includes a first arm that rotates around the first axis, a second arm that rotates around a second axis in a direction different from the first axis, a third arm that rotates around a third axis parallel to the second axis, a first inertia sensor that is installed at the first arm, a second (a) inertia sensor that is installed at the third arm, first to third angle sensors, a posture detection unit that detects the posture of the third arm with the second arm as a reference and derives a feedback gain, and a second drive source control unit that feeds back a second correction component, which is obtained by multiplying a value, which is obtained by subtracting the angular velocity ?A2m and the angular velocity ?A3m from the angular velocity ?A3, by the feedback gain, and controls the second drive source.Type: ApplicationFiled: July 16, 2019Publication date: November 7, 2019Inventors: Akihiro GOMI, Masaki MOTOYOSHI, Shunsuke TOSHIMITSU
-
Patent number: 10399222Abstract: A robot includes a first arm that rotates around the first axis, a second arm that rotates around a second axis in a direction different from the first axis, a third arm that rotates around a third axis parallel to the second axis, a first inertia sensor that is installed at the first arm, a second (a) inertia sensor that is installed at the third arm, first to third angle sensors, a posture detection unit that detects the posture of the third arm with the second arm as a reference and derives a feedback gain, and a second drive source control unit that feeds back a second correction component, which is obtained by multiplying a value, which is obtained by subtracting the angular velocity ?A2m and the angular velocity ?A3m from the angular velocity ?A3, by the feedback gain, and controls the second drive source.Type: GrantFiled: March 2, 2016Date of Patent: September 3, 2019Assignee: Seiko Epson CorporationInventors: Akihiro Gomi, Masaki Motoyoshi, Shunsuke Toshimitsu
-
Patent number: 10252413Abstract: A robot of the invention can be moved by a carrying apparatus, and in which a period between a settling start time and a settling end time of the robot overlaps with at least a part of a period between a settling start time and a settling end time of the carrying apparatus. Further, the settling start time of one having a shorter settling time of the robot and the carrying apparatus is later than the settling start time of the other having a longer settling time of the robot and the carrying apparatus or the same as the settling start time of the other having the longer settling time.Type: GrantFiled: November 22, 2016Date of Patent: April 9, 2019Assignee: Seiko Epson CorporationInventors: Toru Makino, Nao Kobayashi, Akihiro Gomi, Takuya Owa
-
Patent number: 9999974Abstract: A robot includes a plurality of joints including a first joint and a second joint that rotates in a direction different from a rotation direction of the first joint, a plurality of arm members including a first arm member provided to be rotatable with respect to a base via the first joint, and a first angular velocity sensor provided in the first arm member or the first joint. A first inertial sensor is provided in the first arm member (or a portion that rotates together with the first arm member in the first joint). The plurality of joints are controlled on the basis of an output of the first inertial sensor.Type: GrantFiled: August 8, 2017Date of Patent: June 19, 2018Assignee: Seiko Epson CorporationInventors: Akihiro Gomi, Masaki Motoyoshi, Shunsuke Toshimitsu, Akio Niu, Atsushi Asada
-
Patent number: 9950427Abstract: A robot includes a robot arm and an inertial sensor provided in the robot arm. The robot arm is controlled using a weighting value for weighting output from the inertial sensor. In at least apart of a range in which the robot arm is movable, the weighting value is a first value when acceleration of the robot arm is first acceleration, and changes from the first value to a second value higher than the first value when the acceleration of the robot arm changes from the first acceleration to second acceleration lower than the first acceleration.Type: GrantFiled: July 13, 2016Date of Patent: April 24, 2018Assignee: Seiko Epson CorporationInventors: Akihiro Gomi, Shunsuke Toshimitsu
-
Publication number: 20180065251Abstract: A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.Type: ApplicationFiled: November 13, 2017Publication date: March 8, 2018Inventors: Akihiro GOMI, Masaki MOTOYOSHI, Akio NIU
-
Patent number: 9868209Abstract: A robot includes a plurality of joints including a first joint and a second joint that rotates in a direction different from a rotation direction of the first joint, a plurality of arm members including a first arm member provided to be rotatable with respect to a base via the first joint, and a first angular velocity sensor provided in the first arm member or the first joint. A first inertial sensor is provided in the first arm member (or a portion that rotates together with the first arm member in the first joint). The plurality of joints are controlled on the basis of an output of the first inertial sensor.Type: GrantFiled: December 1, 2014Date of Patent: January 16, 2018Assignee: Seiko Epson CorporationInventors: Akihiro Gomi, Masaki Motoyoshi, Shunsuke Toshimitsu, Akio Niu, Atsushi Asada
-
Patent number: 9844875Abstract: A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.Type: GrantFiled: December 16, 2015Date of Patent: December 19, 2017Assignee: Seiko Epson CorporationInventors: Akihiro Gomi, Masaki Motoyoshi, Akio Niu
-
Publication number: 20170334068Abstract: A robot includes a plurality of joints including a first joint and a second joint that rotates in a direction different from a rotation direction of the first joint, a plurality of arm members including a first arm member provided to be rotatable with respect to a base via the first joint, and a first angular velocity sensor provided in the first arm member or the first joint. A first inertial sensor is provided in the first arm member (or a portion that rotates together with the first arm member in the first joint). The plurality of joints are controlled on the basis of an output of the first inertial sensor.Type: ApplicationFiled: August 8, 2017Publication date: November 23, 2017Inventors: Akihiro GOMI, Masaki MOTOYOSHI, Shunsuke TOSHIMITSU, Akio NIU, Atsushi ASADA
-
Patent number: 9757860Abstract: A robot includes a plurality of joints including a first joint and a second joint that rotates in a direction different from a rotation direction of the first joint, a plurality of arm members including a first arm member provided to be rotatable with respect to a base via the first joint, and a first angular velocity sensor provided in the first arm member or the first joint. A first inertial sensor is provided in the first arm member (or a portion that rotates together with the first arm member in the first joint). The plurality of joints are controlled on the basis of an output of the first inertial sensor.Type: GrantFiled: December 1, 2014Date of Patent: September 12, 2017Assignee: Seiko Epson CorporationInventors: Akihiro Gomi, Masaki Motoyoshi, Shunsuke Toshimitsu, Akio Niu, Atsushi Asada
-
Publication number: 20170151664Abstract: A robot of the invention can be moved by a carrying apparatus, and in which a period between a settling start time and a settling end time of the robot overlaps with at least a part of a period between a settling start time and a settling end time of the carrying apparatus. Further, the settling start time of one having a shorter settling time of the robot and the carrying apparatus is later than the settling start time of the other having a longer settling time of the robot and the carrying apparatus or the same as the settling start time of the other having the longer settling time.Type: ApplicationFiled: November 22, 2016Publication date: June 1, 2017Inventors: Toru MAKINO, Nao KOBAYASHI, Akihiro GOMI, Takuya OWA
-
Patent number: 9568075Abstract: A robot includes a base; a trunk linked to the base; a multi-joint robot arm rotatably linked to the trunk; and an elevating mechanism capable of bringing the trunk to a low position and a high position higher than the low position, and a time taken when a tip of the multi-joint robot arm is moved by a predetermined distance when the trunk is at the high position is longer than a time taken when the tip of the multi-joint robot arm is moved by a predetermined distance when the trunk is at the low position.Type: GrantFiled: October 23, 2014Date of Patent: February 14, 2017Assignee: Seiko Epson CorporationInventors: Akihiro Gomi, Masaki Motoyoshi
-
Publication number: 20170028554Abstract: A robot includes a robot arm and an inertial sensor provided in the robot arm. The robot arm is controlled using a weighting value for weighting output from the inertial sensor. In at least apart of a range in which the robot arm is movable, the weighting value is a first value when acceleration of the robot arm is first acceleration, and changes from the first value to a second value higher than the first value when the acceleration of the robot arm changes from the first acceleration to second acceleration lower than the first acceleration.Type: ApplicationFiled: July 13, 2016Publication date: February 2, 2017Inventors: Akihiro GOMI, Shunsuke TOSHIMITSU
-
Publication number: 20160318186Abstract: A robot includes a base, first and second arms, first and second drive sources, first and second inertia sensors, and first and second angle sensors. A rotation axis of the first arm and a rotation axis of the second arm are orthogonal to each other. The first inertia sensor is installed at the first arm, and the second inertia sensor is installed at the second arm. The first angle sensor is installed at the first drive source, and the second angle sensor is installed at the second drive source. Angular velocities obtained from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities obtained from the second inertia sensor and the second angle sensor are fed back to a second drive source control unit.Type: ApplicationFiled: July 11, 2016Publication date: November 3, 2016Inventors: Akihiro GOMI, Akio NIU, Masaki MOTOYOSHI
-
Patent number: 9481088Abstract: A robot control device controls the operation of a robot including a trunk that is rotatable around an axis, first and second robot arms that are provided at the trunk and rotatable with respect to the trunk, and first, second, and third inertial sensors. In an operation in which the second robot arm is brought into a stationary state and the first robot arm is rotated around the axis from the stationary state and moved to a target position, the robot control device makes B/A<0.27 satisfied when a maximum value of the amplitude of the angular velocity of the trunk around the axis before the first robot arm reaches the target position is defined as A, and a maximum value of the amplitude of the angular velocity of the trunk around the axis after the first robot arm has reached the target position first is defined as B.Type: GrantFiled: October 17, 2014Date of Patent: November 1, 2016Assignee: Seiko Epson CorporationInventors: Akihiro Gomi, Masaki Motoyoshi
-
Patent number: 9409293Abstract: A robot includes a base, first and second arms, first and second drive sources, first and second inertia sensors, and first and second angle sensors. A rotation axis of the first arm and a rotation axis of the second arm are orthogonal to each other. The first inertia sensor is installed at the first arm, and the second inertia sensor is installed at the second arm. The first angle sensor is installed at the first drive source, and the second angle sensor is installed at the second drive source. Angular velocities obtained from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities obtained from the second inertia sensor and the second angle sensor are fed back to a second drive source control unit.Type: GrantFiled: April 20, 2015Date of Patent: August 9, 2016Assignee: Seiko Epson CorporationInventors: Akihiro Gomi, Akio Niu, Masaki Motoyoshi
-
Publication number: 20160176047Abstract: A robot includes a first arm that rotates around the first axis, a second arm that rotates around a second axis in a direction different from the first axis, a third arm that rotates around a third axis parallel to the second axis, a first inertia sensor that is installed at the first arm, a second (a) inertia sensor that is installed at the third arm, first to third angle sensors, a posture detection unit that detects the posture of the third arm with the second arm as a reference and derives a feedback gain, and a second drive source control unit that feeds back a second correction component, which is obtained by multiplying a value, which is obtained by subtracting the angular velocity ?A2m and the angular velocity ?A3m from the angular velocity ?A3, by the feedback gain, and controls the second drive source.Type: ApplicationFiled: March 2, 2016Publication date: June 23, 2016Inventors: Akihiro GOMI, Masaki MOTOYOSHI, Shunsuke TOSHIMITSU
-
Patent number: D1023354Type: GrantFiled: June 7, 2022Date of Patent: April 16, 2024Assignees: Itoki Corporation, Pixie Dust Technologies Inc.Inventors: Haruhiro Ezure, Akihiro Yamanaka, Masaki Gomi