Patents by Inventor Junji Oaki
Junji Oaki 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: 11660747Abstract: A picking apparatus in an embodiment includes: a gripper, an arm, a detector, and a control unit. The gripper picks and grips an object to be conveyed. The arm moves the gripper and causes the gripper to convey the object to be conveyed. The detector is attached to the arm and senses a force applied to the gripper. The control unit controls an operation of the gripper and the arm. The control unit includes a calculator and a subtractor. The calculator calculates a gravitational force and an inertial force applied to the gripper when the gripper grips and moves the object to be conveyed using an arithmetic expression including a coefficient determined in accordance with a mass of the object to be conveyed. The subtractor subtracts the gravitational force and the inertial force calculated by the calculator from a force applied to the gripper sensed by the detector.Type: GrantFiled: February 25, 2021Date of Patent: May 30, 2023Assignees: Kabushiki Kaisha Toshiba, Toshiba Infrastructure Systems & Solutions CorporationInventors: Junji Oaki, Tetsuya Masuda, Haruhiko Horiuchi, Junichi Inoue, Takafumi Ushiyama
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Publication number: 20230071341Abstract: In an embodiment, a processing device relating to an inspection of an inspection object by a photography unit is provided. A processor of the processing device calculates a plurality of photography points as positions photographing the inspection object based on shape data in which a shape of a surface of the inspection object is indicated by a point group, and information relating to a position and a normal vector on the surface of the inspection object is defined by the point group. The processor executes analysis regarding a path that passes through all of the calculated photography points and minimizes a sum of a movement cost from each of the photography points to a photography point of a next movement destination, and calculates a path corresponding to an analysis result as a path for moving the photography unit.Type: ApplicationFiled: February 18, 2022Publication date: March 9, 2023Applicant: KABUSHIKI KAISHA TOSHIBAInventors: Nobukatsu Sugiyama, Junichiro Ooga, Yoshiyuki Ishihara, Junji Oaki, Hiroshi Ohno, Hideaki Okano, Hiroya Kano, Takahiro Kamikawa
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Patent number: 11541537Abstract: According to an embodiment, an article posture changing device includes: a first end effector configured to grasp a projected tag of an article by adsorption; an arm unit configured to support the first end effector and move the first end effector along at least a vertical direction; and a controller configured to control the arm unit and the first end effector to grasp the tag, lift the article upward, separate the article from a placement surface, change an angle of the article by weight thereof, move the article downward, place the article on the placement surface, and release the grasp of the tag.Type: GrantFiled: February 28, 2019Date of Patent: January 3, 2023Assignee: KABUSHIKI KAISHA TOSHIBAInventors: Daisuke Yamamoto, Takafumi Sonoura, Junji Oaki, Hideki Ogawa, Junya Tanaka, Hiroshi Ohtsu, Kohei Nara, Keisuke Kamata, Rie Katsuki, Kazuhide Sawa
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Patent number: 11396101Abstract: An operating system according to an embodiment includes a target surface detection unit, a position calculation unit, a direction calculation unit, and a movement control unit. The target surface detection unit detects a target surface of a target object from a depth image obtained by a depth sensor. The position calculation unit calculates a first position for the detected target surface. The direction calculation unit calculates a first direction for the detected target surface. The movement control unit controls an actuator so as to reduce a positional deviation between a second position fixed with respect to the movable member and the first position and to reduce a directional deviation between a second direction fixed with respect to the movable member and the first direction.Type: GrantFiled: August 26, 2019Date of Patent: July 26, 2022Assignee: Kabushiki Kaisha ToshibaInventors: Nobukatsu Sugiyama, Yoshiyuki Ishihara, Junji Oaki, Ping Jiang, Seiji Tokura, Akihito Ogawa
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Patent number: 11312011Abstract: A manipulator system according to an embodiment includes a manipulator, an actuator, and a control device. The actuator is configured to operate the manipulator. The control device is configured to control the actuator so that the manipulator moves while avoiding an obstacle. The control device controls the actuator so that an angle between a moving velocity vector of a first target point on the manipulator and a normal vector at a second target point on a surface of the obstacle is within 90°.Type: GrantFiled: August 21, 2018Date of Patent: April 26, 2022Assignee: Kabushiki Kaisha ToshibaInventors: Nobukatsu Sugiyama, Yoshiyuki Ishihara, Junji Oaki, Akihito Ogawa
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Patent number: 11179851Abstract: A robot control device includes a log acquisitor, a first adjuster, and a second adjuster. The log acquisitor is configured to acquire operation data of a robot arm which has been operated by making a target portion of the robot arm follow a predefined target path under a feedback control. The first adjuster is configured to adjust, based on the operation data acquired by the log acquisitor, a first physical parameter for calculating a trajectory of the target portion, to reduce errors between the predefined target path and positions of the target portion. The second adjuster is configured to calculate, based on the first physical parameter adjusted by the first adjuster, the trajectory of the target portion, the second adjuster that is configured to adjust, based on the trajectory calculated by the second adjuster, a second physical parameter to be used for a feed-forward control for controlling the robot arm.Type: GrantFiled: February 27, 2019Date of Patent: November 23, 2021Assignee: Kabushiki Kaisha ToshibaInventor: Junji Oaki
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Publication number: 20210323147Abstract: A picking apparatus in an embodiment includes: a gripper, an arm, a detector, and a control unit. The gripper picks and grips an object to be conveyed. The arm moves the gripper and causes the gripper to convey the object to be conveyed. The detector is attached to the arm and senses a force applied to the gripper. The control unit controls an operation of the gripper and the arm. The control unit includes a calculator and a subtractor. The calculator calculates a gravitational force and an inertial force applied to the gripper when the gripper grips and moves the object to be conveyed using an arithmetic expression including a coefficient determined in accordance with a mass of the object to be conveyed. The subtractor subtracts the gravitational force and the inertial force calculated by the calculator from a force applied to the gripper sensed by the detector.Type: ApplicationFiled: February 25, 2021Publication date: October 21, 2021Applicants: KABUSHIKI KAISHA TOSHIBA, Toshiba Infrastructure Systems & Solutions CorporationInventors: Junji OAKI, Tetsuya MASUDA, Haruhiko HORIUCHI, Junichi INOUE, Takafumi USHIYAMA
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Patent number: 11141857Abstract: A robot control device includes a log acquisitor, a first adjuster, and a second adjuster. The log acquisitor is configured to acquire operation data of a robot arm which has been operated by making a target portion of the robot arm follow a predefined target path under a feedback control. The first adjuster is configured to adjust, based on the operation data acquired by the log acquisitor, a first physical parameter for calculating a trajectory of the target portion, to reduce errors between the predefined target path and positions of the target portion. The second adjuster is configured to calculate, based on the first physical parameter adjusted by the first adjuster, the trajectory of the target portion, the second adjuster that is configured to adjust, based on the trajectory calculated by the second adjuster, a second physical parameter to be used for a feed-forward control for controlling the robot arm.Type: GrantFiled: February 27, 2019Date of Patent: October 12, 2021Assignee: Kabushiki Kaisha ToshibaInventor: Junji Oaki
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Patent number: 10695912Abstract: According to an embodiment, an actuation system includes a movable member, an actuator, at least one image taking unit, a coordinate conversion unit and a first actuation control unit. The actuator moves the movable member. The coordinate conversion unit performs coordinate conversion from an image-taking coordinate system of a taken image taken by the image taking unit to an arithmetic coordinate system for performing comparison. The first actuation control unit controls the actuator to reduce a deviation according to visual servo in the arithmetic coordinate system.Type: GrantFiled: March 5, 2018Date of Patent: June 30, 2020Assignee: Kabushiki Kaisha ToshibaInventors: Yoshiyuki Ishihara, Nobukatsu Sugiyama, Junji Oaki, Akihito Ogawa
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Publication number: 20200147804Abstract: An operating system according to an embodiment includes a target surface detection unit, a position calculation unit, a direction calculation unit, and a movement control unit. The target surface detection unit detects a target surface of a target object from a depth image obtained by a depth sensor. The position calculation unit calculates a first position for the detected target surface. The direction calculation unit calculates a first direction for the detected target surface. The movement control unit controls an actuator so as to reduce a positional deviation between a second position fixed with respect to the movable member and the first position and to reduce a directional deviation between a second direction fixed with respect to the movable member and the first direction.Type: ApplicationFiled: August 26, 2019Publication date: May 14, 2020Applicant: Kabushiki Kaisha ToshibaInventors: Nobukatsu SUGIYAMA, Yoshiyuki ISHIHARA, Junji OAKI, Ping JIANG, Seiji TOKURA, Akihito OGAWA
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Publication number: 20200086484Abstract: According to an embodiment, an article posture changing device includes: a first end effector configured to grasp a projected tag of an article by adsorption; an arm unit configured to support the first end effector and move the first end effector along at least a vertical direction; and a controller configured to control the arm unit and the first end effector to grasp the tag, lift the article upward, separate the article from a placement surface, change an angle of the article by weight thereof, move the article downward, place the article on the placement surface, and release the grasp of the tag.Type: ApplicationFiled: February 28, 2019Publication date: March 19, 2020Applicant: KABUSHIKI KAISHA TOSHIBAInventors: Daisuke YAMAMOTO, Takafumi SONOURA, Junji OAKI, Hideki OGAWA, Junya TANAKA, Hiroshi OHTSU, Kohei NARA, Keisuke KAMATA, Rie KATSUKI, Kazuhide SAWA
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Publication number: 20200070346Abstract: A robot control device includes a log acquisitor, a first adjuster, and a second adjuster. The log acquisitor is configured to acquire operation data of a robot arm which has been operated by making a target portion of the robot arm follow a predefined target path under a feedback control. The first adjuster is configured to adjust, based on the operation data acquired by the log acquisitor, a first physical parameter for calculating a trajectory of the target portion, to reduce errors between the predefined target path and positions of the target portion. The second adjuster is configured to calculate, based on the first physical parameter adjusted by the first adjuster, the trajectory of the target portion, the second adjuster that is configured to adjust, based on the trajectory calculated by the second adjuster, a second physical parameter to be used for a feed-forward control for controlling the robot arm.Type: ApplicationFiled: February 27, 2019Publication date: March 5, 2020Applicant: Kabushiki Kaisha ToshibaInventor: Junji OAKI
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Patent number: 10434647Abstract: According to one embodiment, a robot control device is used for a robot arm including a link and a motor for rotationally driving the link. The robot control device includes a derivation part. The derivation part derives a first estimated value including a variation of a rotation angle of the link and a second estimated value including a variation of a rotation angle of the motor, based on an angular velocity and a current reference value of the motor. Furthermore, the derivation part derives an external force generated to the robot arm, based on a difference between the first estimated value and the second estimated value.Type: GrantFiled: August 28, 2017Date of Patent: October 8, 2019Assignee: Kabushiki Kaisha ToshibaInventor: Junji Oaki
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Publication number: 20190262991Abstract: A manipulator system according to an embodiment includes a manipulator, an actuator, and a control device. The actuator is configured to operate the manipulator. The control device is configured to control the actuator so that the manipulator moves while avoiding an obstacle. The control device controls the actuator so that an angle between a moving velocity vector of a first target point on the manipulator and a normal vector at a second target point on a surface of the obstacle is within 90°.Type: ApplicationFiled: August 21, 2018Publication date: August 29, 2019Applicant: Kabushiki Kaisha ToshibaInventors: Nobukatsu SUGIYAMA, Yoshiyuki ISHIHARA, Junji OAKI, Akihito OGAWA
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Publication number: 20190143525Abstract: According to an embodiment, an actuation system includes a movable member, an actuator, at least one image taking unit, a coordinate conversion unit and a first actuation control unit. The actuator moves the movable member. The coordinate conversion unit performs coordinate conversion from an image-taking coordinate system of a taken image taken by the image taking unit to an arithmetic coordinate system for performing comparison. The first actuation control unit controls the actuator to reduce a deviation according to visual servo in the arithmetic coordinate system.Type: ApplicationFiled: March 5, 2018Publication date: May 16, 2019Applicant: Kabushiki Kaisha ToshibaInventors: Yoshiyuki Ishihara, Nobukatsu Sugiyama, Junji Oaki, Akihito Ogawa
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Publication number: 20180147724Abstract: According to one embodiment, a robot control device is used for a robot arm including a link and a motor for rotationally driving the link. The robot control device includes a derivation part. The derivation part derives a first estimated value including a variation of a rotation angle of the link and a second estimated value including a variation of a rotation angle of the motor, based on an angular velocity and a current reference value of the motor. Furthermore, the derivation part derives an external force generated to the robot arm, based on a difference between the first estimated value and the second estimated value.Type: ApplicationFiled: August 28, 2017Publication date: May 31, 2018Applicant: Kabushiki Kaisha ToshibaInventor: Junji OAKI
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Patent number: 9242374Abstract: According to one embodiment, a robotic control apparatus includes a physical parameter switching unit, an observer unit, and a state feedback unit. The physical parameter switching unit switches a physical parameter set in accordance with a value of a mass of an end effector load of a robotic arm. The observer unit estimates an angular velocity of a link based on a simulation model of a motor angular velocity control system which undergoes gain proportional-integral control equivalent to a proportional-integral control of the angular velocity control system. The state feedback unit calculates an axial torsional angular velocity based on a difference between the angular velocity of the motor, and the angular velocity of the link, and feed the calculated axial torsional angular velocity back to the angular velocity control system.Type: GrantFiled: August 6, 2013Date of Patent: January 26, 2016Assignee: Kabushiki Kaisha ToshibaInventor: Junji Oaki
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Patent number: 9156166Abstract: A robot control device according to an embodiment includes: an observer receiving the angular velocity of the motor and the current command value, and estimating an angular acceleration of the link, and angular velocities of the link and the motor from a simulation model of an angular velocity control system of the motor; a first feedback unit calculating an axis torsion angular velocity from a difference between the angular velocities of the link and the motor estimated by the observer, and giving feedback to the angular velocity control system; a second feedback unit feeding back the angular acceleration of the link estimated by the observer to the angular velocity control system; and a first feedback constant calculating unit compensating an end effector load mass and increases inertia at the second feedback unit when an end effector load in the nonlinear dynamic model has low inertia.Type: GrantFiled: July 31, 2014Date of Patent: October 13, 2015Assignee: Kabushiki Kaisha ToshibaInventor: Junji Oaki
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Publication number: 20150039128Abstract: A robot control device according to an embodiment includes: an observer receiving the angular velocity of the motor and the current command value, and estimating an angular acceleration of the link, and angular velocities of the link and the motor from a simulation model of an angular velocity control system of the motor; a first feedback unit calculating an axis torsion angular velocity from a difference between the angular velocities of the link and the motor estimated by the observer, and giving feedback to the angular velocity control system; a second feedback unit feeding back the angular acceleration of the link estimated by the observer to the angular velocity control system; and a first feedback constant calculating unit compensating an end effector load mass and increases inertia at the second feedback unit when an end effector load in the nonlinear dynamic model has low inertia.Type: ApplicationFiled: July 31, 2014Publication date: February 5, 2015Inventor: Junji OAKI
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Patent number: 8694159Abstract: A robot control apparatus includes an actuator; a generator unit; a first detection unit; a first computation unit to compute current positional data of the arm; a second computation unit to compute an input value; a third computation unit to compute an estimation value of a driving torque for driving the actuator; a fourth computation unit to compute a difference between the estimation value of the driving torque and a true value of the driving torque; and a second detection unit to detect a disturbance applied to the arm, wherein the second detection unit includes an update unit to estimate a parameter of a time-series model and updating the time-series model of the first sampling period by applying the parameter, and a determination unit to determine whether a disturbance occurs, by comparing the time-series model of the first sampling period with a time-series model of a second sampling period.Type: GrantFiled: March 13, 2012Date of Patent: April 8, 2014Assignee: Kabushiki Kaisha ToshibaInventors: Junji Oaki, Junichiro Ooga, Hideki Ogawa