Coordinate Transformation Patents (Class 700/251)
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Patent number: 11964394Abstract: A method of calibrating a coordinate positioning machine is described. The machine is controlled into a pivot pose in which a target point associated with a moveable part of the machine and a pivot point associated with a fixed part of the machine are separated from one another by a known separation. An error value for that pose is determined based on the known separation and a separation expected for that pose from the existing model parameters of the machine. The machine is controlled into a plurality of different target poses, and for each target pose a separation between the target point and the pivot point is measured and an error value for that pose is determined based on the measured separation and a separation expected for that pose from the existing model parameters.Type: GrantFiled: February 25, 2019Date of Patent: April 23, 2024Assignee: RENISHAW PLCInventor: Julius Duprez
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Patent number: 11765323Abstract: A camera assembly, including: an enclosure having at least two mounting surfaces that are orthogonal to each other for alignment with at least two orthogonal surfaces against which the camera assembly is to be mounted; at least one imaging apparatus disposed within the enclosure and having a predetermined orientation with respect to the enclosure; and a communication device disposed within the enclosure; and a server disposed at a location remote from where the camera is mounted. The camera assembly and the server communicate over a computer communication network to identify at least one mounting measurement of the camera assembly to establish a mapping from an image coordinate system for images generated by the imaging apparatus and a real world coordinate system aligned with an orientation defined by the at least two orthogonal surfaces.Type: GrantFiled: May 26, 2017Date of Patent: September 19, 2023Assignee: Calumino Pty Ltd.Inventors: Marek Steffanson, Gabrielle de Wit
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Patent number: 11701187Abstract: Systems and methods for collision detection and avoidance are provided. In one aspect, a robotic medical system including a first set of links, a second set of links, a console configured to receive input commanding motion of the first set of links and the second set of links, a processor, and at least one computer-readable memory in communication with the processor. The processor is configured to access the model of the first set of links and the second set of links, control movement of the first set of links and the second set of links based on the input received by the console, determine a distance between the first set of links and the second set of links based on the model, and prevent a collision between the first set of links and the second set of links based on the determined distance.Type: GrantFiled: January 29, 2021Date of Patent: July 18, 2023Assignee: Auris Health, Inc.Inventors: Yanan Huang, Benjamin Robert Fredrickson, Ryan J. Murphy, Ying Mao
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Patent number: 11679508Abstract: A first characteristic portion of a first workpiece and a second characteristic portion of a second workpiece are previously determined. A characteristic amount detection unit detects a first characteristic amount related to the position of the first characteristic portion and a second characteristic amount related to the position of the second characteristic portion in an image captured by a camera. A calculation unit calculates, as a relative position amount, the difference between the first characteristic amount and the second characteristic amount. A command generation unit generates a movement command for operating a robot based on a relative position amount in the image captured by the camera and a relative position amount in a predetermined reference image.Type: GrantFiled: July 8, 2020Date of Patent: June 20, 2023Assignee: Fanuc CorporationInventors: Kentaro Koga, Wataru Miyazaki
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Patent number: 11654562Abstract: An apparatus capable of accurately determining a robot coordinate system of a robot configured to be moved along an axis. The apparatus of setting the robot coordinate system of the robot configured to be moved along a first axis includes a coordinate system acquisition section configured to determine, from positions of two robot coordinate systems preset along the first axis, a position of another robot coordinate system to be set between the positions of the two robot coordinate systems by calculation. Further, a method of setting a robot coordinate system of a robot configured to be moved along a first axis includes determining, from positions of two robot coordinate systems preset along the first axis, a position of another robot coordinate system to be set between the positions of the two robot coordinate systems by calculation.Type: GrantFiled: July 14, 2020Date of Patent: May 23, 2023Assignee: FANUC CORPORATIONInventor: Junya Terasaka
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Patent number: 11614718Abstract: A method for the autonomous construction and/or design of at least one component part of a component includes the step of determining a state (si) of the component part by a state module, wherein a state (si) is defined by parameters (pi) such as data and/or measured values of at least one property (ei) of the component part. The state (si) is transmitted to a reinforcement learning agent, which uses a reinforcement learning algorithm. A calculation function (ƒi) and/or an action (ai) is selected on the basis of a policy for a state (si) for the modification of at least one parameter (pi) by the reinforcement learning agent. A modeled value for the property (ei) is calculated using the modified parameter (pi). A new state (si+1) is calculated by an environment module on the basis of the modeled value for the property (ei).Type: GrantFiled: July 15, 2021Date of Patent: March 28, 2023Inventors: Matteo Skull, Selven Ayasamy
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Patent number: 11577405Abstract: The robot hand holds a wire harness having a long harness main body and a connector connected to an end of the harness main body. The robot hand includes a fixed holding portion which holds the harness main body a vicinity of the end thereof, a pressing portion movable relative to the fixed holding portion in a longitudinal direction of the harness main body held by the fixed holding portion, and a driving unit which moves the pressing portion in a direction away from the fixed holding portion such that the pressing portion presses the connector outwardly in the longitudinal direction of the harness main body.Type: GrantFiled: September 27, 2019Date of Patent: February 14, 2023Assignee: FANUC CORPORATIONInventor: Hiroshi Mukou
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Patent number: 11565416Abstract: Disclosed is a transporting robot which executes a mounted artificial intelligence (AI) algorithm and/or machine learning algorithm and communicates with different electronic devices and external servers in a 5G communication environment. The transporting robot includes a wheel driver, a loading box, and a robot controller. The transporting robot is provided such that a transporting service using an autonomous robot may be provided.Type: GrantFiled: January 29, 2020Date of Patent: January 31, 2023Assignee: LG ELECTRONICS INC.Inventor: Jungsik Kim
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Patent number: 11548168Abstract: This control device has: a user information acquisition unit which acquires first user posture information that indicates the posture of a first user operating a robot; a pre-change robot information acquisition unit which, on the basis of the first user posture information, acquires pre-change posture information, which indicates the posture of the robot before the posture of the robot is changed; and a determination unit which determines, as the posture of the robot, a target posture, which is different from the posture of the first user, on the basis of the pre-change posture information and the first user posture information that is acquired by the user information acquisition unit at the time when the robot took the pre-change posture indicated by the pre-change posture information.Type: GrantFiled: November 15, 2019Date of Patent: January 10, 2023Assignee: TELEXISTENCE INC.Inventors: Charith Lasantha Fernando, Susumu Tachi, Genki Sano, Kouta Minamizawa
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Patent number: 11543797Abstract: To reduce the disadvantage caused by low communication quality. A control system includes a controller configured to control an industrial machine, and a terminal device configured to communicate with the controller. The control system includes a communication quality measurement unit configured to measure as index indicating communication quality between the controller and the terminal device, a communication quality determination unit configured to determine the communication quality between the controller and the terminal device on the basis of the index measured by the communication quality measurement unit, a display unit configured to display an operation screen image for the controller, and a display control unit configured to control a display item of the operation screen image to be displayed on the display unit on the basis of result determined by the communication quality determination part.Type: GrantFiled: February 5, 2020Date of Patent: January 3, 2023Assignee: FANUC CORPORATIONInventor: Kazushi Honjou
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Patent number: 11383387Abstract: A robot according to the present disclosure may include: a casing that has an internal space; a head unit that protrudes upward from the casing and has a first display; a display unit that is disposed ahead of the casing and has a second display; an ascending and descending motor that is disposed in the casing; an ascending and descending plate that ascends and descends between a first position and a second position higher than the first position by power of the ascending and descending motor; a contact bar that has an upper end connected to the head unit and a lower end being in contact with the ascending and descending plate; a fixing plate that is positioned between the ascending and descending plate and the head unit and has an opening through which the contact bar passes; and a link that connects the ascending and descending plate and the fixing plate to the display unit.Type: GrantFiled: September 20, 2019Date of Patent: July 12, 2022Assignee: LG ELECTRONICS INC.Inventors: Jekwang Youn, Yongbeom Ma, Hyunchul Park, Younghwan Lee, Dongkyu Choi, Daeyoung Jung
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Patent number: 11198219Abstract: A control system 1 includes a first controller, and a second controller. The second controller includes a program storage module that stores two or more coordinate conversion programs, and a control processing module 240 that acquires program designation information for designating one of two or more coordinate conversion programs from the first controller. Additionally, the control processing module may acquire a first operation command in the coordinate system for the first controller from the first controller, and convert the first operation command to an operation target value of two or more joint axes of a multi-axis robot using the coordinate conversion programs according to the program designation information. Driving power according to the operation target value may be output to the joint axes.Type: GrantFiled: March 14, 2018Date of Patent: December 14, 2021Inventors: Masao Ojima, Kanji Takanishi, Yutaro Uchida
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Patent number: 11173601Abstract: A teaching device for performing teaching operations of a robot includes a selection unit which, during a teaching operation or after a teaching operation of the robot, moves among a plurality of lines of a program of the robot and selects a single line, an error calculation unit which calculates, after the robot has been moved by hand-guiding or jog-feeding to a teaching point which has already been taught in the selected single line, a position error between the teaching point and a position of the robot after movement, and an instruction unit which instructs to re-teach the teaching point when the position error is within a predetermined range.Type: GrantFiled: November 1, 2018Date of Patent: November 16, 2021Assignee: FANUC CORPORATIONInventor: Takashi Satou
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Patent number: 11126196Abstract: The described positional awareness techniques employing sensory data gathering and analysis hardware with reference to specific example implementations implement improvements in the use of sensors, techniques and hardware design that can enable specific embodiments to provide positional awareness to machines with improved speed and accuracy. The sensory data are gathered from an operational camera and one or more auxiliary sensors.Type: GrantFiled: October 9, 2019Date of Patent: September 21, 2021Assignee: Trifo, Inc.Inventors: Zhe Zhang, Grace Tsai, Shaoshan Liu
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Patent number: 11103980Abstract: The present invention provides methods and systems an impact wrench having dynamically tuned drive components, such as an anvil/socket combination, and related methodology for dynamically tuning the drive components in view of inertia displacement, as well as stiffness between coupled components, and with regard to impact timing associated with clearance gaps between the component parts.Type: GrantFiled: October 12, 2018Date of Patent: August 31, 2021Assignee: INGERSOLL-RAND INDUSTRIAL U.S., INC.Inventors: Chun Jian Tang, Shreyas Patil
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Patent number: 11045956Abstract: An example method includes receiving position data indicative of position of a demonstration tool. Based on the received position data, the method further includes determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool. The method additionally includes determining a replication control path for a robotic device, where the replication control path includes one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool. The method also includes providing for display of a visual simulation of the one or more robot movements within the replication control path.Type: GrantFiled: February 12, 2019Date of Patent: June 29, 2021Assignee: X Development LLCInventor: Jeffrey Linnell
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Patent number: 10910785Abstract: A connector-connecting jig used to connect a first connector disposed at one end of a strip-shaped flexible cable, which has another end fixed to a bottom surface of a housing-shaped electronic device body, to a second connector on a substrate. The first connector is disposed on a surface of the flexible cable opposite to said bottom surface. The connector-connecting jig includes a base having a placement surface on which the electronic device body is placed; a body fixing unit that fixes the electronic device body onto the placement surface; and a connector supporting member that extends over the electronic device body and contacts a surface of the flexible cable on a rear surface side of the first connector when the flexible cable is lifted upward from said bottom surface of the electronic device body fixed onto the placement surface.Type: GrantFiled: April 24, 2019Date of Patent: February 2, 2021Assignee: FANUC CORPORATIONInventor: Yoshio Motowaki
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Patent number: 10899013Abstract: In an eccentricity error correction method for an angle detector, an output shaft angle is determined in at least three measurement positions. A difference between an arm angle value at each measurement position and the output shaft angle detected at each measurement position is determined as an eccentricity error. An error curve indicates a relationship between the arm angle value and the eccentricity error, and is determined as a function of the arm angle value by approximating the eccentricity error at each measurement position with a sine wave of which a single cycle is a single rotation of the arm. A correction formula that associates the output shaft angle and the arm angle value is determined using the error curve. A correction value corresponds to the detected output shaft angle, and is determined based on the correction formula and correcting the eccentricity error when the arm is rotated.Type: GrantFiled: July 12, 2018Date of Patent: January 26, 2021Assignee: DENSO WAVE INCORPORATEDInventors: Daisuke Kawase, Yuto Kawachi, Hiroaki Shiratori, Takafumi Fukuoka
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Patent number: 10875179Abstract: The present disclosure provides an impedance control method for a biped robot as well as an apparatus and a biped robot using the same. The method includes: correcting an impact force on a landing leg in the two legs of the biped robot using a natural attenuation function, and taking the corrected impact force as an input of an impedance control; obtaining an impedance model of the biped robot; determining a transfer function of the impedance control based on the impedance model; calculating an output of the impedance control based on the input of the impedance control and the transfer function of the impedance control; determining a joint angle of each joint based on the output of the impedance control and a planned pose of the biped robot; and transmitting joint angle information of each joint to motor(s) of the joint to perform the impedance control.Type: GrantFiled: October 23, 2019Date of Patent: December 29, 2020Assignee: UBTECH ROBOTICS CORP LTDInventors: Yuesong Wang, Youjun Xiong, Mingguo Zhao
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Patent number: 10780581Abstract: Implementations are provided for improved robot reachability maps. Multiple reachability maps for a robot may be indexed on a distance of an end effector from a plane and a tilt of the end effector. Each reachability map may include multiple cells, each representing a base pose of the robot. A target pose of the end effector may be used to determine a target distance/tilt, which is used to select a given reachability map. A given cell of the given reachability map may be used to determine a first candidate set of joint parameters for the robot. In some implementations, one or more additional, neighboring cells of the plurality of cells may be used to determine additional candidate set(s) of joint parameters. A given set of joint parameters to be implemented to achieve the target pose of the end effector may be selected and used to operate the robot.Type: GrantFiled: June 14, 2018Date of Patent: September 22, 2020Assignee: X DEVELOPMENT LLCInventor: Mario Prats
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Patent number: 10772703Abstract: Methods and apparatuses for positioning a camera of a surgical robotic system to capture images inside a body cavity of a patient during a medical procedure are disclosed. In some embodiments, the method involves receiving location information at a controller of a surgical robotic system performing the medical procedure, the location information defining a location of at least one tool with respect to a body cavity frame of reference, and in response to receiving an align command signal at the controller, causing the controller to produce positioning signals operable to cause the camera to be positioned within the body cavity frame of reference to capture images of the at least one tool for display to an operator of the surgical robotic system.Type: GrantFiled: August 25, 2017Date of Patent: September 15, 2020Assignee: Titan Medical Inc.Inventor: Joseph Kralicky
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Patent number: 10747195Abstract: A method for controlling the actuation of wing sections of an agricultural implement may include regulating a supply of hydraulic fluid to a wing actuator coupled to a wing section to pivot the wing section relative to a center frame section of the implement from a transport position towards a work position. The method may also include monitoring a wheel load associated with at least one wheel of the wing section as the wing section is being moved towards the work position and detecting when the wheel(s) of the wing section contacts the ground based at least in part on the monitored wheel load. In addition, the method may include adjusting one or more flow parameters of the supply of hydraulic fluid to the wing actuator to reduce an actuation rate at which the wing section is being pivoted after detecting that wheel(s) has contacted the ground.Type: GrantFiled: October 27, 2017Date of Patent: August 18, 2020Assignee: CNH Industrial Canada, Ltd.Inventors: Klint J. Peterson, Christopher Barrick, James W. Henry, Tracey D. Meiners
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Patent number: 10647001Abstract: For calibration on a single camera or a stereo camera, a calibration range is set in advance in an image coordinate system and the calibration is performed in an arbitrary range. A visual sensor controller is a calibration device that associates a robot coordinate system at a robot and an image coordinate system at a camera by placing a target mark at the robot, moving the robot, and detecting the target mark at multiple points in a view of the camera. The calibration device comprises: an image range setting unit that sets an image range in the image coordinate system at the camera; and a calibration range measurement unit that measures an operation range for the robot corresponding to the image range before implementation of calibration by moving the robot and detecting the target mark.Type: GrantFiled: January 4, 2018Date of Patent: May 12, 2020Assignee: FANUC CORPORATIONInventors: Yuuta Namiki, Fumikazu Warashina, Shouta Takizawa
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Patent number: 10628966Abstract: A robot control system and a method for automatic camera calibration is presented. The robot control system includes a control circuit configured to control a robot arm to move a calibration pattern to at least one location within a camera field of view, and to receive a calibration image from a camera. The control circuit determines a first estimate of a first intrinsic camera parameter based on the calibration image. After the first estimate of the first intrinsic camera parameter is determined, the control circuit determines a first estimate of a second intrinsic camera parameter based on the first estimate of the first intrinsic camera parameter. These estimates are used to determine an estimate of a transformation function that describes a relationship between a camera coordinate system and a world coordinate system. The control circuit controls placement of the robot arm based on the estimate of the transformation function.Type: GrantFiled: June 28, 2019Date of Patent: April 21, 2020Assignee: MUJIN, INC.Inventors: Russell Islam, Xutao Ye, Rosen Diankov
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Patent number: 10611022Abstract: Methods of controlling a hyper redundant manipulator, the hyper redundant manipulator including: a plurality of sections comprising a first free end section and a second end section; and a base arranged to receive the plurality of sections in a coiled configuration, the base being coupled to the second end section of the plurality of sections, the method comprising: receiving a trajectory for movement of the plurality of sections; determining an error in position and/or orientation relative to the trajectory for one or more sections of the plurality of sections, the error being caused at least in part by the coiled configuration; and controlling movement of the one or more sections using the determined error to compensate for the error in position and/or orientation of the one or more sections.Type: GrantFiled: November 15, 2017Date of Patent: April 7, 2020Assignee: ROLLS-ROYCE plcInventors: James Kell, Dragos A. Axinte, David I. Palmer, John Billingham
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Patent number: 10444761Abstract: The described positional awareness techniques employing sensory data gathering and analysis hardware with reference to specific example implementations implement improvements in the use of sensors, techniques and hardware design that can enable specific embodiments to provide positional awareness to machines with improved speed and accuracy. The sensory data are gathered from an operational camera and one or more auxiliary sensors.Type: GrantFiled: June 14, 2017Date of Patent: October 15, 2019Assignee: Trifo, Inc.Inventors: Shaoshan Liu, Zhe Zhang, Grace Tsai
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Patent number: 10373389Abstract: A mobile terminal includes a camera, a display configured to display a real image projected by the camera, and a controller configured to recognize the real image to request a traveling path corresponding to the real image from a robot cleaner, to generate an augmented reality (AR) image of the traveling path based on the traveling path received from the robot cleaner, and to display the AR image to be superimposed on the real image.Type: GrantFiled: August 29, 2017Date of Patent: August 6, 2019Assignee: LG ELECTRONICS INC.Inventor: Jaeduck Jung
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Patent number: 10357876Abstract: A robot system includes a conveying device, a robot, a control unit for controlling operation of the robot by transmitting a drive signal to a motor of the robot, and for outputting a driving speed control signal to the conveying device, and an encoder for detecting a conveying speed of the conveying device in a regular operation mode, where, when the robot is to be operated in a teach mode and a test mode, the control unit transmits a drive signal to the robot such that an operation speed is reduced by a received override value, and outputs the driving speed control signal such that the conveying speed of the conveying device is reduced by the override value.Type: GrantFiled: August 7, 2017Date of Patent: July 23, 2019Assignee: FANUC CORPORATIONInventor: Kentaro Koga
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Patent number: 10350749Abstract: A robot control device includes a learning control unit for calculating a learning correction amount, a position storage unit for storing a position of a leading end of a robot mechanism part during the learning control, and a speed storage unit for storing a speed of the leading end of the robot mechanism part during the learning control. The robot control device determines, while the robot mechanism part is operated by a position command after the learning control, whether or not the position and the speed of the leading end are in an abnormal state based on errors with respect to the position and the speed of the leading end stored during the learning control. The robot control device switches a determination as to whether the learning correction amount is applied in accordance with this determination result.Type: GrantFiled: October 25, 2017Date of Patent: July 16, 2019Assignee: FANUC CORPORATIONInventor: Kaimeng Wang
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Patent number: 10245731Abstract: An example method includes receiving position data indicative of position of a demonstration tool. Based on the received position data, the method further includes determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool. The method additionally includes determining a replication control path for a robotic device, where the replication control path includes one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool. The method also includes providing for display of a visual simulation of the one or more robot movements within the replication control path.Type: GrantFiled: February 8, 2018Date of Patent: April 2, 2019Assignee: X Development LLCInventor: Jeffrey Linnell
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Patent number: 10226701Abstract: Disclosed is a system and method of generating, for a given game map, an LOS catalog before gameplay and identifying a spawn location during gameplay based on the LOS catalog. For every unique pair of map nodes in a game map, the LOS catalog may indicate the minimum distance that must be traveled from a first map node of the pair to achieve LOS to a second map node of the pair, an identifier for the first map node, and an identifier for the second map node. When a gameplay session is initiated, the LOS catalog may be retrieved and used to identify relatively safe spawn points based on distances that must be traveled from enemy positions to achieve LOS to potential spawn points.Type: GrantFiled: April 29, 2016Date of Patent: March 12, 2019Assignee: ACTIVISION PUBLISHING, INC.Inventors: Jeffrey C. Curley, Paul Kerby, Calvin Lin, Edward Alexander Hampton, Paul R. Haile
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Patent number: 10150214Abstract: A robot and method for controlling an industrial robot, which has a first robot arm, a second robot arm, a joint defining a kinematic pair between the first and second robot arms, an actuator for generating relative movement between the first and second robot arms, and a robot controller for controlling the movements of the actuator. The method includes the steps of: determining a presence of a first torque indication at the actuator to be interpreted as a first command to the robot controller; repeatedly obtaining an external torque value (?ext) to obtain an external torque behavior; comparing the external torque behavior with the first torque indication; and executing a robot function corresponding to the first command upon detecting that the external torque behavior corresponds to the first torque indication. The obtained external torque behavior depends on a reference torque value (?ref) obtained from a dynamic model of the robot.Type: GrantFiled: March 31, 2015Date of Patent: December 11, 2018Assignee: ABB Schweiz AGInventors: Henrik Jerregård, Tomas Groth
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Patent number: 10131053Abstract: Methods and apparatus related to robot collision avoidance. One method may include: receiving robot instructions to be performed by a robot; at each of a plurality of control cycles of processor(s) of the robot: receiving trajectories to be implemented by actuators of the robot, wherein the trajectories define motion states for the actuators of the robot during the control cycle or a next control cycle, and wherein the trajectories are generated based on the robot instructions; determining, based on a current motion state of the actuators and the trajectories to be implemented, whether implementation of the trajectories by the actuators prevents any collision avoidance trajectory from being achieved; and selectively providing the trajectories or collision avoidance trajectories for operating the actuators of the robot during the control cycle or the next control cycle depending on a result of the determining.Type: GrantFiled: September 14, 2016Date of Patent: November 20, 2018Assignee: X DEVELOPMENT LLCInventors: Peter Pastor Sampedro, Umashankar Nagarajan
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Patent number: 10095868Abstract: An apparatus is provided for protecting a basic input/output system (BIOS) in a computing system. The apparatus includes a BIOS read only memory (ROM), an event detector, and a tamper detector. The BIOS ROM has BIOS contents that are stored as plaintext, and an encrypted message digest, where the encrypted message digest comprises an encrypted version of a first message digest that corresponds to the BIOS contents, and where and the encrypted version is generated via a symmetric key algorithm and a key. The event detector is configured to generate a BIOS check interrupt that interrupts normal operation of the computing system upon the occurrence of an event, where the event includes one or more occurrences of an APIC access.Type: GrantFiled: December 15, 2016Date of Patent: October 9, 2018Assignee: VIA TECHNOLOGIES, INC.Inventor: G. Glenn Henry
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Patent number: 10076839Abstract: A robot operation apparatus includes touch panel, touch operation detecting unit, action command generating unit, and selection operation detecting unit. The action command generating unit is capable of performing an operation determining process and an action command generating process. The operation determining process is a process for determining a drive axis or an action mode of a robot to be operated based on the selection operation detected by the selection operation detecting unit, and when a touch operation detected by the touch operation detecting unit is a drag operation, determining a movement amount of the drag operation. The action command generating process is a process for determining a movement amount of the robot based on the movement amount determined by in the operation determining process, and generating an action command for moving the robot at the drive axis or in the action mode to be operated by the movement amount.Type: GrantFiled: September 19, 2014Date of Patent: September 18, 2018Assignee: DENSO WAVE INCORPORATEDInventors: Hirota Touma, Daisuke Kawase, Akira Ogawa, Daisuke Yui, Motoki Kanada, Yoshinobu Ohashi, Atsuko Sugano, Satoshi Ide
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Patent number: 9964941Abstract: Disclosed are a method, a device and a system for improving system accuracy of an X-Y motion platform, and the method includes: taking a picture of a preset calibration board synchronously as a controlled equipment on an X-Y motion platform moves, and analyzing the picture to obtain pixel coordinates of a calibration point in the picture, where the preset calibration board is taken as a reference; acquiring actual coordinates of the calibration point on the calibration board, and calculating actual position coordinates of the controlled equipment on the X-Y motion platform from the actual coordinates and the pixel coordinates of the calibration point; and adjusting a motion control system of the X-Y motion platform according to the actual position coordinates, to control the motion of the X-Y motion platform to perform motion compensation for the controlled equipment.Type: GrantFiled: May 6, 2015Date of Patent: May 8, 2018Assignee: ALEADER VISION TECHNOLOGY CO., LTD.Inventors: Tao Liu, Zhenbin Jiang, Hengchang Wen, Wenkai Xu
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Patent number: 9910991Abstract: An apparatus is provided for protecting a basic input/output system (BIOS) in a computing system. The apparatus includes a BIOS read only memory (ROM), an event detector, and a tamper detector. The BIOS ROM has BIOS contents that are stored as plaintext, and an encrypted message digest, where the encrypted message digest comprises an encrypted version of a first message digest that corresponds to the BIOS contents, and where and the encrypted version is generated via a symmetric key algorithm and a key. The event detector is configured to generate a BIOS check interrupt that interrupts normal operation of the computing system upon the occurrence of an event, where the event includes one or more occurrences of an operating system call.Type: GrantFiled: December 15, 2016Date of Patent: March 6, 2018Assignee: VIA TECHNOLOGIES, INC.Inventor: G. Glenn Henry
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Patent number: 9884425Abstract: A robot includes an arm, and the arm is controlled using an offset of a reference point of a tool, the tool being attached to the arm, the offset being set based on a first state, in which a first image, in which the reference point is located at a control point of an image, can be taken by a imaging section, and a second state, in which a second image, in which the tool is rotated around a rotational axis passing through a position of the reference point in the state in which the reference point is located at the control point, can be taken by the imaging section, and controlled based on a third image, which is taken by the imaging section, and in which the control point is shifted from the reference point, in a process of a transition from the first state to the second state.Type: GrantFiled: March 17, 2016Date of Patent: February 6, 2018Assignee: Seiko Epson CorporationInventors: Yukihiro Yamaguchi, Koichi Yasuda, Kenji Matsuura
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Patent number: 9836609Abstract: An apparatus is provided for protecting a basic input/output system (BIOS) in a computing system. The apparatus includes a BIOS read only memory (ROM), an event detector, and a tamper detector. The BIOS ROM has BIOS contents that are stored as plaintext, and an encrypted message digest, where the encrypted message digest comprises an encrypted version of a first message digest that corresponds to the BIOS contents, and where and the encrypted version is generated via a symmetric key algorithm and a key. The event detector is configured to generate a BIOS check interrupt that interrupts normal operation of the computing system upon the occurrence of an event, where the event includes one or more occurrences of a hard disk access.Type: GrantFiled: December 15, 2016Date of Patent: December 5, 2017Assignee: VIA TECHNOLOGIES, INC.Inventor: G. Glenn Henry
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Patent number: 9836610Abstract: An apparatus is provided for protecting a basic input/output system (BIOS) in a computing system. The apparatus includes a BIOS read only memory (ROM), an event detector, and a tamper detector. The BIOS ROM has BIOS contents that are stored as plaintext, and an encrypted message digest, where the encrypted message digest comprises an encrypted version of a first message digest that corresponds to the BIOS contents, and where and the encrypted version is generated via a symmetric key algorithm and a key. The event detector is configured to generate a BIOS check interrupt that interrupts normal operation of the computing system upon the occurrence of an event, where the event includes one or more occurrences of a change in virtual memory mapping.Type: GrantFiled: December 15, 2016Date of Patent: December 5, 2017Assignee: VIA TECHNOLOGIES, INC.Inventor: G. Glenn Henry
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Patent number: 9805198Abstract: An apparatus is provided for protecting a basic input/output system (BIOS) in a computing system. The apparatus includes a BIOS read only memory (ROM), an event detector, and a tamper detector. The BIOS ROM has BIOS contents that are stored as plaintext, and an encrypted message digest, where the encrypted message digest comprises an encrypted version of a first message digest that corresponds to the BIOS contents, and where and the encrypted version is generated via a symmetric key algorithm and a key. The event detector is configured to generate a BIOS check interrupt that interrupts normal operation of the computing system upon the occurrence of an event, where the event includes one or more occurrences of a PCI Express access.Type: GrantFiled: December 15, 2016Date of Patent: October 31, 2017Assignee: VIA TECHNOLOGIES, INC.Inventor: G. Glenn Henry
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Patent number: 9804593Abstract: Methods and systems for teaching positions to components of devices are described. An example method includes providing instructions to a robotic device or robotic manipulator to place the robotic manipulator into a fine-tuning teach mode, in which the robotic manipulator is in a given position and is configured to move based on application of a manual contact in one or more step movements having a preset amount of distance. The method also includes determining that a given manual contact is applied to the robotic manipulator, and causing the robotic manipulator to incrementally move in the one or more step movements having the preset amount of distance.Type: GrantFiled: December 12, 2014Date of Patent: October 31, 2017Assignee: X Development LLCInventors: Benjamin Davis, Anthony Sean Jules
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Patent number: 9766924Abstract: A task processor includes a CPU, a save circuit, and a task control circuit. A task control circuit is provided with a task selection circuit and state storage units associated with respective tasks. When executing a predetermined system call instruction, the CPU notifies the task control circuit accordingly. When informed of the execution of a system call instruction, the task control circuit selects a task to be subsequently executed in accordance with an output from the selection circuit. When an interrupt circuit receives a high-speed interrupt request signal, the task switching circuit controls the state transition of a task by executing an interrupt handling instruction designated by the interrupt circuit.Type: GrantFiled: July 6, 2015Date of Patent: September 19, 2017Assignee: Renesas Electronics CorporationInventor: Naotaka Maruyama
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Patent number: 9676101Abstract: An operating program writing system includes a block storing part which stores a plurality of blocks constituting work units of an operating program, a selecting part which selects any number of blocks from the plurality of blocks, a displaying part which displays a path diagram including the any number of blocks and arguments which are contained in the blocks, a selecting and inputting part which selects at least one block among the any number of blocks and inputs the arguments of the at least one block, a running part which arranges run buttons for the respective any number of blocks and runs blocks which correspond to the run buttons, and a writing part which uses the any number of blocks and the input argument of the at least one block as the basis to write an operating program.Type: GrantFiled: January 30, 2014Date of Patent: June 13, 2017Assignee: FANUC CORPORATIONInventor: Kozo Inoue
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Patent number: 9672630Abstract: A contour line measurement apparatus includes an edge line extraction unit for setting a picture processing region and extracting an edge line from an object picture in each of the regions, an edge point generation unit for generating edge points which are intersections of the edge lines and epipolar lines, a corresponding point selection unit for selecting, from the plurality of edge points, a pair of edge points corresponding to the same portion of the reference contour line, and a three dimensional point calculation unit for calculating a three dimensional point on the contour line of the object on the basis of lines of sight of cameras which pass the pair of edge points.Type: GrantFiled: September 11, 2015Date of Patent: June 6, 2017Assignee: FANUC CORPORATIONInventors: Yuuta Namiki, Fumikazu Warashina
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Patent number: 9547767Abstract: An apparatus including a ROM, an event detector, and a tamper detector. The ROM has BIOS contents stored as plaintext, and an encrypted digest. The encrypted digest is an encrypted version of a first digest corresponding to the BIOS contents. The event detector generates an interrupt that interrupts operation of the system upon occurrence of an event. The tamper detector is operatively coupled to the ROM and accesses the BIOS contents and the encrypted digest upon assertion of the interrupt, and directs a microprocessor to generate a second digest corresponding to the BIOS contents and a decrypted digest corresponding to the encrypted digest using the same algorithms and key that were employed to generate the first digest and the encrypted digest, and compares the second message digest with the decrypted message digest, and precludes the operation of the microprocessor if the second digest and the decrypted digest are not equal.Type: GrantFiled: November 13, 2013Date of Patent: January 17, 2017Assignee: VIA TECHNOLOGIES, INC.Inventor: G. Glenn Henry
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Patent number: 9517556Abstract: A robot control apparatus includes a transformation-matrix generating unit that generates, on the basis of N first command values for learning per one robot, which are position-corrected command values for positioning a master robot and a slave robot on tracks of their respective robots during the synchronous driving, concerning the respective N command values for learning, transformation matrices among the command values for learning, a command-value storing unit that outputs a first command value for driving at each of M operation periods for defining the track of the master robot, a transformation-matrix -function generating unit and a command-value generating unit that interpolate the N transformation matrices and generate a transformation matrix at the each first command value for driving, and a command-value generating unit that causes the transformation matrices to act on the M first command values for driving and generates M second command values for driving of the slave robot.Type: GrantFiled: May 30, 2013Date of Patent: December 13, 2016Assignee: Mitsubishi Electric CorporationInventor: Koji Shiratsuchi
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Patent number: 9259844Abstract: Embodiments of the disclosure comprise a vision-based robotic manipulation system that identifies, singulates, and removes an individual surgical instrument from a cluttered environment. A computer-vision algorithm incorporated with the system is robust against optical challenges such as changing light conditions, specularities, and inter-reflections among various surgical instruments. The system estimates 2D pose (as opposed to a more challenging 3D pose) using a camera with normal room lighting to identify each object, including its specified data matrix barcode; and incorporates the use of a robotic arm with a compliant electromagnetic gripper to handle objects having large shape variance. The system can then relocate the objects as desired. The robot manipulator is utilized in hospital and research settings, manufacturing, and sterile environments.Type: GrantFiled: February 12, 2014Date of Patent: February 16, 2016Assignee: General Electric CompanyInventors: Yi Xu, Lynn Ann DeRose, Weston Blaine Griffin, Ying Mao, Xianqiao Tong, Balajee Kannan
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Patent number: 9229444Abstract: A computer-implemented method is described, comprising receiving data that represents a workpiece part type to be produced on a machine tool for machining flat starting materials. The method includes preparing a first numerical control program which is adapted for producing the workpiece part type from a flat starting material on the machine tool, and attaching one or more extractable data sets prepared from the received data to the first numerical control program, wherein the extractable data sets represent one or more parameters including the tools, tool steps and associated machining parameters for producing a single workpiece the workpiece part type on the machine tool. The method further includes extracting the extractable data sets from the attached first numerical control program for adjusting the one or more parameters, integrating the adjusted one or more parameters into a second numerical control program; and providing the second numerical control program to the machine tool.Type: GrantFiled: October 22, 2012Date of Patent: January 5, 2016Assignee: TRUMPF Werkzeugmaschinen GmbH + Co. KGInventors: Monika Baierl-Moehler, Klaus Bauer, Sascha Brandt, Mirko Donatzer, Goetz Nothdurft, Hans-Joerg Schmid, Thomas Wolf
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Patent number: 9141565Abstract: Memory bus attached Input/Output (‘I/O’) subsystem management in a computing system, the computing system including an I/O subsystem communicatively coupled to a memory bus, including: detecting, by an I/O subsystem device driver, a hibernation request; setting, by the I/O subsystem device driver, a predetermined memory address to a value indicating that the I/O subsystem is not to service system requests; detecting, by the I/O subsystem device driver, that the I/O subsystem device driver has been restarted; and setting, by the I/O subsystem device driver, the predetermined memory address to a value indicating that the I/O subsystem can resume servicing system requests.Type: GrantFiled: December 28, 2012Date of Patent: September 22, 2015Assignee: Lenovo Enterprise Solutions (Singapore) Pte. Ltd.Inventors: Jimmy G. Foster, Sr., Sumeet Kochar, Randolph S. Kolvick, Makoto Ono