Abstract: A method to automate the process of teaching by allowing the robot to compare a live image of the work space along the desired path with a reference image of a similar workspace associated with a nominal path approximating the desired path, the robot teaches itself by comparing the reference image to the live image and generating the desired path at the desired location, hence eliminating human involvement in the process with most of its shortcomings. The present invention also overcomes the problem of site displacement or distortion by monitoring its progress along the path by sensors and modifying the path to conform to the desired path.

Abstract: A method to automate the process of teaching by allowing the robot to compare a live image of the work space along the desired path with a reference image of a similar workspace associated with a nominal path approximating the desired path, the robot teaches itself by comparing the reference image to the live image and generating the desired path at the desired location, hence eliminating human involvement in the process with most of its shortcomings. The present invention also overcomes the problem of site displacement or distortion by monitoring its progress along the path by sensors and modifying the path to conform to the desired path.

Abstract: An automated procedure for correcting teeth misalignment in orthodontics using the steps of Generating a 3D digital model of a jaw having the misaligned teeth. Processing the 3D model to generate a corrective plan. Designing a set of corrective elements capable of applying corrective forces to the misaligned teeth through elastic forces. Designing a set of attachments that react to the corrective forces. identifying locations for applying the attachments to the surfaces of the teeth; Bonding the attachments to the identified locations. Rescanning the jaw of the patient and generating a final 3D model of the jaw with aligned teeth. Fabricating the corrective element in accordance with geometry of the final 3D model of the jaw. Applying the corrective element to the teeth wherein. Removing the attachments. A second 3D scan can be made to determine errors, and finite element analysis may be used to determine force vectors.

Abstract: A system and a method for automating a medical process including a memory storing a software program, a computer connected to the memory for running the software program, a display connected to the computer for generating a visual representation of output data generated by the computer running the program, a user interface connected to the computer for obtaining image data representing a configuration of a patient treatment space and fixed markers in the treatment space and storing the image data in the memory, a robot arm connected to the computer, and a medical tool mounted on the robot arm wherein when a human inputs a selected treatment procedure into the computer, the computer runs the software program to generate a tool path based upon the treatment procedure and the image data, and the computer operates the robot arm to move the medical tool along the tool path without human guidance, and wherein the data generated during the treatment procedure is stored, analyzed, and shared among collaborating compu

Abstract: A method of scanning a patient's mouth using a robot to obtain a 3-D model of the patient's teeth. A database can contain a 3D model of a generic jaw geometry approximated in size by geometric parameters and at least one jaw scanning pattern. Geometric measurements of a patient's jaw are taken, then these are applied to the geometric parameters of the generic jaw. A predetermined scanning pattern is used to program the robot to scan the teeth with a scanner. The robot program is executed to move the scanner along the jaw scanning pattern at a fixed or variable distance from surfaces of the patient's jaw in sequences of coverage to the end of a scanning pattern to produce a three-dimensional (3D) model of the patient's teeth.

Abstract: A system and a method for automating a medical process including a memory storing a software program, a computer connected to the memory for running the software program, a display connected to the computer for generating a visual representation of output data generated by the computer running the program, a user interface connected to the computer for obtaining image data representing a configuration of a patient treatment space and fixed markers in the treatment space and storing the image data in the memory, a robot arm connected to the computer, and a medical tool mounted on the robot arm wherein when a human inputs a selected treatment procedure into the computer, the computer runs the software program to generate a tool path based upon the treatment procedure and the image data, and the computer operates the robot arm to move the medical tool along the tool path without human guidance, and wherein the data generated during the treatment procedure is stored, analyzed, and shared among collaborating compu

Abstract: A method of controlling robot motion for small shape generation is provided. The method includes the steps of: a) providing a robot having a plurality of interconnected distal links with a respective plurality major axes and a respective plurality of minor axes, the robot having a controller for moving the robot to a starting position and along a path including a series of interpolated positions to be followed relative a workpiece; b) moving the robot to the starting position; c) determining a next interpolated position on the path, wherein the robot remains fixed in position about at least one of the major axes and a location and an approach vector of the next interpolated position can be achieved; and d) moving the robot to the next interpolated position. A method where the robot remains fixed in position about all major axes is also provided.

Abstract: A method of and apparatus for achieving dynamic robot accuracy includes a control system utilizing a dual position loop control. An outer position loop uses secondary encoders on the output side of the gear train of a robot joint axis, while the inner position loop uses the primary encoder attached to the motor. Both single and dual loop control can be used on the same robot and tooling axes.

Abstract: A robot multi-arm control system includes robot controllers that communicate via a network to transmit synchronization information from a master controller to one or more slave controllers in order to coordinate manufacturing processes. The system accounts for the network communication delay when synchronizing the event timing for process and motion synchronization.

Abstract: An apparatus and a method for optimizing robot performance includes a computer connected to the robot controller for receiving performance data of the robot as the controller executes a path program. The computer uses the performance data, user specified optimization objectives and constraints and a kinematic/dynamic simulator to generate a new set of control system parameters to replace the default set in the controller. The computer repeats the process until the new set of control system parameters is optimized.

Abstract: A method of and apparatus for achieving dynamic robot accuracy includes a control system utilizing a dual position loop control. An outer position loop uses secondary encoders on the output side of the gear train of a robot joint axis, while the inner position loop uses the primary encoder attached to the motor. Both single and dual loop control can be used on the same robot and tooling axes.

Abstract: A method of controlling robot motion for small shape generation is provided. The method includes the steps of: a) providing a robot having a plurality of interconnected distal links with a respective plurality major axes and a respective plurality of minor axes, the robot having a controller for moving the robot to a starting position and along a path including a series of interpolated positions to be followed relative a workpiece; b) moving the robot to the starting position; c) determining a next interpolated position on the path, wherein the robot remains fixed in position about at least one of the major axes and a location and an approach vector of the next interpolated position can be achieved; and d) moving the robot to the next interpolated position. A method where the robot remains fixed in position about all major axes is also provided.

Abstract: An apparatus and a method for optimizing robot performance includes a computer connected to the robot controller for receiving performance data of the robot as the controller executes a path program. The computer uses the performance data, user specified optimization objectives and constraints and a kinematic/dynamic simulator to generate a new set of control system parameters to replace the default set in the controller. The computer repeats the process until the new set of control system parameters is optimized.

Abstract: A robot multi-arm control system includes robot controllers that communicate via a network to transmit synchronization information from a master controller to one or more slave controllers in order to coordinate manufacturing processes. The system accounts for the network communication delay when synchronizing the event timing for process and motion synchronization.

Abstract: A servo spot welding control system and method to efficiently weld a pair of workpieces together. The system includes a robot movable about the workpieces, a weld gun, servomotors, a transformer, and a controller. The weld gun is mounted on the robot and includes at least two pairs of electrodes. Each pair of electrodes includes a stationary electrode and a moveable electrode. The servomotors are operatively connected to the movable electrodes. The controller actuates the robot to move the robot into position. The controller also actuates the servomotors to clamp the workpieces and to selectively sequence electric current from the transformer to form multiple spot welds on the workpieces.

Abstract: A servo spot welding control system and method to efficiently weld a pair of workpieces together. The system includes a robot movable about the workpieces, a weld gun, servomotors, a transformer, and a controller. The weld gun is mounted on the robot and includes at least two pairs of electrodes. Each pair of electrodes includes a stationary electrode and a moveable electrode. The servomotors are operatively connected to the movable electrodes. The controller actuates the robot to move the robot into position. The controller also actuates the servomotors to clamp the workpieces and to selectively sequence electric current from the transformer to form multiple spot welds on the workpieces.

Abstract: An intelligent power assisted manual manipulator controllable by operator inputs from an operator for moving an object is provided. The manipulator includes a movable base supporting a lift mechanism for moving the object. The manipulator also includes at least one servomotor for actuating at least one of the movable base and the lift mechanism for moving the object. An operator control mechanism for receiving the operator inputs is supported on the lift mechanism. A plurality of force sensors are disposed between the operator control mechanism and the lift mechanism for sensing said operator inputs and actuating at least one of the at least one servomotor. The movable base includes an overhead rail defining a generally horizontal first axis and a carriage supported on the overhead rail and movable along the first axis. The lift mechanism includes a turret assembly supported on the carriage having a generally vertical second axis, and a generally horizontal third axis.

Abstract: An apparatus and a method for compliant positioning of an object during an assembly operation wherein the apparatus includes a base plate, a locator plate for mounting an object such as a clamp or a tool spaced from the base plate and a plurality of linear actuators connected between the base plate the locator plate by universal joints providing six degrees of freedom of movement. According to the apparatus and the method a control is connected to the actuators for selectively moving the locator plate to a predetermined position relative to the base plate for contacting a component to be assembled with an object mounted on the locator plate. Tow or more of the actuators can be mechanically coupled to move the locator plate with less than six degrees of freedom. The control is responsive to a force applied to the locator plate through the object during assembly of the component for actuating the linear actuators to change the applied force.

Abstract: The present invention recognizes that the limiting structures to size reduction for an optical encoder were the laser diode/photo diode package and the photodetector with amplifier package(s). The invention includes removing the discrete components from the laser diode cover package and mounting the much smaller discrete components on a base framework. The photodetector with amplifier package of the invention have an altered photodetector/amplifier geometry including shortening the leads between them. This resulted in significant size reduction of the encoder, a reduction in required gain and resulting increase in bandwidth. The entire base framework is temperature cooled by disposing two thermo-electric coolers between the base framework and an adjacent heat sink. Such positioning of the two coolers between the base framework and it's adjacent heat sink stabilizes both the laser diode's and the photo detector's outputs.

Abstract: An apparatus and a method for compliant positioning of an object during an assembly operation wherein the apparatus includes a base plate, a locator plate for mounting an object such as a clamp or a tool spaced from the base plate and a plurality of linear actuators connected between the base plate the locator plate by universal joints providing six degrees of freedom of movement. According to the apparatus and the method a control is connected to the actuators for selectively moving the locator plate to a predetermined position relative to the base plate for contacting a component to be assembled with an object mounted on the locator plate. Two or more of the actuators can be mechanically coupled to move the locator plate with less than six degrees of freedom. The control is responsive to a force applied to the locator plate through the object during assembly of the component for actuating the linear actuators to change the applied force.