Patents by Inventor Kenneth A. Stoddard
Kenneth A. Stoddard 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: 9086690Abstract: Control programs for robotic systems are synchronized through the use of synchronization objects which control access to shared resources and allow for sequencing of events in separate program threads. Where necessary, partner objects generate between control programs and synchronization objects to assure uniform interaction between control program threads and synchronization objects. As all synchronization objects contain searchable partner lists, actual simulated and runtime deadlocks including any type of synchronization object can be detected, and the full system can be analyzed to identify potential deadlocks.Type: GrantFiled: January 15, 2014Date of Patent: July 21, 2015Assignee: KUKA Roboter GmbHInventor: Kenneth A. Stoddard
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Publication number: 20140128995Abstract: Control programs for robotic systems are synchronized through the use of synchronization objects which control access to shared resources and allow for sequencing of events in separate program threads. Where necessary, partner objects generate between control programs and synchronization objects to assure uniform interaction between control program threads and synchronization objects. As all synchronization objects contain searchable partner lists, actual simulated and runtime deadlocks including any type of synchronization object can be detected, and the full system can be analyzed to identify potential deadlocks.Type: ApplicationFiled: January 15, 2014Publication date: May 8, 2014Applicant: KUKA ROBOTICS CORPORATIONInventor: Kenneth A. Stoddard
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Patent number: 8639364Abstract: Control programs for robotic systems are synchronized through the use of synchronization objects which control access to shared resources and allow for sequencing of events in separate program threads. Where necessary, partner objects generate between control programs and synchronization objects to assure uniform interaction between control program threads and synchronization objects. As all synchronization objects contain searchable partner lists, actual simulated and runtime deadlocks including any type of synchronization object can be detected, and the full system can be analyzed to identify potential deadlocks.Type: GrantFiled: July 13, 2011Date of Patent: January 28, 2014Assignee: KUKA Robotics CorporationInventor: Kenneth A. Stoddard
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Publication number: 20140002069Abstract: One example embodiment includes an eddy current probe. The eddy current probe includes an oscillator configured to produce a repetitive electronic signal. The eddy current probe also includes a sensing coil configured to receive the repetitive electronic signal from the oscillator and detect magnetic fields created by the repetitive electronic signal in a target and produce an electronic signal. The eddy current probe further includes a signal conditioner configured to produce an output signal based on the repetitive electronic signal and the electronic signal produced in the sensing coil.Type: ApplicationFiled: June 27, 2012Publication date: January 2, 2014Inventor: Kenneth Stoddard
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Publication number: 20130018485Abstract: Control programs for robotic systems are synchronized through the use of synchronization objects which control access to shared resources and allow for sequencing of events in separate program threads. Where necessary, partner objects generate between control programs and synchronization objects to assure uniform interaction between control program threads and synchronization objects. As all synchronization objects contain searchable partner lists, actual simulated and runtime deadlocks including any type of synchronization object can be detected, and the full system can be analyzed to identify potential deadlocks.Type: ApplicationFiled: July 13, 2011Publication date: January 17, 2013Applicant: KUKA Robotics CorporationInventor: Kenneth A. Stoddard
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Patent number: 7421314Abstract: A method for controlling a robot during an interpolation of a trajectory or motion to any prescribed position, comprises the steps of a) ignoring at least one of the three originally prescribed or interpolated tool center point orientation values; b) finding new tool center point orientation values that place the wrist center point of the robot closest to its base while c) maintaining the originally prescribed or interpolated tool center point location values and d) maintaining the original prescribed or interpolated tool center point orientation values not ignored. Said method can preferably be used for carrying a load with a plurality of robots. Its main advantage is an increase of the available working volume.Type: GrantFiled: November 4, 2004Date of Patent: September 2, 2008Assignee: KUKA Roboter GmbHInventors: Kenneth A. Stoddard, David Martin
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Patent number: 7114157Abstract: The present invention is a system for controlling exclusive access by control programs (30) to system resources (52).Type: GrantFiled: November 27, 2001Date of Patent: September 26, 2006Assignee: Kuka Roboter GmbHInventors: Michael C. Chaffee, Edward Volcic, Kenneth A. Stoddard, R. William Kneifel, II
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Patent number: 7024250Abstract: A method for the synchronous control of several manipulators, such as several industrial robots, is characterized in that control units of specific manipulators exchange control information according to the data structures contained in a corresponding control program, through which control units to be synchronized and synchronization points in the control programs taking place there can be clearly identified, and in that on reaching and synchronization points the program sequence in the control units to be synchronized is continued according to the contents of the data structures in conjunction with the already exchanged control information or stopped until corresponding information arrives from other control units to be synchronized.Type: GrantFiled: May 14, 2003Date of Patent: April 4, 2006Assignee: KUKA Roboter GmbHInventors: Stefan Graf, Andreas Hagenauer, Michael Chaffee, Kenneth Stoddard
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Publication number: 20050125100Abstract: A method for controlling a robot during an interpolation of a trajectory or motion to any prescribed position, comprises the steps of a) ignoring at least one of the three originally prescribed or interpolated tool center point orientation values; b) finding new tool center point orientation values that place the wrist center point of the robot closest to its base while c) maintaining the originally prescribed or interpolated tool center point location values and d) maintaining the original prescribed or interpolated tool center point orientation values not ignored. Said method can preferably be used for carrying a load with a plurality of robots. Its main advantage is an increase of the available working volume.Type: ApplicationFiled: November 4, 2004Publication date: June 9, 2005Inventors: Kenneth Stoddard, David Martin
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Patent number: 6807461Abstract: A robot control system is provided for facilitating coordination amongst various robotic machines. The robot control system includes a plurality of robot controllers, such that each robot controller having an associated motion system adapted to control at least one robotic machine and the associated motion system is adapted to receive motion control commands from more than one robot control program. The robot control system further includes a remote instruction source that supplies motion control commands to the robot controllers, and a mutual exclusion mechanism residing on either the remote program instruction source or one of the robot controllers, where the mutual exclusion mechanism prevents simultaneous access by more than one robot control program to a given robotic machine. In operation, motion control commands are propagated from the remote program instruction source over a computer network to a selected group of the robot controllers.Type: GrantFiled: May 22, 2002Date of Patent: October 19, 2004Assignee: Kuka Roboter GmbHInventors: R. William Kneifel, II, Kenneth A. Stoddard
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Patent number: 6804580Abstract: A system for controlling a plurality of robots and a method for controlling said system. Said system comprises a plurality of controllers, each having an associated motion system adapted to control attached robots, with each motion controller being able to receive motion instructions from at least one motion instruction source and at least one of said motion instruction sources being a control program, as well as a computer network over which said controllers communicate. In this way, the invention can be applied to solve problems which are commonly encountered in coordination activities such as load sharing, mating of parts while processing, fixtureless transfer, teaching, manual motion of coordinated operations, and time coordinated motion.Type: GrantFiled: April 3, 2003Date of Patent: October 12, 2004Assignee: Kuka Roboter GmbHInventors: Kenneth A. Stoddard, R. William Kneifel, II, David M. Martin, Khalid Mirza, Michael C. Chaffee, Andreas Hagenauer, Stefan Graf
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Publication number: 20040199290Abstract: A system for controlling a plurality of robots and a method for controlling said system. Said system comprises a plurality of controllers, each having an associated motion system adapted to control attached robots, with each motion controller being able to receive motion instructions from at least one motion instruction source and at least one of said motion instruction sources being a control program, as well as a computer network over which said controllers communicate. In this way, the invention can be applied to solve problems which are commonly encountered in coordination activities such as load sharing, mating of parts while processing, fixtureless transfer, teaching, manual motion of coordinated operations, and time coordinated motion.Type: ApplicationFiled: April 3, 2003Publication date: October 7, 2004Inventors: Kenneth A. Stoddard, R. William Kneifel, David M. Martin, Khalid Mirza, Michael C. Chaffee, Andreas Hagenauer, Stefan Graf
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Patent number: 6697681Abstract: A device on a network having multiple units of programmable industrial equipment includes a control handle connected to a controller for a unit of the programmable equipment and a shared operating unit selectively connected to the control handle for controlling the unit of programmable industrial equipment through the controller. Further, the shared operating unit is adapted to connect to the network for communicating with each unit of programmable equipment on the network.Type: GrantFiled: March 22, 2000Date of Patent: February 24, 2004Assignee: Trellis Software & Controls, Inc.Inventors: Kenneth A. Stoddard, R. William Kneifel, II, Jason A. Sattler
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Publication number: 20040030452Abstract: A method for the synchronous control of several manipulators, such as several industrial robots, is characterized in that control units of specific manipulators exchange control information according to the data structures contained in a corresponding control program, through which control units to be synchronized and synchronization points in the control programs taking place there can be clearly identified, and in that on reaching and synchronization points the program sequence in the control units to be synchronized is continued according to the contents of the data structures in conjunction with the already exchanged control information or stopped until corresponding information arrives from other control units to be synchronized.Type: ApplicationFiled: May 14, 2003Publication date: February 12, 2004Inventors: Stefan Graf, Andreas Hagenauer, Michael Chaffee, Kenneth Stoddard
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Publication number: 20030220715Abstract: A robot control system is provided for facilitating coordination amongst various robotic machines. The robot control system includes a plurality of robot controllers, such that each robot controller having an associated motion system adapted to control at least one robotic machine and the associated motion system is adapted to receive motion control commands from more than one robot control program. The robot control system further includes a remote instruction source that supplies motion control commands to the robot controllers, and a mutual exclusion mechanism residing on either the remote program instruction source or one of the robot controllers, where the mutual exclusion mechanism prevents simultaneous access by more than one robot control program to a given robotic machine. In operation, motion control commands are propagated from the remote program instruction source over a computer network to a selected group of the robot controllers.Type: ApplicationFiled: May 22, 2002Publication date: November 27, 2003Inventors: R. William Kneifel, Kenneth A. Stoddard
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Publication number: 20030100957Abstract: The present invention is a system for controlling exclusive access by control programs (30) to system resources (52).Type: ApplicationFiled: November 27, 2001Publication date: May 29, 2003Inventors: Michael C. Chaffee, Edward Volcic, Kenneth A. Stoddard, R. William Kneifel
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Patent number: 4727303Abstract: A control system and method including an integrator coupled with a rate-varying multiplier which operate in parallel with a conventional controller. Because the integration is rate-variable, the resulting control system has the benefits of an integral position control without the problems of integral windup and subsequent overshoot. The system and method have less following and steady state error, faster settling time and better tolerance to noise than traditional PD and PID controls in controlling dynamic manipulators such as robots. Also, because the integrations are performed in a rate-variable manner, errors due to mechanical static friction, i.e. "sticktion", are substantially reduced without sacrificing dynamic performance of the system.Type: GrantFiled: May 22, 1986Date of Patent: February 23, 1988Assignee: GMF Robotics CorporationInventors: Richard A. Morse, Chia P. Day, Kenneth A. Stoddard