Patents by Inventor Klas Nilsson
Klas Nilsson 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: 11865711Abstract: A robot arm includes a first kinematic chain from a first actuator to an end-effector platform, providing a first degree of freedom for positioning the end-effector platform; a second kinematic chain from a second actuator to the end effector platform, providing a second degree of freedom for positioning the end effector platform; a third kinematic chain from a third actuator to the end-effector platform, providing a third degree of freedom for positioning the end-effector platform; and a fourth kinematic chain configured to transmit movement of a fourth actuator to a corresponding orientation axis of an end-effector. The fourth kinematic chain includes an orientation linkage mounted to an inner arm assemblage via at least one bearing mounted to the end-effector platform, wherein the orientation linkage includes an end-effector rotation link and joints that provide at least two degrees of freedom for each end joint of the end-effector rotation link.Type: GrantFiled: August 18, 2022Date of Patent: January 9, 2024Assignee: Cognibiotics ABInventors: Torgny Brogardh, Adam Nilsson, Klas Nilsson
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Publication number: 20230339099Abstract: A parallel kinematic machine (PKM) includes a support platform and first, second, and third support linkages. The first, second, and third support linkages together include at least five support links. The PKM further includes a tool base having a shaft joint, a tool base shaft, and a tool platform. The tool base shaft is connected to the support platform via the shaft joint, rigidly connecting the tool platform and the tool base shaft. The PKM also includes one or more tool linkages, each including a tool link connected at one end, via a tool base joint, to the tool base, and at the other end connected, via a tool carriage joint, to a movable carriage. Each tool linkage is configured to rotate the tool base shaft around at least one axis relative to the support platform by transferring a movement of the respective tool linkage to the tool base shaft.Type: ApplicationFiled: June 28, 2023Publication date: October 26, 2023Applicant: COGNIBOTICS ABInventors: Torgny Brogardh, Klas Nilsson, Adam Nilsson, Mattias Svahn, Edvin Malm, Carlos Sedglach
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Publication number: 20230269190Abstract: Disclosed is a system comprised of different points-of-presence (“PoPs”) that provide software defined hybrid private and public networking for different entity sites. A system PoP may establish and/or maintain different network circuits for accessing different destinations or services. The system PoP may receive a tunnel creation request from a particular site, may obtain entity-defined policies that are specified for the particular site, and may establish a particular network tunnel to the particular site. The system PoP may then route egress traffic with a first classification through a first network circuit with a different quality of service (“QoS”) than egress traffic with a second classification according to the policies. Similarly, the system PoP may route ingress traffic arriving over the first network circuit through the particular network tunnel with a different QoS than ingress traffic arriving over the second network circuit according to the policies.Type: ApplicationFiled: May 2, 2023Publication date: August 24, 2023Applicant: Verizon Patent and Licensing Inc.Inventors: Arun Kumar Arumuga Nainar, Kam Lee Yap, Klas Nilsson, Karthikeyan Kandhasamy, Henry Schaefer, Kiran Kumar Vasudeva
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Patent number: 11731265Abstract: A parallel kinematic machine, PKM, comprising: a support platform (17a), a first support linkage (SL1); a second support linkage (SL2) and a third support linkage (SL3), wherein the first support linkage (SL1), the second support linkage (SL2) and the third support linkage (SL3) together comprises at least five support links (8, 9, 10, 11, 12, 13). The PKM further comprises: a tool base (140) comprising a shaft joint (24, 40, 41, 200, 202, 262a, 262b), a tool base shaft (19) and a tool platform (17b). The tool base shaft (19) is connected to the support platform (17a) via the shaft joint (24, 40, 41, 200, 202, 262a, 262b), and wherein the tool platform (17b) and the tool base shaft (19) are rigidly connected.Type: GrantFiled: August 17, 2020Date of Patent: August 22, 2023Assignee: COGNIBOTICS ABInventors: Torgny Brogardh, Klas Nilsson, Adam Nilsson
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Patent number: 11671375Abstract: Disclosed is a system comprised of different points-of-presence (“PoPs”) that provide software defined hybrid private and public networking for different entity sites. A system PoP may establish and/or maintain different network circuits for accessing different destinations or services. The system PoP may receive a tunnel creation request from a particular site, may obtain entity-defined policies that are specified for the particular site, and may establish a particular network tunnel to the particular site. The system PoP may then route egress traffic with a first classification through a first network circuit with a different quality of service (“QoS”) than egress traffic with a second classification according to the policies. Similarly, the system PoP may route ingress traffic arriving over the first network circuit through the particular network tunnel with a different QoS than ingress traffic arriving over the second network circuit according to the policies.Type: GrantFiled: July 15, 2021Date of Patent: June 6, 2023Assignee: Verizon Patent and Licensing Inc.Inventors: Arun Kumar Arumuga Nainar, Kam Lee Yap, Klas Nilsson, Karthikeyan Kandhasamy, Henry Schaefer, Kiran Kumar Vasudeva
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Publication number: 20230020154Abstract: Disclosed is a system comprised of different points-of-presence (“PoPs”) that provide software defined hybrid private and public networking for different entity sites. A system PoP may establish and/or maintain different network circuits for accessing different destinations or services. The system PoP may receive a tunnel creation request from a particular site, may obtain entity-defined policies that are specified for the particular site, and may establish a particular network tunnel to the particular site. The system PoP may then route egress traffic with a first classification through a first network circuit with a different quality of service (“QoS”) than egress traffic with a second classification according to the policies. Similarly, the system PoP may route ingress traffic arriving over the first network circuit through the particular network tunnel with a different QoS than ingress traffic arriving over the second network circuit according to the policies.Type: ApplicationFiled: July 15, 2021Publication date: January 19, 2023Applicant: Verizon Patent and Licensing Inc.Inventors: Arun Kumar Arumuga Nainar, Kam Lee Yap, Klas Nilsson, Karthikeyan Kandhasamy, Henry Schaefer, Kiran Kumar Vasudeva
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Publication number: 20230010862Abstract: A robot arm (500) for positioning a tool (44) with controlled orientation. The robot arm (500) comprises an inner-arm linkage (15, 18, 29; 15, 18, 77); an outer-arm linkage (23; 81; 173; 228; 632; 384) and a first actuator (1; 249) configured to rotate the inner-arm linkage about a first axis of rotation (180). The inner-arm linkage includes a first inner link (15) that at an inner end is arranged to rotate around a fourth axis of rotation (185), and a second inner link (18) that at an inner end is arranged to rotate around a different, third axis of rotation (182, 185), wherein the axes of rotation (182, 185) are perpendicular to the first axis of rotation (180), and the rotations result in a geometric reconfiguration of the inner-arm linkage.Type: ApplicationFiled: December 7, 2020Publication date: January 12, 2023Applicant: COGNIBOTICS ABInventors: Torgny Brogardh, Klas Nilsson
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Publication number: 20220388155Abstract: A robot arm (500) for end-effector motion. The robot arm comprises a first actuator (4) and a first kinematic chain from the first actuator to an end-effector platform, which gives a first degree of freedom for positioning the end-effector platform. The robot arm also comprises a second actuator (5; 5b) and a second kinematic chain from the second actuator to the end-effector platform, which gives a second degree of freedom for positioning the end-effector platform. The robot arm further comprises a third actuator (6; 6b, 512) and a third kinematic chain from the third actuator (6; 6b) to the end-effector platform, which gives a third degree of freedom for positioning the end-effector platform. The robot arm also comprises a fourth actuator (50; 150) and a fourth kinematic chain configured to transmit a movement of the fourth actuator to a corresponding orientation axis (65) for an end-effector (28).Type: ApplicationFiled: August 18, 2022Publication date: December 8, 2022Applicant: COGNIBOTICS ABInventors: Torgny Brogardh, Adam Nilsson, Klas Nilsson
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Publication number: 20220339782Abstract: A method for determining placement of support-platform joints (8a, 9a, 10a, 11a, 12a, 13a) on a support-platform (17) of a parallel kinematic manipulator, PKM. The PKM comprises: the support-platform (17), a first support linkage (SL1), a second support linkage (SL2) and a third support linkage (SL3). The first support linkage (SL1), the second support linkage (SL2) and the third support linkage (SL3) together comprises at least five support-links (8, 9, 10, 11, 12, 13). The method comprises estimating (S1) parameters indicative of stiffness for the PKM, based on a kinematic model and an elastic model of the PKM and chosen defined forces and/or torques applied to a tool (22) during a processing sequence, and checking (S2) whether the estimated parameters indicative of stiffness of the PKM fulfill one or more stiffness criteria.Type: ApplicationFiled: October 1, 2020Publication date: October 27, 2022Applicant: COGNIBOTICS ABInventors: Torgny Brogardh, Klas Nilsson, Peter Helgosson
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Patent number: 11453118Abstract: A robot arm (500) for end-effector motion. The robot arm comprises a first actuator (4) and a first kinematic chain from the first actuator to an end-effector platform, which gives a first degree of freedom for positioning the end-effector platform. The robot arm also comprises a second actuator (5; 5b) and a second kinematic chain from the second actuator to the end-effector platform, which gives a second degree of freedom for positioning the end-effector platform. The robot arm further comprises a third actuator (6; 6b, 512) and a third kinematic chain from the third actuator (6; 6b) to the end-effector platform, which gives a third degree of freedom for positioning the end-effector platform. The robot arm also comprises a fourth actuator (50; 150) and a fourth kinematic chain configured to transmit a movement of the fourth actuator to a corresponding orientation axis (65) for an end-effector (28).Type: GrantFiled: January 11, 2019Date of Patent: September 27, 2022Assignee: COGNIBOTICS ABInventors: Torgny Brogardh, Adam Nilsson, Klas Nilsson
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Publication number: 20220281100Abstract: A parallel kinematic machine, PKM, comprising: a support platform (17a), a first support linkage (SL1); a second support linkage (SL2) and a third support linkage (SL3), wherein the first support linkage (SL1), the second support linkage (SL2) and the third support linkage (SL3) together comprises at least five support links (8, 9, 10, 11, 12, 13). The PKM further comprises: a tool base (140) comprising a shaft joint (24, 40, 41, 200, 202, 262a, 262b), a tool base shaft (19) and a tool platform (17b). The tool base shaft (19) is connected to the support platform (17a) via the shaft joint (24, 40, 41, 200, 202, 262a, 262b), and wherein the tool platform (17b) and the tool base shaft (19) are rigidly connected.Type: ApplicationFiled: August 17, 2020Publication date: September 8, 2022Applicant: COGNIBOTICS ABInventors: Torgny Brogardh, Klas Nilsson, Adam Nilsson
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Patent number: 11305431Abstract: The disclosure relates to a system (1) and method for instructing a robot. The system (1) comprising an immersive haptic interface, such that operator interaction with a master robot arm (2) is reflected by a slave robot arm (3) arranged for interaction with a workpiece (4). The interaction of the slave robot arm (3) is reflected back to the master robot arm (2) as haptic feedback to the operator. The dynamic system is continually simulated forward and new commands are calculated for the master robot arm and the slave robot arm.Type: GrantFiled: November 8, 2017Date of Patent: April 19, 2022Assignee: COGNIBOTICS ABInventors: M. Mahdi Ghazaei Ardakani, Klas Nilsson
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Patent number: 11192243Abstract: A method and system for determining geometric properties of a manipulator (2). The manipulator (2) is controlled to perform constrained motions exhibiting force interaction with the environment, or between different links of the manipulator (2), such that a kinematic chain is formed mechanically. The chain may include peripherals and external axes of motion. A constraining device, enables motions that facilitate the determination of geometric properties. A unified model of joint and link compliances facilitates determination of stiffness parameters. The force interaction is controlled with awareness of friction such that non-geometric properties are possible to identify, thereby enabling separation of non-geometric effects from the geometric ones, which improves accuracy.Type: GrantFiled: March 27, 2017Date of Patent: December 7, 2021Assignee: COGNIBOTICS ABInventors: Klas Nilsson, Adam Nilsson, Andreas Stolt, Olof Sornmo, Martin Holmstrand, Niklas Nilsson
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Publication number: 20200391374Abstract: A robot arm (500) for end-effector motion. The robot arm comprises a first actuator (4) and a first kinematic chain from the first actuator to an end-effector platform, which gives a first degree of freedom for positioning the end-effector platform. The robot arm also comprises a second actuator (5; 5b) and a second kinematic chain from the second actuator to the end-effector platform, which gives a second degree of freedom for positioning the end-effector platform. The robot arm further comprises a third actuator (6; 6b, 512) and a third kinematic chain from the third actuator (6; 6b) to the end-effector platform, which gives a third degree of freedom for positioning the end-effector platform. The robot arm also comprises a fourth actuator (50; 150) and a fourth kinematic chain configured to transmit a movement of the fourth actuator to a corresponding orientation axis (65) for an end-effector (28).Type: ApplicationFiled: January 11, 2019Publication date: December 17, 2020Applicant: COGNIBOTICS ABInventors: Torgny Brogardh, Adam Nilsson, Klas Nilsson
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Publication number: 20200298403Abstract: A method and system for determining geometric properties of a manipulator (2). The manipulator (2) is controlled to perform constrained motions exhibiting force interaction with the environment, or between different links of the manipulator (2), such that a kinematic chain is formed mechanically. The chain may include peripherals and external axes of motion. A constraining device, enables motions that facilitate the determination of geometric properties. A unified model of joint and link compliances facilitates determination of stiffness parameters. The force interaction is controlled with awareness of friction such that non-geometric properties are possible to identify, thereby enabling separation of non-geometric effects from the geometric ones, which improves accuracy.Type: ApplicationFiled: March 27, 2017Publication date: September 24, 2020Applicant: COGNIBOTICS ABInventors: Klas Nilsson, Adam Nilsson, Andreas Stolt, Olof Sornmo, Martin Holmstrand, Niklas Nilsson
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Publication number: 20190358817Abstract: The disclosure relates to a system (1) and method for instructing a robot. The system (1) comprising an immersive haptic interface, such that operator interaction with a master robot arm (2) is reflected by a slave robot arm (3) arranged for interaction with a workpiece (4). The interaction of the slave robot arm (3) is reflected back to the master robot arm (2) as haptic feedback to the operator. The dynamic system is continually simulated forward and new commands are calculated for the master robot arm and the slave robot arm.Type: ApplicationFiled: November 8, 2017Publication date: November 28, 2019Applicant: COGNIBOTICS ABInventors: M. Mahdi Ghazaei Ardakani, Klas Nilsson
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Patent number: 9908238Abstract: A method and system for determining at least one property associated with a selected axis of a manipulator (2). The elasticity of the links (4, 6, 9, 10, 13, 14) and joints (3, 5, 7, 8, 11, 12) of a manipulator (2) can be modeled and the resulting compliance can be determined. A certain method is used to control the manipulator (2) such that certain quantities related to actuator torque and/or joint position can be determined for a certain kinematic configuration of the manipulator (2). Depending on the complexity of the manipulator (2) and the number of properties that are of interest, the manipulator (2) is controlled to a plurality of different kinematic configurations in which configurations the quantities are determined. Thereafter, a stiffness matrix (K) for each component of the manipulator (2) can be determined, and a global stiffness matrix (MSM) for the total manipulator (2) can be determined in order to determine at least one property of the selected axis.Type: GrantFiled: August 25, 2014Date of Patent: March 6, 2018Assignee: COGNIBOTICS ABInventors: Klas Nilsson, Adam Nilsson, Mathias Haage, Bjorn Olofsson, Anders Robertsson, Olof Sornmo
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Patent number: 9645565Abstract: The invention relates to a method for determining at least one property of a joint, such as a joint (112, 114, 116-119, 180) of a manipulator (110), wherein said joint is configured to be driven by at least one actuator, the actuator being configured to drive said joint (112, 114, 116-119, 180) via a drivetrain. The method comprises: clamping (200) said joint such that motion of the joint becomes constrained, and actuating (210) said drivetrain while monitoring at least one quantity associated with a torque of said actuator and at least one quantity associated with the actuator position in order to determine (220) at least one output value of said actuator, said output value corresponding to at least one joint position and determining (230) the at least one property of the joint based on said at least one output value. The invention further relates to a system for determining the at least one property of a joint.Type: GrantFiled: October 21, 2013Date of Patent: May 9, 2017Assignee: COGNIBOTICS ABInventor: Klas Nilsson
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Publication number: 20160221189Abstract: A method and system for determining at least one property associated with a selected axis of a manipulator (2). The elasticity of the links (4, 6, 9, 10, 13, 14) and joints (3, 5, 7, 8, 11, 12) of a manipulator (2) can be modeled and the resulting compliance can be determined. A certain method is used to control the manipulator (2) such that certain quantities related to actuator torque and/or joint position can be determined for a certain kinematic configuration of the manipulator (2). Depending on the complexity of the manipulator (2) and the number of properties that are of interest, the manipulator (2) is controlled to a plurality of different kinematic configurations in which configurations the quantities are determined. Thereafter, a stiffness matrix (K) for each component of the manipulator (2) can be determined, and a global stiffness matrix (MSM) for the total manipulator (2) can be determined in order to determine at least one property of the selected axis.Type: ApplicationFiled: August 25, 2014Publication date: August 4, 2016Applicant: COGNIBOTICS ABInventors: Klas Nilsson, Adam Nilsson, Mathias Haage, Bjorn Olofsson, Anders Robertsson, Olof Sornmo
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Publication number: 20150273966Abstract: The invention refers to a ball joint comprising a ball with an attached arm, a proximal shell having a wear surface, and a distal shell having a wear surface and having an opening for passage of the arm. The ball is held between the wear surface of the proximal shell and the wear surface of the distal shell, while the arm is passed through the opening in the distal shell. Furthermore, the ball joint comprises a biasing element by which the proximal shell and the distal shell are biased with a force towards each other, wherein the biasing element is adjustable in order to adjust the force with which the proximal shell and the distal shell are biased towards each other.Type: ApplicationFiled: May 21, 2012Publication date: October 1, 2015Applicant: GÜDEL GROUP AGInventors: Klas Nilsson, Simon Barth, Ove Kullborg, Ove Ode, Tobias Björnhov