Patents by Inventor Kyouhei Kokubo

Kyouhei Kokubo 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).

  • Publication number: 20190299403
    Abstract: A robot system includes a target position calculation section which calculates, when a first feature can be detected from an image, a target position of a robot based on the calculated position of the first feature and a stored first positional relationship, and calculates, when the first feature cannot be detected from the image and a second feature can be detected from the image, a target position of the robot based on the calculated position of the second feature and the stored first positional relationship.
    Type: Application
    Filed: February 8, 2019
    Publication date: October 3, 2019
    Inventors: Kyouhei KOKUBO, Fumikazu WARASHINA
  • Publication number: 20190039246
    Abstract: A calibration system includes a mark for a robot including a first member and second members to that are connected to each other so as to allow relative movement via a joint shaft driven by a motor and also including a rotation-angle sensor that outputs a signal corresponding to a rotation angle of the motor, the mark being fixed to one of the second members; a camera that is disposed outside the robot and that acquires images of the mark; and a difference detection unit that detects the difference between signals output from the rotation-angle sensor at the timings of acquisition of the individual images acquired by the camera when the positions of the mark in the images are caused to substantially match each other before and after reinstallation or replacement of a part.
    Type: Application
    Filed: July 31, 2018
    Publication date: February 7, 2019
    Inventor: Kyouhei KOKUBO
  • Publication number: 20180345493
    Abstract: Provided is a teaching position correction device including a vision sensor attached to a tip end of an arm of a robot; a measurement unit measuring a three-dimensional position of the tip end of the robot when the sensor is arranged at a predetermined position with respect to each of reference points provided on an object or a holding device and not arranged on one straight line; and a calculation unit calculating relative positions of the reference points based on the measured three-dimensional position while the sensor is translated, where a teaching point position in an operation program of the robot is corrected in such a way that a change in relative positions of the robot and the holding device is compensated for, based on the relative positions of the reference points calculated before and after relocation of at least one of the robot and the holding device.
    Type: Application
    Filed: April 23, 2018
    Publication date: December 6, 2018
    Applicant: FANUC CORPORATION
    Inventor: Kyouhei KOKUBO
  • Patent number: 9956686
    Abstract: A measured mark is arranged on a link of an articulated robot. A camera for measuring a position of the measured mark is arranged at a position distant from the articulated robot. A control apparatus of the articulated robot changes posture of the articulated robot, measures positions of the measured mark respectively before and after a change of the posture by the camera, and calculates an actual deflection amount of the link based on a movement amount between the position of the measured mark measured before the change of the posture and the position of the measured mark measured after the change of the posture.
    Type: Grant
    Filed: September 6, 2016
    Date of Patent: May 1, 2018
    Assignee: FANUC CORPORATION
    Inventor: Kyouhei Kokubo
  • Publication number: 20180015616
    Abstract: A robot-defective-part diagnostic device includes a position measuring unit with a target and a sensor for capturing an image of the target. One of the target and the sensor is attached to the robot and the other is disposed outside the robot. The position measuring unit measures the positions of the target with the sensor for postures of the robot. The device also includes an error calculation unit that calculates the positioning error based on the measured positions of the target. A parameter calculation unit that calculates the mechanical parameters of the respective operation shafts based on the measured positions of the target for the respective postures when the calculated positioning error is larger than a predetermined threshold, and a defective-part identifying unit that identifies the operation shaft where the difference between the calculated mechanical parameters and preset mechanical parameters for achieving the postures is the largest.
    Type: Application
    Filed: June 28, 2017
    Publication date: January 18, 2018
    Inventor: Kyouhei KOKUBO
  • Publication number: 20170072562
    Abstract: A measured mark is arranged on a link of an articulated robot. A camera for measuring a position of the measured mark is arranged at a position distant from the articulated robot. A control apparatus of the articulated robot changes posture of the articulated robot, measures positions of the measured mark respectively before and after a change of the posture by the camera, and calculates an actual deflection amount of the link based on a movement amount between the position of the measured mark measured before the change of the posture and the position of the measured mark measured after the change of the posture.
    Type: Application
    Filed: September 6, 2016
    Publication date: March 16, 2017
    Applicant: FANUC CORPORATION
    Inventor: Kyouhei Kokubo
  • Publication number: 20170028555
    Abstract: A robot control apparatus controls a motor for driving a robot fixedly installed on a support body. The robot control apparatus is provided with a deflection estimating unit for estimating, when the robot is assumed to reach a target position and posture, a deflection arising in the support body due to the influence of gravity acting on the robot, a movement amount calculating unit for calculating the amount of movement of the motor which causes the robot to reach the target position and posture, based on the deflection of the support body, which is estimated by the deflection estimating unit, and a drive unit for driving the motor based on the amount of movement calculated by the movement amount calculating unit.
    Type: Application
    Filed: July 22, 2016
    Publication date: February 2, 2017
    Applicant: FANUC CORPORATION
    Inventor: Kyouhei Kokubo
  • Patent number: 8483878
    Abstract: A method and an apparatus for predicting interference, at practical accuracy and calculation time, between a target section of a robot and a peripheral object installed around the robot, when the target section, such as a tool or a sensor attached to a robot hand, is moved along a movement path thereof due to the motion of the robot. A convex hull, defined by areas occupied by the tool at adjacent time points, is calculated. It is judged whether a common area exists between the convex hull and a polyhedron area. When the common area exists, it is judged that the tool interferes with the container box on the movement path, and the procedure is terminated. When the common area does not exist, it is judged whether j<n is true. If j?n is true, it is judged that the interference does not occur.
    Type: Grant
    Filed: April 10, 2012
    Date of Patent: July 9, 2013
    Assignee: Fanuc Corporation
    Inventors: Hidetoshi Kumiya, Kyouhei Kokubo
  • Patent number: 8306660
    Abstract: A device for restoring positional information of a robot provided with a first member and a second member; a motor moving the second member; and a sensor outputting a sensor signal. The device includes an imaging section obtaining an image signal in a region including a first mark and a second mark; a mark position computation section computing a first positional relationship between the first mark and the second mark at a first time and a second positional relationship at a second time, based on an image signal obtained by the imaging section at the first time and at the second time; and a correction section correcting positional information depending on a sensor signal, based on the first and second positional relationship, a first sensor signal output by the sensor at the first time and a second sensor signal output by the sensor at the second time.
    Type: Grant
    Filed: May 26, 2011
    Date of Patent: November 6, 2012
    Assignee: Fanuc Corporation
    Inventors: Kazunori Ban, Gang Shen, Kyouhei Kokubo
  • Publication number: 20120265342
    Abstract: A method and an apparatus for predicting interference, at practical accuracy and calculation time, between a target section of a robot and a peripheral object installed around the robot, when the target section, such as a tool or a sensor attached to a robot hand, is moved along a movement path thereof due to the motion of the robot. A convex hull, defined by areas occupied by the tool at adjacent time points, is calculated. It is judged whether a common area exists between the convex hull and a polyhedron area. When the common area exists, it is judged that the tool interferes with the container box on the movement path, and the procedure is terminated. When the common area does not exist, it is judged whether j<n is true. If j?n is true, it is judged that the interference does not occur.
    Type: Application
    Filed: April 10, 2012
    Publication date: October 18, 2012
    Applicant: FANUC CORPORATION
    Inventors: Hidetoshi KUMIYA, Kyouhei KOKUBO
  • Publication number: 20110295421
    Abstract: A device for restoring positional information of a robot provided with a first member and a second member connected movable relative to each other via an articulation axis; a motor moving the second member relative to the first member; and a sensor outputting a sensor signal according to a driving amount of the motor.
    Type: Application
    Filed: May 26, 2011
    Publication date: December 1, 2011
    Applicant: FANUC CORPORATION
    Inventors: Kazunori Ban, Gang Shen, Kyouhei Kokubo