Patents by Inventor Nobuyasu Shimomura

Nobuyasu Shimomura 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).

  • Patent number: 11197730
    Abstract: A manipulator system configured to perform a work to a workpiece being moved by a moving device, includes a robotic arm, having one or more joints and to which a tool configured to perform the work to the workpiece is attached, an operating device configured to operate the robotic arm, a first imaging means configured to image the workpiece, while following the movement of the workpiece, a second imaging means fixedly provided in a work area to image a situation of the work to the workpiece, a displaying means configured to display an image imaged by the first imaging means and an image imaged by the second imaging means, and a control device configured to control the operation of the robotic arm based on an operating instruction of the operating device, while detecting a moving amount of the workpiece being moved by the moving device and carrying out a tracking control of the robotic arm according to the moving amount of the workpiece.
    Type: Grant
    Filed: May 27, 2016
    Date of Patent: December 14, 2021
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko Hashimoto, Nobuyasu Shimomura, Tsuyoshi Maehara, Masayuki Kamon, Shigetsugu Tanaka
  • Publication number: 20210331597
    Abstract: A power supply apparatus includes: a power supply portion connected to a power receiving portion of an electrical apparatus and configured to supply electric power to the power receiving portion; an arm including a tip end at which the power supply portion is provided, the arm further including at least one of a linear motion joint portion and a rotational joint portion; and a controller. The controller controls at least one of the linear motion joint portion and the rotational joint portion to move the arm such that the power supply portion is connected to the power receiving portion.
    Type: Application
    Filed: May 15, 2018
    Publication date: October 28, 2021
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, KAWASAKI ROBOTICS GMBH
    Inventors: Masayuki KAMON, Nobuyasu SHIMOMURA, Noboru TAKAGI
  • Patent number: 11110592
    Abstract: A remote control robot system includes a slave arm configured to perform a given work, a master arm having a motor configured to drive a joint, and configured to receive from an operator an operation to manipulate the slave arm, an instruction generating module configured to generate an instruction to apply to the master arm an imaginary external force in a given direction that is independent from a force received by the slave arm from the exterior, and a motor controller configured to supply, to the motor, drive current corresponding to the instruction sent from the instruction generating module.
    Type: Grant
    Filed: May 16, 2018
    Date of Patent: September 7, 2021
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Nobuyasu Shimomura, Masayuki Kamon, Jun Fujimori, Hiroki Kinoshita, Takuya Shitaka, Hiroki Takahashi
  • Publication number: 20210162603
    Abstract: A manipulation device and a manipulation system of a simpler configuration. A manipulation device includes an input part configured to receive an input of an operational instruction by an operator in order to operate a manipulating target, and a speaker configured to receive a signal based on vibration detected at the manipulating target and generate vibration based on the received signal. The vibration generated by the speaker is transmitted to the operator through at least a part of the input part.
    Type: Application
    Filed: May 16, 2018
    Publication date: June 3, 2021
    Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Nobuyasu SHIMOMURA, Masayuki KAMON, Hideyuki RYU
  • Publication number: 20210114229
    Abstract: A robot system includes a robot configured to perform a work to a workpiece, and a user interface configured to remotely manipulate the robot. The robot includes a robotic arm, a robot hand attached to the robotic arm and configured to perform the work to the workpiece, and an acceleration sensor attached to the robot hand. The robot system further includes a speaker configured to output an acceleration signal from the acceleration sensor as perceptual information.
    Type: Application
    Filed: May 16, 2018
    Publication date: April 22, 2021
    Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko HASHIMOTO, Nobuyasu SHIMOMURA, Masayuki KAMON, Hideyuki RYU
  • Patent number: 10980605
    Abstract: A remote control robot system includes a slave arm, a master main body imitating the shape of an object handled by the slave arm, a manipulation receiving device configured to receive manipulation of an operator based on the position and posture of the master main body, and a control device configured to control operation of the slave arm based on the manipulation received by the manipulation receiving device so that behavior of the object corresponds to behavior of the master main body.
    Type: Grant
    Filed: May 27, 2016
    Date of Patent: April 20, 2021
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko Hashimoto, Nobuyasu Shimomura, Tsuyoshi Maehara, Masayuki Kamon
  • Publication number: 20210003993
    Abstract: A skill transfer mechanical apparatus includes an operating part, a controller, a motion information detector and an operation apparatus. The controller includes a basic motion instructing module, a learning module, a motion correcting instruction generator, a motion correcting instruction, and a motion information storing module. The learning module carries out machine learning of the motion correcting instruction stored in the motion correcting instruction storing module by using the motion information stored in the motion information storing module, and after the machine learning is finished, accepts an input of the motion information during the operation of the operating part, and outputs the automatic motion correcting instruction. The operating part moves the working part according to an automatic motion instruction based on the basic motion instruction and the automatic motion correcting instruction, and the manual motion correction.
    Type: Application
    Filed: November 28, 2018
    Publication date: January 7, 2021
    Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko HASHIMOTO, Nobuyasu SHIMOMURA, Masayuki KAMON, Shigetsugu TANAKA
  • Patent number: 10792114
    Abstract: In a remote control robot system including a plurality of slave arms, slave arm has a plurality of control modes of an automatic mode in which slave arm is operated based on a task program, a manual mode in which slave arm is operated based on an operator's operation received by a master device, and correctable automatic mode in which slave arm is operated based on task program while operation is sequentially corrected by the operator's operation received by master device. Operation sequence information includes an automatic part in which slave arm performs a work in the automatic mode, and a selected part in which slave arm performs a work in one selected from plurality of control modes, and the selected parts do not overlap with each other in time among the plurality of slave arms. Based on the operation sequence information, the plurality of slave arms are operated.
    Type: Grant
    Filed: May 27, 2016
    Date of Patent: October 6, 2020
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko Hashimoto, Nobuyasu Shimomura, Masayuki Kamon, Yasushi Kurosawa, Shigetsugu Tanaka
  • Patent number: 10716638
    Abstract: Robot system includes robot main body including robot arm, end effector attached to robot arm, and force sensing device detecting force applied to end effector's tip end, actual reaction-force information generator generating force-sensing information according to force detected by force sensing device, and output force-sensing information as actual reaction-force information, virtual reaction-force information generator outputting force component detected by force sensing device, that has a magnitude proportional to time differentiation value, as virtual reaction-force information, adder configured to output information obtained by adding actual reaction-force information outputted from actual reaction-force information generator to virtual reaction-force information outputted from virtual reaction-force information generator, as synthetic reaction-force information, operating device outputting, when operator is made to sense a force according to synthetic reaction-force information outputted from adder and
    Type: Grant
    Filed: June 24, 2016
    Date of Patent: July 21, 2020
    Assignees: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Tsuyoshi Tojo, Nobuyasu Shimomura
  • Patent number: 10702350
    Abstract: A robot system includes a robot main body, memory part configured to store information for causing robot main body to perform given operation, as saved operational information, motion controller configured to control operation of robot main body by using saved operational information as automatic operational information for causing robot main body to operate, and an operation correcting device configured to generate, by being operated, manipulating information for correcting operation of robot main body during operation. Motion controller controls robot main body to perform an operation corrected from operation related to automatic operational information in response to a reception of the manipulating information while robot main body is operating by using automatic operational information. Memory part is configured to be storable of corrected operational information for causing robot main body to perform corrected operation as saved operational information, when robot main body performs corrected operation.
    Type: Grant
    Filed: May 27, 2016
    Date of Patent: July 7, 2020
    Assignee: KAWASAKI JUKOGYO KABUSHIK KAISHA
    Inventors: Yasuhiko Hashimoto, Nobuyasu Shimomura, Tsuyoshi Maehara, Masayuki Kamon, Yasushi Kurosawa, Shigetsugu Tanaka
  • Publication number: 20200206893
    Abstract: A robot system includes a slave unit including a slave-side force detector configured to detect a direction and a magnitude of a reaction force acting on a workpiece held by a work end of a slave arm, a master unit including a master-side force detector configured to detect a direction and a magnitude of an operating force applied by an operator to an operation end of a master arm, and a system controller configured to generate a slave operational command and a master operational command based on the operating force and the reaction force. The system controller includes a regulator configured to correct a moving direction of the work end so that the movement of the work end in a pressing direction of an object is regulated when the reaction force exceeds an acceptable value set beforehand.
    Type: Application
    Filed: May 17, 2018
    Publication date: July 2, 2020
    Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Nobuyasu SHIMOMURA, Masayuki KAMON, Jun FUJIMORI, Hiroki KINOSHITA, Takuya SHITAKA, Hiroki TAKAHASHI
  • Publication number: 20200198120
    Abstract: A robot system includes a manipulating force detector configured to detect a manipulating force given to an operation end by an operator, a reaction-force detector configured to detect a reaction force given to a work end or a workpiece held by the work end, a system controller configured to generate an operating command of a master arm and generate an operating command of a slave arm based on the manipulating force and the reaction force, a master-side control part configured to control the master arm, and a slave-side control part configured to control the slave arm. The system controller has an exaggerated expresser configured to exaggeratedly present an operating feel to the operator who operates the operation end in a reaction-force sudden change state that is a state in which the reaction force changes rapidly with time.
    Type: Application
    Filed: May 17, 2018
    Publication date: June 25, 2020
    Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko HASHIMOTO, Nobuyasu SHIMOMURA, Masayuki KAMON, Jun FUJIMORI, Hiroki KINOSHITA, Takuya SHITAKA, Hiroki TAKAHASHI
  • Publication number: 20200189091
    Abstract: A remote control robot system includes a slave arm configured to perform a given work, a master arm having a motor configured to drive a joint, and configured to receive from an operator an operation to manipulate the slave arm, an instruction generating module configured to generate an instruction to apply to the master arm an imaginary external force in a given direction that is independent from a force received by the slave arm from the exterior, and a motor controller configured to supply, to the motor, drive current corresponding to the instruction sent from the instruction generating module.
    Type: Application
    Filed: May 16, 2018
    Publication date: June 18, 2020
    Applicant: Kawasaki Jukogyo Kabushiki Kaisha
    Inventors: Nobuyasu SHIMOMURA, Masayuki KAMON, Jun FUJIMORI, Hiroki KINOSHITA, Takuya SHITAKA, Hiroki TAKAHASHI
  • Patent number: 10631941
    Abstract: Robot system which includes a master device configured to receive an operating instruction from an operator, slave arm, storage device configured to store operating sequence information that defines processing carried out by slave arm, and control device configured to control operation of slave arm. Control device includes a receiver configured to receive an input signal, motion controller configured to determine whether operating mode of slave arm is to be automatic, manual or correctable automatic mode and control operation of slave arm in determined operating mode, and continuation determinator configured to determine whether continuation of automatic mode is permitted. In a process at which slave arm is scheduled to operate in automatic mode, after motion controller suspends operation of slave arm in automatic mode at a given step of process, continuation determinator determines whether continuation of automatic mode is permitted based on input signal received by receiver when operation is suspended.
    Type: Grant
    Filed: May 27, 2016
    Date of Patent: April 28, 2020
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko Hashimoto, Nobuyasu Shimomura, Tsuyoshi Maehara, Masayuki Kamon, Yasushi Kurosawa, Shigetsugu Tanaka
  • Publication number: 20180257238
    Abstract: A manipulator system configured to perform a work to a workpiece being moved by a moving device, includes a robotic arm, having one or more joints and to which a tool configured to perform the work to the workpiece is attached, an operating device configured to operate the robotic arm, a first imaging means configured to image the workpiece, while following the movement of the workpiece, a second imaging means fixedly provided in a work area to image a situation of the work to the workpiece, a displaying means configured to display an image imaged by the first imaging means and an image imaged by the second imaging means, and a control device configured to control the operation of the robotic arm based on an operating instruction of the operating device, while detecting a moving amount of the workpiece being moved by the moving device and carrying out a tracking control of the robotic arm according to the moving amount of the workpiece.
    Type: Application
    Filed: May 27, 2016
    Publication date: September 13, 2018
    Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko HASHIMOTO, Nobuyasu SHIMOMURA, Tsuyoshi MAEHARA, Masayuki KAMON, Shigetsugu TANAKA
  • Publication number: 20180243897
    Abstract: A remote control robot system includes a slave arm, a master main body imitating the shape of an object handled by the slave arm, a manipulation receiving device configured to receive manipulation of an operator based on the position and posture of the master main body, and a control device configured to control operation of the slave arm based on the manipulation received by the manipulation receiving device so that behavior of the object corresponds to behavior of the master main body.
    Type: Application
    Filed: May 27, 2016
    Publication date: August 30, 2018
    Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko HASHIMOTO, Nobuyasu SHIMOMURA, Tsuyoshi MAEHARA, Masayuki KAMON
  • Publication number: 20180243901
    Abstract: A robot system includes a robot main body, memory part configured to store information for causing robot main body to perform given operation, as saved operational information, motion controller configured to control operation of robot main body by using saved operational information as automatic operational information for causing robot main body to operate, and an operation correcting device configured to generate, by being operated, manipulating information for correcting operation of robot main body during operation. Motion controller controls robot main body to perform an operation corrected from operation related to automatic operational information in response to a reception of the manipulating information while robot main body is operating by using automatic operational information. Memory part is configured to be storable of corrected operational information for causing robot main body to perform corrected operation as saved operational information, when robot main body performs corrected operation.
    Type: Application
    Filed: May 27, 2016
    Publication date: August 30, 2018
    Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko HASHIMOTO, Nobuyasu SHIMOMURA, Tsuyoshi MAEHARA, Masayuki KAMON, Yasushi KUROSAWA, Shigetsugu TANAKA
  • Publication number: 20180243910
    Abstract: In a remote control robot system including a plurality of slave arms, slave arm has a plurality of control modes of an automatic mode in which slave arm is operated based on a task program, a manual mode in which slave arm is operated based on an operator's operation received by a master device, and correctable automatic mode in which slave arm is operated based on task program while operation is sequentially corrected by the operator's operation received by master device. Operation sequence information includes an automatic part in which slave arm performs a work in the automatic mode, and a selected part in which slave arm performs a work in one selected from plurality of control modes, and the selected parts do not overlap with each other in time among the plurality of slave arms. Based on the operation sequence information, the plurality of slave arms are operated.
    Type: Application
    Filed: May 27, 2016
    Publication date: August 30, 2018
    Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko HASHIMOTO, Nobuyasu SHIMOMURA, Masayuki KAMON, Yasushi KUROSAWA, Shigetsugu TANAKA
  • Publication number: 20180243898
    Abstract: Robot system which includes a master device configured to receive an operating instruction from an operator, slave arm, storage device configured to store operating sequence information that defines processing carried out by slave arm, and control device configured to control operation of slave arm. Control device includes a receiver configured to receive an input signal, motion controller configured to determine whether operating mode of slave arm is to be automatic, manual or correctable automatic mode and control operation of slave arm in determined operating mode, and continuation determinator configured to determine whether continuation of automatic mode is permitted. In a process at which slave arm is scheduled to operate in automatic mode, after motion controller suspends operation of slave arm in automatic mode at a given step of process, continuation determinator determines whether continuation of automatic mode is permitted based on input signal received by receiver when operation is suspended.
    Type: Application
    Filed: May 27, 2016
    Publication date: August 30, 2018
    Applicant: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Yasuhiko HASHIMOTO, Nobuyasu SHIMOMURA, Tsuyoshi MAEHARA, Masayuki KAMON, Yasushi KUROSAWA, Shigetsugu TANAKA
  • Publication number: 20180243908
    Abstract: Robot system includes robot main body including robot arm, end effector attached to robot arm, and force sensing device detecting force applied to end effector's tip end, actual reaction-force information generator generating force-sensing information according to force detected by force sensing device, and output force-sensing information as actual reaction-force information, virtual reaction-force information generator outputting force component detected by force sensing device, that has a magnitude proportional to time differentiation value, as virtual reaction-force information, adder configured to output information obtained by adding actual reaction-force information outputted from actual reaction-force information generator to virtual reaction-force information outputted from virtual reaction-force information generator, as synthetic reaction-force information, operating device outputting, when operator is made to sense a force according to synthetic reaction-force information outputted from adder and
    Type: Application
    Filed: June 24, 2016
    Publication date: August 30, 2018
    Applicants: KAWASAKI JUKOGYO KABUSHIKI KAISHA, MEDICAROID CORPORATION
    Inventors: Tsuyoshi TOJO, Nobuyasu SHIMOMURA