Patents by Inventor Tsutomu Osaka

Tsutomu Osaka 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: 10661443
    Abstract: A joint driving unit driving a joint of a robot arm includes a motor, a speed reducer transmitting rotation of the motor in a variable speed, an input side encoder detecting a rotation angle of a rotation shaft of the motor, and an output side encoder detecting a rotation angle of an output shaft of the speed reducer. When positioning the end effector at a working start position at which predetermined work is started, operation of the robot is set to an output based control mode in which an angle of a joint is feedback controlled based on an angle detection value from the output side encoder. When the robot performs the predetermined work, the operation of the robot is changed to an input based control mode in which the angle of the joint is feedback controlled based on an angle detection value from the input side encoder.
    Type: Grant
    Filed: January 17, 2018
    Date of Patent: May 26, 2020
    Assignee: CANON KABUSHIKI KAISHA
    Inventor: Tsutomu Osaka
  • Patent number: 10486309
    Abstract: Feedback control is carried out on respective servomotors so that detection angles detected by respective input-side encoders become target angles to be obtained when a leading end of a robot has moved to a positioning completion position of a first motion. Subsequently, the position of the leading end of the robot is obtained on the basis of the detection angles detected by the respective output-side encoders. The time from a time point at which the detection angles detected by the input-side encoders are brought to the target angles through the feedback control to a time point at which a vibration width of the calculated position of the leading end of the robot relative to the positioning completion position converges within a convergence range is obtained. The obtained time is set in the stopping duration of the robot.
    Type: Grant
    Filed: July 31, 2017
    Date of Patent: November 26, 2019
    Assignee: Canon Kabushiki Kaisha
    Inventors: Takahiro Ishikawa, Tsutomu Osaka, Shunsuke Kawamura
  • Patent number: 10259121
    Abstract: The present invention enables to easily and accurately measure a joint of a robot apparatus, in particular, a lost motion of a driving system of the joint, and, to easily and accurately perform a diagnosis of a lifetime or a life expectancy of a joint mechanism of the robot apparatus based on a measured result.
    Type: Grant
    Filed: July 1, 2016
    Date of Patent: April 16, 2019
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Tsutomu Osaka, Takahiro Ishikawa, Shunsuke Kawamura, Yohei Kawaguchi
  • Publication number: 20180141218
    Abstract: A joint driving unit driving a joint of a robot arm includes a motor, a speed reducer transmitting rotation of the motor in a variable speed, an input side encoder detecting a rotation angle of a rotation shaft of the motor, and an output side encoder detecting a rotation angle of an output shaft of the speed reducer. When positioning the end effector at a working start position at which predetermined work is started, operation of the robot is set to an output based control mode in which an angle of a joint is feedback controlled based on an angle detection value from the output side encoder. When the robot performs the predetermined work, the operation of the robot is changed to an input based control mode in which the angle of the joint is feedback controlled based on an angle detection value from the input side encoder.
    Type: Application
    Filed: January 17, 2018
    Publication date: May 24, 2018
    Inventor: Tsutomu OSAKA
  • Patent number: 9902073
    Abstract: A joint driving unit driving a joint of a robot arm includes a motor, a speed reducer transmitting rotation of the motor in a variable speed, an input side encoder detecting a rotation angle of a rotation shaft of the motor, and an output side encoder detecting a rotation angle of an output shaft of the speed reducer. When positioning the end effector at a working start position at which predetermined work is started, operation of the robot is set to an output based control mode in which an angle of a joint is feedback controlled based on an angle detection value from the output side encoder. When the robot performs the predetermined work, the operation of the robot is changed to an input based control mode in which the angle of the joint is feedback controlled based on an angle detection value from the input side encoder.
    Type: Grant
    Filed: October 25, 2016
    Date of Patent: February 27, 2018
    Assignee: CANON KABUSHIKI KAISHA
    Inventor: Tsutomu Osaka
  • Publication number: 20170326731
    Abstract: Feedback control is carried out on respective servomotors so that detection angles detected by respective input-side encoders become target angles to be obtained when a leading end of a robot has moved to a positioning completion position of a first motion. Subsequently, the position of the leading end of the robot is obtained on the basis of the detection angles detected by the respective output-side encoders. The time from a time point at which the detection angles detected by the input-side encoders are brought to the target angles through the feedback control to a time point at which a vibration width of the calculated position of the leading end of the robot relative to the positioning completion position converges within a convergence range is obtained. The obtained time is set in the stopping duration of the robot.
    Type: Application
    Filed: July 31, 2017
    Publication date: November 16, 2017
    Inventors: Takahiro Ishikawa, Tsutomu Osaka, Shunsuke Kawamura
  • Patent number: 9815202
    Abstract: Semi-closed control or fully closed control is selected as a control system for a joint using a motor configured to drive a joint of a robot arm via a reduction gear, an input-side encoder, and an output-side encoder, the semi-closed control being control in which an output of the input-side encoder is used, the fully closed control being control in which an output of the output-side encoder is used. A test run is performed plural times in which the robot arm is caused to perform a specific operation while semi-closed control is being performed on the joint, and semi-closed control or fully closed control is selected using outputs of the output-side encoder obtained in the test runs or in accordance with the content of a task that the robot arm is to be caused to perform.
    Type: Grant
    Filed: July 7, 2015
    Date of Patent: November 14, 2017
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Tsutomu Osaka, Takahiro Ishikawa, Shunsuke Kawamura
  • Patent number: 9718187
    Abstract: Feedback control is carried out on respective servomotors so that detection angles detected by respective input-side encoders become target angles to be obtained when a leading end of a robot has moved to a positioning completion position of a first motion. Subsequently, the position of the leading end of the robot is obtained on the basis of the detection angles detected by the respective output-side encoders. The time from a time point at which the detection angles detected by the input-side encoders are brought to the target angles through the feedback control to a time point at which a vibration width of the calculated position of the leading end of the robot relative to the positioning completion position converges within a convergence range is obtained. The obtained time is set in the stopping duration of the robot.
    Type: Grant
    Filed: June 8, 2015
    Date of Patent: August 1, 2017
    Assignee: Canon Kabushiki Kaisha
    Inventors: Takahiro Ishikawa, Tsutomu Osaka, Shunsuke Kawamura
  • Publication number: 20170036353
    Abstract: A joint driving unit driving a joint of a robot arm includes a motor, a speed reducer transmitting rotation of the motor in a variable speed, an input side encoder detecting a rotation angle of a rotation shaft of the motor, and an output side encoder detecting a rotation angle of an output shaft of the speed reducer. When positioning the end effector at a working start position at which predetermined work is started, operation of the robot is set to an output based control mode in which an angle of a joint is feedback controlled based on an angle detection value from the output side encoder. When the robot performs the predetermined work, the operation of the robot is changed to an input based control mode in which the angle of the joint is feedback controlled based on an angle detection value from the input side encoder.
    Type: Application
    Filed: October 25, 2016
    Publication date: February 9, 2017
    Inventor: Tsutomu OSAKA
  • Publication number: 20170015004
    Abstract: The present invention enables to easily and accurately measure a joint of a robot apparatus, in particular, a lost motion of a driving system of the joint, and, to easily and accurately perform a diagnosis of a lifetime or a life expectancy of a joint mechanism of the robot apparatus based on a measured result.
    Type: Application
    Filed: July 1, 2016
    Publication date: January 19, 2017
    Inventors: Tsutomu Osaka, Takahiro Ishikawa, Shunsuke Kawamura, Yohei Kawaguchi
  • Patent number: 9505133
    Abstract: A joint driving unit driving a joint of a robot arm includes a motor, a speed reducer transmitting rotation of the motor in a variable speed, an input side encoder detecting a rotation angle of a rotation shaft of the motor, and an output side encoder detecting a rotation angle of an output shaft of the speed reducer. When positioning the end effector at a working start position at which predetermined work is started, operation of the robot is set to an output based control mode in which an angle of a joint is feedback controlled based on an angle detection value from the output side encoder. When the robot performs the predetermined work, the operation of the robot is changed to an input based control mode in which the angle of the joint is feedback controlled based on an angle detection value from the input side encoder.
    Type: Grant
    Filed: December 5, 2014
    Date of Patent: November 29, 2016
    Assignee: CANON KABUSHIKI KAISHA
    Inventor: Tsutomu Osaka
  • Patent number: 9348331
    Abstract: A robot apparatus includes a multi-joint robot including, in at least one portion, a joint including a motor, a speed reducer connected to the motor, an input angle detecting unit configured to detect a rotational angle of a rotating shaft of the motor, and an output angle detecting unit configured to detect an output rotational angle of the speed reducer, and a controller configured to diagnose a state of the speed reducer from an angle difference between the input rotational angle detected by the input angle detecting unit and the output rotational angle detected by the output angle detecting unit.
    Type: Grant
    Filed: June 12, 2014
    Date of Patent: May 24, 2016
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Takahiro Ishikawa, Tsutomu Osaka, Kazunori Ogami, Shunsuke Kawamura
  • Patent number: 9342067
    Abstract: A robot apparatus includes a rectangular wave generating portion arranged on the output side of a speed reducer, and configured to generate first output pulse signals upon driving of a joint. A control portion includes calculating portions and a motor control portion. The motor control portion estimates an estimated joint angle using input pulse signals, and controls to operate a servo motor so that this estimated joint angle matches a target joint angle. The calculating portions calculate a torsion angle of the joint corresponding to a deviation amount between the first output pulse signals and a pulse waveform of an ideal state. The motor control portion controls to operate the servo motor so as to correct the estimated joint angle by the torsion angle.
    Type: Grant
    Filed: September 18, 2013
    Date of Patent: May 17, 2016
    Assignee: CANON KABUSHIKI KAISHA
    Inventor: Tsutomu Osaka
  • Publication number: 20160114483
    Abstract: Rotations of respective motors are controlled so that rotational angles of the respective motors become target angles in an operation completion position of a first operation (S1: robot operation step). After the robot operation step, a leading edge position of a robot is obtained based on joint angles detected by respective output side encoders (S5: leading edge position calculation step). A convergence time until an amplitude at the leading edge of the robot with respect to the operation completion position converges within an allowable range is estimated based on a time change of the calculated leading edge position (S6: estimation step). Rotational operations of the respective motors are paused from a time point at which the rotational angles of the respective motors are controlled to be the target angles to a time point at which an elapsed time reaches the estimated convergence time (S3 and S7: pause step).
    Type: Application
    Filed: October 22, 2015
    Publication date: April 28, 2016
    Inventors: Takahiro Ishikawa, Tsutomu Osaka, Shunsuke Kawamura
  • Publication number: 20160008983
    Abstract: Semi-closed control or fully closed control is selected as a control system for a joint using a motor configured to drive a joint of a robot arm via a reduction gear, an input-side encoder, and an output-side encoder, the semi-closed control being control in which an output of the input-side encoder is used, the fully closed control being control in which an output of the output-side encoder is used. A test run is performed plural times in which the robot arm is caused to perform a specific operation while semi-closed control is being performed on the joint, and semi-closed control or fully closed control is selected using outputs of the output-side encoder obtained in the test runs or in accordance with the content of a task that the robot arm is to be caused to perform.
    Type: Application
    Filed: July 7, 2015
    Publication date: January 14, 2016
    Inventors: Tsutomu Osaka, Takahiro Ishikawa, Shunsuke Kawamura
  • Publication number: 20150360369
    Abstract: Feedback control is carried out on respective servomotors so that detection angles detected by respective input-side encoders become target angles to be obtained when a leading end of a robot has moved to a positioning completion position of a first motion. Subsequently, the position of the leading end of the robot is obtained on the basis of the detection angles detected by the respective output-side encoders. The time from a time point at which the detection angles detected by the input-side encoders are brought to the target angles through the feedback control to a time point at which a vibration width of the calculated position of the leading end of the robot relative to the positioning completion position converges within a convergence range is obtained. The obtained time is set in the stopping duration of the robot.
    Type: Application
    Filed: June 8, 2015
    Publication date: December 17, 2015
    Inventors: Takahiro Ishikawa, Tsutomu Osaka, Shunsuke Kawamura
  • Publication number: 20150165620
    Abstract: A joint driving unit driving a joint of a robot arm includes a motor, a speed reducer transmitting rotation of the motor in a variable speed, an input side encoder detecting a rotation angle of a rotation shaft of the motor, and an output side encoder detecting a rotation angle of an output shaft of the speed reducer. When positioning the end effector at a working start position at which predetermined work is started, operation of the robot is set to an output based control mode in which an angle of a joint is feedback controlled based on an angle detection value from the output side encoder. When the robot performs the predetermined work, the operation of the robot is changed to an input based control mode in which the angle of the joint is feedback controlled based on an angle detection value from the input side encoder.
    Type: Application
    Filed: December 5, 2014
    Publication date: June 18, 2015
    Inventor: Tsutomu Osaka
  • Publication number: 20140379128
    Abstract: A robot apparatus includes a multi-joint robot including, in at least one portion, a joint including a motor, a speed reducer connected to the motor, an input angle detecting unit configured to detect a rotational, angle of a rotating shaft of the motor, and an output angle detecting unit configured to detect an output rotational angle of the speed reducer, and a controller configured to diagnose a state of the speed reducer from an angle difference between the input rotational angle detected by the input angle detecting unit and the output rotational angle detected by the output angle detecting unit.
    Type: Application
    Filed: June 12, 2014
    Publication date: December 25, 2014
    Inventors: Takahiro Ishikawa, Tsutomu Osaka, Kazunori Ogami, Shunsuke Kawamura
  • Patent number: 8836769
    Abstract: A 3D image display apparatus is disclosed which includes a ray modulator which emits a directive ray in a time series manner based on parallax image information, a scanner which deflects the ray from the ray modulator and scans a predetermined plane two-dimensionally with the deflected ray, a light emitting point distributor which is arranged on a light emission side of the scanner to form a plurality of light emitting points, and a light emitting point multiplexer which is arranged on the light emission side of the light emitting point distributor to form a plurality of secondary light emitting points with rays from individual ones of the light emitting points, to enable stereopsis with a super multi-view region at a high resolution.
    Type: Grant
    Filed: July 21, 2006
    Date of Patent: September 16, 2014
    Assignee: Canon Kabushiki Kaisha
    Inventors: Hidetoshi Tsubaki, Toshiyuki Sudo, Tsutomu Osaka, Hiroshi Nishihara
  • Publication number: 20140084840
    Abstract: A robot apparatus includes a rectangular wave generating portion arranged on the output side of a speed reducer, and configured to generate first output pulse signals upon driving of a joint. A control portion includes calculating portions and a motor control portion. The motor control portion estimates an estimated joint angle using input pulse signals, and controls to operate a servo motor so that this estimated joint angle matches a target joint angle. The calculating portions calculate a torsion angle of the joint corresponding to a deviation amount between the first output pulse signals and a pulse waveform of an ideal state. The motor control portion controls to operate the servo motor so as to correct the estimated joint angle by the torsion angle.
    Type: Application
    Filed: September 18, 2013
    Publication date: March 27, 2014
    Applicant: CANON KABUSHIKI KAISHA
    Inventor: Tsutomu Osaka