Adaptive Or Optimizing Systems Including "bang-bang" Servos Patents (Class 318/561)
  • Patent number: 11149756
    Abstract: In order to carry out largely automated parameterisation of the closed-loop control parameters for closed-loop control of a hydraulic system comprising a servo drive, a method and a device for determining the closed-loop parameters of a closed-loop control unit of the hydraulic system are specified, wherein an actual system pressure of a hydraulic consumer of the hydraulic system is closed-loop controlled by means of a predefined set point rotational speed of a servo drive, wherein an actual rotational speed of the servo drive follows the predefined set point rotational speed, wherein an excitation signal is applied to the setpoint rotational speed, and the actual system pressure which is set here is measured, the dynamics of the hydraulic system are acquired from the actual rotational speed and/or the setpoint rotational speed and the actual system pressure, and the closed-loop control parameters are calculated from the acquired dynamics.
    Type: Grant
    Filed: March 20, 2018
    Date of Patent: October 19, 2021
    Assignee: B&R INDUSTRIAL AUTOMATION GMBH
    Inventors: Kurt Zehetleitner, Lukas Wick, Leopold Griessler
  • Patent number: 11146203
    Abstract: A motor control apparatus drives an inverter which supplies and receives electric power with respect to a motor by pulse width modulation. The motor control apparatus sets a frequency of a carrier such that a frequency of a sideband wave component of the carrier which is used for the pulse width modulation and a frequency of a predetermined rotation order of the motor become different from each other.
    Type: Grant
    Filed: March 4, 2019
    Date of Patent: October 12, 2021
    Assignees: HONDA MOTOR CO., LTD., KEIHIN CORPORATION
    Inventors: Kazuyuki Ohta, Shinichi Yataka, Daisuke Hoshino, Yusaku Suzuki, Yoshihiro Ito, Takashi Sugawara, Hirohito Ide
  • Patent number: 11092936
    Abstract: A machine control device is configured to include a measurement unit that measures regarding a state of a controlled object handled by a machine apparatus, a determination unit that determines a constraint determination value by comparing the measurement result by the measurement unit with a predetermined constraint condition, control units and that perform operation control for the machine apparatus based on the constraint determination value determined by the determination unit according to the relationship set for the constraint determination value and the operation control, and a learning unit that reconfigures the relationship between the constraint determination value and the operation control when the constraint determination value changes due to the operation control performed by the control units.
    Type: Grant
    Filed: October 27, 2017
    Date of Patent: August 17, 2021
    Assignee: RESONEST CORPORATION
    Inventors: Hirotoshi Maegawa, Keiko Ikemoto, Akira Sassa
  • Patent number: 11086287
    Abstract: The machine tool includes a table, a spindle, first and second feed motors relatively moves the table and the spindle in a first direction and a second direction, and a control unit which positions cutting positions of a workpiece with respect to a tool by controlling the first feed motor, and moves a distal end of the tool between a distant position and a predetermined depth position of the workpiece by controlling the second feed motor, and the control unit performs a process in which the cutting position is positioned after cutting of the cutting position is completed, a second process in which the distal end of the tool is moved from the distant position to the predetermined depth position, and a third process in which the distal end of the tool is moved from the predetermined depth position to the distant position.
    Type: Grant
    Filed: June 15, 2020
    Date of Patent: August 10, 2021
    Assignee: FANUC CORPORATION
    Inventors: Naoya Takeuchi, Tetsushi Takahara
  • Patent number: 11069148
    Abstract: Method and apparatus for rendering a visual representation based on a musculoskeletal representation. The method comprises updating the musculoskeletal representation based, at least in part, on a plurality of neuromuscular signals recorded from a user, wherein the musculoskeletal representation is updated based at least in part on: position information describing a spatial relationship between two or more connected segments of the musculoskeletal representation, and force information describing a force exerted by at least one segment of the musculoskeletal representation, and rendering, via a user interface, the visual representation based on the updated musculoskeletal representation, wherein the visual representation includes a visual indication of the position information and a visual indication of the force information.
    Type: Grant
    Filed: January 25, 2019
    Date of Patent: July 20, 2021
    Assignee: Facebook Technologies, LLC
    Inventors: Tudor Giurgica-Tiron, Adam Berenzweig, Attila Maczak, Michael Astolfi, Mason Remaley
  • Patent number: 11042928
    Abstract: O2O (Offline to Online) Management System is a computer-implemented service which manages the operation and interaction among the brick-and-mortar stores, merchants, warehouse and product providers. It also manages the purchase transactions by the customers at online marketplace and the brick-and-mortar stores. Unlike the online shopping services which provide only storefront Web access, the O2O Management System integrates the transaction and operation of online marketplace, brick-and-mortar retail stores, merchants, warehouses and product providers with a network of computer systems, such as internet. The transaction of O2O Management System occurs in the combination of physical retail facility (retail store) and internet.
    Type: Grant
    Filed: December 18, 2018
    Date of Patent: June 22, 2021
    Inventor: Khai Gan Chuah
  • Patent number: 11025175
    Abstract: In some examples, a device includes a nanovoided polymer element, a planarization layer disposed on a surface of the nanovoided polymer element, a first electrode disposed on the planarization layer, and a second electrode. The nanovoided polymer element may be located at least in part between the first electrode and the second electrode. The planarization layer may be located between the nanovoided polymer element and the first electrode.
    Type: Grant
    Filed: March 26, 2019
    Date of Patent: June 1, 2021
    Assignee: Facebook Technologies, LLC
    Inventors: Renate Eva Klementine Landig, Kenneth Diest, Spencer Allan Wells, Andrew John Ouderkirk, Sheng Ye
  • Patent number: 11016462
    Abstract: An illustrative example embodiment of a method of communicating between controllers on a vehicle includes communicating a first operation request from a first controller to a second controller. The first operation request is indicative of the second controller performing a first operation. The second controller attempts to perform the first operation at a time when it cannot be performed, determines that the first operation cannot be performed, and communicates an indication that the first operation request cannot currently be satisfied. The second controller continues to attempt to perform the first operation at a subsequent time.
    Type: Grant
    Filed: October 18, 2017
    Date of Patent: May 25, 2021
    Assignee: JAGUAR LAND ROVER LIMITED
    Inventor: Adrian Berry
  • Patent number: 11014206
    Abstract: A device (1) for exchanging at least one cutting component (2a) of a rotating tool (2), in particular a milling tool (2), and more particularly, a hollow milling tool for machining workpieces made of plastic. The device has an aligning device (5) for orientating a position of the cutting component (2a) relative to a rotational axis (2c) of the tool (2) and an exchanging device (6) for releasing the cutting component (2a) from a part (2b) that remains on the tool (2) and for attaching another cutting component (2a) to the part (2b) that remains on the tool (2).
    Type: Grant
    Filed: October 25, 2018
    Date of Patent: May 25, 2021
    Assignee: MOROFF & BAIERL GMBH
    Inventors: Wolfgang Albrecht Moroff, Martin Mueller
  • Patent number: 11012000
    Abstract: A switching type control method based on a double loop predictive control is provided. A deadbeat control is adopted by the outer loop control. The switching type control method is adopted by the inner loop control. When the system is in the steady state, the deadbeat control by an inner loop is adopted to ensure the steady state accuracy of the system and to achieve the fixed switching frequency. When the system is in the transient state, it is switched to the finite control set model predictive control by the inner loop to ensure the rapid transition of the system to the steady state.
    Type: Grant
    Filed: December 30, 2017
    Date of Patent: May 18, 2021
    Assignee: SOUTH CHINA UNIVERSITY OF TECHNOLOGY
    Inventors: Guiping Du, Jiajian Li, Zhifei Liu
  • Patent number: 11003170
    Abstract: To provide a parameter determination support device and a program capable of simplifying determination of driving parameters upon driving a motor for which the slip constant is unknown.
    Type: Grant
    Filed: April 10, 2019
    Date of Patent: May 11, 2021
    Assignee: FANUC CORPORATION
    Inventors: Kouki Oikawa, Yuuki Morita, Tadashi Okita
  • Patent number: 10962953
    Abstract: An adjustment necessity determination device is an adjustment necessity determination device that makes a determination, after a workpiece is machined, about a necessity to make an adjustment of a deviation of the axis position of each axis of a machine tool that has performed the machining and includes: a data acquisition unit that acquires a physical quantity relating to a cause of a deviation of the axis position of each axis of the machine tool, the physical quantity observed at the time of the machining; a time-series data storage unit that stores the physical quantity as time-series data; and an adjustment necessity judgement unit that makes a judgment about a necessity to make an adjustment of a deviation of the axis position of each axis of the machine tool based on the time-series data.
    Type: Grant
    Filed: May 29, 2019
    Date of Patent: March 30, 2021
    Assignee: FANUC CORPORATION
    Inventor: Shinichi Ozeki
  • Patent number: 10947915
    Abstract: A control system includes an electronic control unit including a feedback controller and a reference governor. The feedback controller is configured to determine a value of control input such that a value of control output approximates a target value. The reference governor is configured to calculate, with a prediction model, a predicted maximum value of an overshoot amount of the control output that overshoots from the target value. The prediction model is derived assuming that an n-th delay (n is a natural number) occurs in a response of the control output. The reference governor is configured to calculate the target value by correcting the provisional target value of the control output based on the predicted maximum value so as to increase a degree of satisfaction of a constraint condition with regard to the control output.
    Type: Grant
    Filed: June 25, 2019
    Date of Patent: March 16, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Hayato Nakada, Takeshi Sano
  • Patent number: 10928802
    Abstract: The present invention relates to a method for optimizing the productivity of a machining process of at least one CNC (Computer Numerical Control) machine, the CNC machine comprising at least one machining tool movable by one or a plurality of drive axes, the machining process being controlled by a given NC (Numerical Control) program defining at least a tool path for the at least one machining tool and a path velocity profile along the tool path, wherein the method includes increasing the path velocity along the tool path as compared to the path velocity profile defined by the given NC program, wherein increasing the path velocity along the tool path is effected in due consideration of the respective dynamical limit of each of the one or the plurality of drive axes, in particular in due consideration of the maximum axis-velocity and the maximum axis-acceleration of each of the one or the plurality of drive axes, and in due consideration of processing limits affecting the path velocity due to the machining cap
    Type: Grant
    Filed: October 30, 2015
    Date of Patent: February 23, 2021
    Assignee: BIG DATA IN MANUFACTURING GMBH
    Inventor: Volker Kreidler
  • Patent number: 10904438
    Abstract: An actuator of a camera module includes a comparison unit sequentially calculating each error value by comparing a target position with a current position of a lens barrel, a controller integrated circuit (IC) generating a control signal by applying a control gain based on a proportional-integral-derivative (PID) control scheme to each error value sequentially input thereto from the comparison unit, and a driving circuit unit generating a driving signal in response to the control signal to move the lens barrel to the target position, wherein the controller IC changes the control gain in response to the error values sequentially input including both overshoot and undershoot.
    Type: Grant
    Filed: April 16, 2020
    Date of Patent: January 26, 2021
    Assignee: Samsung Electro-Mechanics Co., Ltd.
    Inventor: Jung Eun Youm
  • Patent number: 10901390
    Abstract: A numerical controller, which is configured to correct a machine position error based on a torque difference between a master axis and a slave axis, acquires the torque difference after movement of the master and slave axes that move in response to a movement command, and corrects the machine position error by a correction amount based on a value obtained by excluding a torque difference derived from a mechanical strain from the acquired torque difference. The corrected machine position error is added to the movement command for next time.
    Type: Grant
    Filed: February 12, 2019
    Date of Patent: January 26, 2021
    Assignee: Fanuc Corporation
    Inventor: Takuma Ookura
  • Patent number: 10875628
    Abstract: The subject matter of this specification can be embodied in, among other things, a control apparatus includes a first mounting member, an elongate member having a first elongate portion, a second elongate portion, a first axis member between the first elongate portion and the second elongate portion, pivotally mounting the elongate member to the first mounting member and defining a first axis, a track configured as an arc defined about the first axis, and a first feedback assembly supported upon the second elongate portion and providing a first interface device configured to travel along the track in response to movement of the second elongate portion partly about the first axis, wherein the mass of the second elongate portion and the first feedback assembly substantially offsets the mass of the first elongate portion about the first axis member.
    Type: Grant
    Filed: October 3, 2018
    Date of Patent: December 29, 2020
    Assignee: Woodward, Inc.
    Inventors: Jeffrey T. Voiles, Steven E. Rickenbrode, Alexander Ramos, Randall E. Gebka
  • Patent number: 10800237
    Abstract: The invention relates to a method for determining the position of an actuating element (3) in a positioning system (1), having the following steps: —continuously detecting a signal profile of a sensor signal from an acceleration sensor (7) which is fitted to an electric-motor actuating drive (5) of the positioning system (1), in order to detect an acceleration on account of a force excitation by a detent torque and/or an imbalance of a rotor of the electric-motor actuating drive; —evaluating the signal profile in order to detect an oscillation; —determining the position of the actuating element (3) on the basis of the detection of the oscillation.
    Type: Grant
    Filed: December 13, 2017
    Date of Patent: October 13, 2020
    Assignee: Robert Bosch GmbH
    Inventor: Dieter Depner
  • Patent number: 10802752
    Abstract: A memory system includes a first nonvolatile memory, a first processor, and a second processor. The first processor sets a first assignment amount. The second processor performs access to the first nonvolatile memory, calculates a consumed amount which is an amount according to an operation time of the first nonvolatile memory in the access, and transmits a notification to the first processor when the consumed amount reaches the first assignment amount.
    Type: Grant
    Filed: September 5, 2017
    Date of Patent: October 13, 2020
    Assignee: TOSHIBA MEMORY CORPORATION
    Inventors: Takahiro Miomo, Prashob Ramachandran Nair, Hajime Yamazaki, Makoto Domon, Yasunori Nakamura
  • Patent number: 10787331
    Abstract: A sheet conveying apparatus includes a second conveying roller adjoining a motor driven first conveying roller, a phase determiner to determine a rotational phase of a rotor of the motor, a controller, and a discriminator. The controller controls a drive current flowing through a winding of the motor to reduce phase deviation. The discriminator executes a discrimination regarding one of whether a front end of a sheet has reached a nip portion and whether a rear end of the sheet has passed through a nip portion. The controller controls such that the first conveying roller rotates at a first conveying roller peripheral velocity which is different from a peripheral velocity of the second conveying roller. The discriminator executes the discrimination based on a value of a parameter corresponding to a load torque applied to the rotor where the first conveying roller rotates at the first conveying roller peripheral velocity.
    Type: Grant
    Filed: May 15, 2018
    Date of Patent: September 29, 2020
    Assignee: Canon Kabushiki Kaisha
    Inventors: Kazuhisa Koizumi, Kazuya Fukuda
  • Patent number: 10748568
    Abstract: A data storage device is disclosed comprising a head actuated over a disk comprising servo data for defining a plurality of data tracks, including consecutive data tracks N?1, N, and N+1. Data is written to data track N using a position error signal (PES) generated by reading the servo data, and a read track trajectory for data track N is generated based on the PES of the write. Data is read from data track N based on the read track trajectory for data track N.
    Type: Grant
    Filed: August 6, 2019
    Date of Patent: August 18, 2020
    Assignee: Western Digital Technologies, Inc.
    Inventors: Alain Chahwan, Niranjay Ravindran
  • Patent number: 10730191
    Abstract: A monitoring device of a robot system including: a current sensor detecting a value of a current flowing through the servo motor; a current/torque converting the value of the current flowing through the servo motor which is detected by the current sensor into a torque value; a driving torque estimating section estimating at least a part of driving torque required to drive the servo motor; a differential torque calculating differential torque between the torque value obtained by conversion in the current/torque converting section and an estimated value of the driving torque; an external force converting the differential torque calculated by the differential torque calculating section into an external force applied to the robot; and a stop signal generating section which generates to stop the robot based on a value of the external force obtained by conversion in the external force converting section, and supplies the stop signal to the controller.
    Type: Grant
    Filed: October 25, 2016
    Date of Patent: August 4, 2020
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventor: Koji Muneto
  • Patent number: 10732586
    Abstract: Aspects of the disclosure provide for a controller of a system. The controller is configured to apply a drive to transition the system from a first state to a second state and to continually adjust the drive in response to a detected disturbance quantity in real-time by performing a loop until the system is in the second state. The loop comprises determining a predicted state of the system at a given instance based on the obtained current state of the system and the applied drive, obtaining the current state of the system at the given instance using one or more sensors, determining a disturbance quantity amount based on a difference between the predicted state at the given instance and an actual state of the system at the given instance, determining an adjustment to the drive based on the disturbance quantity amount, and applying the adjusted drive to the system.
    Type: Grant
    Filed: July 12, 2017
    Date of Patent: August 4, 2020
    Assignee: X DEVELOPMENT LLC
    Inventor: Paul Csonka
  • Patent number: 10727821
    Abstract: The present disclosure provides a transmission hysteresis detecting method and apparatus. The method includes: transmitting a forward rotational instruction and a reverse rotational instruction to a motor of the servo; storing motor end positions of the motor and output shaft end positions of an output shaft corresponding to the motor in a forward rotational cycle and a reverse rotational cycle, respectively; generating first position data based on the motor end positions and the corresponding output shaft end positions in the forward rotational cycle; generating second position data based on the motor end positions and the corresponding output shaft end positions in the reverse rotational cycle; and calculating a transmission hysteresis of the servo based on the first position data and the second position data. The technical solutions of the present disclosure only needs to obtain the position data of one forward rotational cycle and one reverse rotational cycle.
    Type: Grant
    Filed: July 12, 2019
    Date of Patent: July 28, 2020
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Youjun Xiong, Lifu Zhang, Wenhua Fan, Hanyu Sun
  • Patent number: 10697798
    Abstract: A position forecasting apparatus for forecasting a position at a predetermined time of a continuously operating moving body is provided with an estimation part that finds an estimated position state of the moving body at a time in the past before the predetermined time and a position forecasting part that forecasts the position of the moving body at the predetermined time based on the estimated position state of the moving body estimated by the estimation part.
    Type: Grant
    Filed: May 30, 2019
    Date of Patent: June 30, 2020
    Assignee: TDK Corporation
    Inventor: Shinichirou Mochizuki
  • Patent number: 10692527
    Abstract: An apparatus may include a circuit including a filter configured to update one or more adaptive coefficients of the filter based on an error signal. Further, the circuit may update a constrained coefficient of the filter based on the one or more adaptive coefficients, the constrained coefficient and a desired value. Moreover, the circuit may generate a sample of a sample sequence based on the one or more adaptive coefficients and the updated constrained coefficient, the error signal being based on the sample sequence.
    Type: Grant
    Filed: December 5, 2018
    Date of Patent: June 23, 2020
    Assignee: Seagate Technology LLC
    Inventors: Jason Vincent Bellorado, Marcus Marrow, Zheng Wu
  • Patent number: 10675106
    Abstract: A robot arm apparatus is provided and includes: an arm unit made up of a plurality of links joined to each other by one or a plurality of a joint unit; and a driving control unit that drives the arm unit by controlling driving of the joint unit. If a malfunction is detected in at least one of the joint unit, the driving control unit controls the driving of the joint unit in a state in which a certain restriction is imposed on motion of the arm unit, and drives the arm unit to avoid the malfunction.
    Type: Grant
    Filed: February 28, 2019
    Date of Patent: June 9, 2020
    Assignee: SONY CORPORATION
    Inventors: Toshimitsu Tsuboi, Takara Kasai, Yasuhisa Kamikawa, Yohei Kuroda, Wataru Kokubo, Tetsuharu Fukushima, Yasuhiro Matsuda, Atsushi Miyamoto
  • Patent number: 10663947
    Abstract: A method of machining a workpiece may include continuously rotating the workpiece, continuously rotating a tool having at least one cutting surface, and positioning the tool relative to the workpiece so that the at least one cutting surface engages the workpiece at a first discrete location at a periphery of the workpiece. The method may further include continuing to rotate the workpiece and the tool so that the at least one cutting surface engages a second discrete location at the periphery of the workpiece, and controlling a tool surface velocity VT relative to the workpiece surface velocity VW so that the first and second discrete locations are discontinuous. The tool may make multiple iterative passes over the workpiece to engage subsequent discrete locations, wherein the first discrete location, second discrete location, and multiple subsequent discrete locations may form a machined surface that extends continuously around the workpiece.
    Type: Grant
    Filed: January 11, 2017
    Date of Patent: May 26, 2020
    Assignee: MORI SEIKI CO., LTD.
    Inventors: Gregory A. Hyatt, Nitin Chaphalkar
  • Patent number: 10657736
    Abstract: An aircraft fault detection system including at least one aircraft data logging device configured to capture parametric flight data from at least one aircraft subsystem, and an aircraft controller coupled to the data logging device. The controller being configured to group the parametric flight data from the at least one aircraft subsystem into a plurality of test states, one or more of the test states being different from other test states in the plurality of states, generate at least one test transition matrix based on the plurality of test states and determine anomalous behavior of the at least one aircraft subsystem based on the at least one test transition matrix, and forecast faults within the at least one aircraft subsystem based on the anomalous behavior of the at least one aircraft subsystem determined from the at least one test transition matrix.
    Type: Grant
    Filed: September 25, 2017
    Date of Patent: May 19, 2020
    Assignee: The Boeing Company
    Inventors: Rashmi Sundareswara, Tsai-Ching Lu, Franz D. Betz
  • Patent number: 10599136
    Abstract: A motor controller includes memory, and processing circuitry that controls a motor based on a position command and based on a position detection value corresponding to a detected position of the motor, calculates a tolerance position error in a successive manner based on the position command and based on a control parameter used to control the motor, calculates a position error maximum threshold that depends on the tolerance position error, detects an abnormality based on the position error maximum threshold, and triggers an indication when the abnormality is detected.
    Type: Grant
    Filed: July 28, 2017
    Date of Patent: March 24, 2020
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Yusuke Oka, Tadashi Okubo, Katsumi Ouchida
  • Patent number: 10599123
    Abstract: The machine tool according to the present invention has: a function to set upper limits and lower limits for cutting conditions including a cutting width, a cutting depth, and a cutting load of a tool; a function to set a range and a modification condition of the machining program modifying the cutting width or the cutting depth of the tool; a function to modify, based on the modification condition, a movement amount of a block that orders a feeding operation of the machining program; a function to calculate a load imposed upon cutting, based on a cutting condition obtained prior to modification of the machining program and a variation in the modified movement amount; and a function to determine whether or not the calculated load and the modified movement amount fall within the set ranges between the upper limits and the lower limits of the cutting width or cutting depth and the cutting load.
    Type: Grant
    Filed: January 28, 2016
    Date of Patent: March 24, 2020
    Assignee: FANUC CORPORATION
    Inventor: Yasuhiko Kurosumi
  • Patent number: 10571885
    Abstract: The present disclosure provides a method for controlling driving of a motor by a Programmable Logic Controller (PLC). In one embodiment, the method includes: upon an initiation of an N-th position determination control period, stopping a scan program being executed; receiving one or more motor driving commands for one or more axes during a preset position control processing region; calculating one or more axis-based motor movement amounts corresponding to the one or more motor driving commands for the one or more axes during a preset position control calculation region; resuming execution of the scan program; and upon an initiation of a (N+1)-th position determination control period, driving the motor based on the one or more axis-based motor movement amounts calculated during the position control calculation region.
    Type: Grant
    Filed: December 18, 2018
    Date of Patent: February 25, 2020
    Assignee: LSIS CO., LTD.
    Inventor: Seok-Yeon Kim
  • Patent number: 10564658
    Abstract: A servo control apparatus includes a velocity command creation unit; a velocity detection unit; a velocity control gain; a torque command creation unit; a filter configured to attenuate a particular frequency band component in a torque command value; a sine-wave sweep input unit configured to perform a sine-wave sweep in a predetermined frequency range; a frequency characteristics calculation unit configured to calculate a frequency characteristic of a sine-wave; and a filter adjustment unit configured to attenuate a particular frequency band component in a torque command value. A signal is input to the velocity control gain. The signal is obtained by adding a sine-wave to a difference between a velocity command value and a velocity detected. The filter adjustment unit measures an influence of the velocity control gain on a resonance frequency and resonance peak amplitude, while changing a value of the velocity control gain, thereby adjusting the filter.
    Type: Grant
    Filed: March 13, 2017
    Date of Patent: February 18, 2020
    Assignee: FANUC CORPORATION
    Inventor: Kazunori Iijima
  • Patent number: 10566017
    Abstract: According to one embodiment, a magnetic disk device includes an actuator assembly including an actuator block including a rotatable bearing unit, a plurality of heads movably supported by the actuator assembly, a first sensor provided to the actuator block, and a second sensor provided at a position different from the first sensor.
    Type: Grant
    Filed: August 17, 2018
    Date of Patent: February 18, 2020
    Assignees: Kabushiki Kaisha Toshiba, Toshiba Electronic Devices & Storage Corporation
    Inventor: Norio Yoshikawa
  • Patent number: 10556333
    Abstract: A machine-tool device includes at least one control and/or regulation unit. The at least one control and/or regulation unit is configured to (i) at least one of control and/or regulation of a drive unit and (ii) determine at least one actual rotational speed of the drive unit from a signal of at least one sensor element taking the form of an acceleration sensor. The machine-tool device further includes at least one sensor unit which includes the at least one sensor element taking the form of the acceleration sensor.
    Type: Grant
    Filed: November 6, 2014
    Date of Patent: February 11, 2020
    Assignee: Robert Bosch GmbH
    Inventors: Bernd Wirnitzer, Helge Sprenger, Hagen Philipp Keinath
  • Patent number: 10551820
    Abstract: A method for calculating an optimized trajectory via a simulation program and an optimization routine, wherein the trajectory is provided via the simulation program and adapted to boundary conditions, where the method includes a loop in which, as individual steps, a first trajectory is provided, a further trajectory, and the adaptation of the further trajectory is modified based on the boundary conditions, such that the optimized trajectory is a trajectory which has been provided based on an extremal or predetermined parameter, where the optimized trajectory is provided after the calculation by a control device for moving a holder for a component, and where at least one component and the production machine are displayed in a 3D display.
    Type: Grant
    Filed: June 1, 2016
    Date of Patent: February 4, 2020
    Assignee: Siemens Aktiengesellschaft
    Inventors: Alexandre Bonay, Stephan Hoja, Frank Knoche, Michael Meier, Ulrich Wolfgang Lorenz, Stephan Schaeufele
  • Patent number: 10541470
    Abstract: Provided is an apparatus for controlling a driving speed of an antenna of a mobile satellite travelling in an orbit. The apparatus may include a calculator configured to calculate an azimuth position range and an elevation position range for an effective beam width of the antenna based on an antenna orientation at which the antenna of the mobile satellite is oriented correctly to a ground station from a point in the orbit, and a controller configured to control a speed of the antenna based on a first azimuth in the azimuth position range and a first elevation in the elevation position range.
    Type: Grant
    Filed: December 16, 2016
    Date of Patent: January 21, 2020
    Assignee: KOREA AEROSPACE RESEARCH INSTITUTE
    Inventors: Moon Jin Jeon, Seong Bin Lim
  • Patent number: 10509376
    Abstract: A method for controlling a process, comprising treatment of a process medium, and which includes a system input, in particular, an inlet, and a system output, in particular, an outlet for the process includes such a dead time profile that a change in at least one parameter of the first type of the process medium at the system input causes a change in at least one parameter of the second type of the process medium at the system output only after an elapse of a dead time, comprises: determining, in particular, digital values for the parameter of the first type and using these values as input values of a control system; determining the set values for an output variable influencing the parameter of the second type of the process medium at the system output, using the determined values of the parameter of a first type and a first proportionality factor recorded in the control system; applying the determined set values for adjusting the output variable using the control system; determining, in particular, digital v
    Type: Grant
    Filed: November 25, 2015
    Date of Patent: December 17, 2019
    Assignee: Endress+Hauser Conducta GmbH+Co. KG
    Inventors: Thomas Alber, Joachim Albert
  • Patent number: 10503130
    Abstract: A controller capable of preventing a control target from being controlled by an abnormal value output from a mathematical model is provided. A controller includes a control unit, the control unit including: a first correction amount computation unit that computes a first correction amount for correction from a command value to a second command value; a second correction amount computation unit that computes a second correction amount for correction from the command value to the second command value; and a correction amount selecting unit that selects either one of the first correction amount and the second correction amount. The first correction amount computation unit computes the first correction amount using a first mathematical model configured by machine learning, and the second correction amount computation unit computes the second correction amount using a second mathematical model configured by a method different from that of the first correction amount computation unit.
    Type: Grant
    Filed: April 5, 2018
    Date of Patent: December 10, 2019
    Assignee: FANUC CORPORATION
    Inventors: Satoshi Ikai, Naoto Sonoda, Ryoutarou Tsuneki
  • Patent number: 10502567
    Abstract: Arithmetic circuitry of a roll angle estimation device estimates a roll angle, a pitch angle a pitch angular velocity of the moving body and at least one offset error of angular velocity detectors and acceleration detectors. In a current estimation operation, the arithmetic circuitry estimates the roll angle, the pitch angle, and the pitch angular velocity and the at least one offset error, based on detection values of the angular velocity detectors, detection values of the acceleration detectors, a detection value by the velocity detector, estimated values of the roll angle, pitch angle, and pitch angular velocity from a previous estimation operation, and an estimated value of the at least offset error from the previous estimation operation.
    Type: Grant
    Filed: April 22, 2015
    Date of Patent: December 10, 2019
    Assignee: YAMAHA HATSUDOKI KABUSHIKI KAISHA
    Inventor: Takahiro Fujii
  • Patent number: 10491142
    Abstract: A servo amplifier including an encoder for detecting rotation of a servomotor (11), a servo amplifier (13) for performing feedback control of the rotation of the servomotor based on a count value (hereinafter referred to as an “encoder value”) of the encoder, and an amp control section (17) for controlling operation of the servo amplifier, wherein the amp control section sends an initialization instruction for initializing the encoder to the servo amplifier in a state of fixed cycle connection over a servo network between the servo amplifier and the encoder when an error occurs with the encoder. The servo amplifier performs initialization of the encoder without disconnecting the servo network when receiving the initialization instruction sent from the amp control section.
    Type: Grant
    Filed: July 2, 2015
    Date of Patent: November 26, 2019
    Assignee: FUJI CORPORATION
    Inventors: Naohiro Kato, Mizuho Yamamoto
  • Patent number: 10488550
    Abstract: An optoelectronic sensor (10) for detecting objects comprises a light transmitter (12) for transmitting a light beam (16), a rotatable deflection unit (18) for periodically deflecting the light beam (16), an angle measuring unit (30) for determining an angular position of the deflection unit (18), a light receiver (26) for generating a reception signal from a reflected light beam (22), wherein the angle measuring unit (30) comprises an image sensor (32) moving with the deflection unit and arranged in the direction of a stationary part (44, 46) of the sensor (10), or a stationary image sensor (32) arranged in the direction of the deflection unit (18), further comprising a computing unit (36) to determine a relative movement of the deflection unit (18) with respect to the sensor (10) from a signal of the image sensor (32).
    Type: Grant
    Filed: June 19, 2017
    Date of Patent: November 26, 2019
    Assignee: SICK AG
    Inventors: Magnus Albert, Boris Baldischweiler, Michael Engler, Joachim Krämer, Jörg Sigmund
  • Patent number: 10481568
    Abstract: A system is disclosed for configuring a motor controller using a one-click configuration scheme, simplifying the process of motor configuration in drives and similar devices. The system includes a specify component, a display component, and a single-action identification and configuration component. The specify component specifies a motor in communication with the motor controller. The display component displays information on the status of the motor controller. The single-action identification and configuration component, in response to performance of only a single action (i.e., a single-click or equivalent starting signal), performs an identification and configuration sequence for the motor comprising at least three identification steps to establish a single parameter for driving the motor. The at least three identification steps can include measurements of system parameters, noise, and resonance. The recommend bandwidth for motor operation can be selected from within a range of permissible bandwidths.
    Type: Grant
    Filed: June 19, 2017
    Date of Patent: November 19, 2019
    Assignee: DANFOSS POWER ELECTRONICS A/S
    Inventors: Gang Tian, Adam Reynolds, Chris Knaack
  • Patent number: 10481580
    Abstract: A trajectory control device that controls a trajectory of a movable portion of a processing machine so as to follow a command path accurately. The trajectory control device includes an integrated-length calculation unit that calculates an integrated command length being a length integrated from a start position along a command path, a simulated servo-response filter unit that calculates an integrated response length, a reference-response calculation unit that calculates a reference response position, a response compensation unit that calculates a corrected command position on each of the plurality of axes, and a servo control unit that controls each of the plurality of axes.
    Type: Grant
    Filed: September 17, 2014
    Date of Patent: November 19, 2019
    Assignee: MITSUBISHI ELECTRIC CORPORATION
    Inventor: Kotaro Nagaoka
  • Patent number: 10472752
    Abstract: A sewing machine including a detection portion that detects a movement amount of a workpiece, a sewing machine motor that serves as a driving source for vertical movement of a needle bar, and a control device that controls the sewing machine motor based on the detection result by the detection portion and performs control to maintain a constant stitch pitch. The control device lengthens a period for obtaining an output of the detection portion when the movement amount of the workpiece per unit time based on the detection result by the detection portion is decreased, and shortens the period for obtaining the output of the detection portion when the movement amount of the workpiece per unit time based on the detection result by the detection portion is increased.
    Type: Grant
    Filed: January 5, 2018
    Date of Patent: November 12, 2019
    Assignee: JUKI CORPORATION
    Inventors: Takashi Imano, Junichi Yoshida, Toshiki Sugiyama
  • Patent number: 10466682
    Abstract: A controller performs high-accuracy oscillation control in which an axis driven by a motor is rocked in accordance with the rotation of a spindle motor for driving a main spindle. This controller determines a reference speed of rocking motion based on a reference speed set in advance, a reference main spindle rotational speed of the spindle motor, and an actual main spindle rotational speed, and calculates a rocking motion speed for each control period based on the determined reference speed of the rocking motion. The calculated rocking motion speed for each control period is added to a command outputted by the controller for controlling the position of the motor for each control period.
    Type: Grant
    Filed: June 21, 2018
    Date of Patent: November 5, 2019
    Assignee: Fanuc Corporation
    Inventor: Masashi Yasuda
  • Patent number: 10459424
    Abstract: Provided is a numerical controller capable of shortening cycle time while maintaining machining accuracy of a rigid tap. The numerical controller includes: a rigid tap control unit that executes a rigid tap by synchronizing rotational speed of a spindle with feedrate; a synchronization error monitoring unit that starts or terminates monitoring of a synchronization error between the rotational speed of the spindle and the feedrate at a point R set to a height equal to or higher than a top of a workpiece; and a workpiece top detection unit that detects a position of the workpiece top. The synchronization error monitoring unit starts monitoring the synchronization error at the position of the workpiece top instead of the point R.
    Type: Grant
    Filed: November 20, 2017
    Date of Patent: October 29, 2019
    Assignee: Fanuc Corporation
    Inventors: Tooru Watanabe, Tooru Kubota
  • Patent number: 10409250
    Abstract: A servomotor control device includes: a servomotor; a driven body that is driven by the servomotor; a connection mechanism that connects the servomotor and the driven body; a first position detection section that detects a position of the servomotor; a second position detection section that detects a position of the driven body; and a motor control unit, in which the motor control unit includes: a force estimation section that estimates a drive force acting on the driven body at a connection part between the connection mechanism and the driven body; a rigidity estimation section that estimates a magnitude of rigidity of the connection mechanism based on a detected position of the servomotor, a detected position of the driven body, and an estimated drive force; and a rigidity variation detection section that detects a change in rigidity of the connection mechanism, based on the estimated magnitude of rigidity.
    Type: Grant
    Filed: June 4, 2018
    Date of Patent: September 10, 2019
    Assignee: FANUC CORPORATION
    Inventors: Shougo Shinoda, Satoshi Ikai
  • Patent number: 10401875
    Abstract: A system and method of controlling a position of a structure. A position command indicating a desired position for the structure and a position feedback signal indicating the position of the structure are received. A position control signal is generated based on a difference between the desired position and the position indicated by the position feedback signal. A stop feedback signal relative to the position of the structure is received. A stop control signal is generated based on the stop feedback signal and a stop condition for the structure. One of the position control signal and the stop control signal is selected. The selected one of the position control signal and the stop control signal is provided to an actuator for controlling the position of the structure.
    Type: Grant
    Filed: July 31, 2014
    Date of Patent: September 3, 2019
    Assignee: The Boeing Company
    Inventor: Gen Matsui
  • Patent number: 10394195
    Abstract: In one embodiment, a manufacturing process is optimized by enabling a user to specify a product to be manufactured, enabling the user to specify a manufacturing system for manufacturing the product, enabling the user to select parameters for the product and the manufacturing system, and automatically calculating manufacturing metrics for the manufacturing process based upon the user-specified models and user selections.
    Type: Grant
    Filed: October 24, 2013
    Date of Patent: August 27, 2019
    Assignee: Board of Regents, The University of Texas System
    Inventors: Aditya Narayan Das, Philip J. Stephanou