Adaptive Or Optimizing Systems Including "bang-bang" Servos Patents (Class 318/561)
  • 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: 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: 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: 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: 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: 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
  • Patent number: 10384344
    Abstract: A processing device is provided and electrically connected to a drive controller for driving a control object. The drive controller has a predetermined control structure that includes a feedback system and a control model part, and that enables model follow-up control according to the control models, and has the predetermined control structures corresponding to the control objects, respectively. The processing device determines a common control gain to set a predetermined control gain in the control model part of each predetermined control structure corresponding to the control objects to the common control gain for all the control model parts when synchronous control of the control objects is performed, and instructs the drive controller to set the common control gain for the control model part corresponding to each predetermined control structure.
    Type: Grant
    Filed: January 15, 2018
    Date of Patent: August 20, 2019
    Assignee: OMRON Corporation
    Inventors: Fumiaki Sato, Mamoru Egi
  • Patent number: 10388176
    Abstract: A skill-based training system includes a processing system having a processor, memory coupled to the processor with executable instructions stored therein, and an input-output controller coupled to the processor and to input and output devices. The memory includes lesson plans that outline skill-based tasks and activities, and predetermined performance criteria. The processor is configured by the instructions to present interfaces on the output devices simulating a virtual training environment. The processor is configured to receive input signals representative of performing the tasks and activities in the virtual environment, and to evaluate the performance by comparing the performed tasks and activities to the criteria, to determine a score and to present the score on the output devices.
    Type: Grant
    Filed: November 29, 2013
    Date of Patent: August 20, 2019
    Assignee: VRSim, Inc.
    Inventors: Matthew Wallace, David Zboray, Alejo Fudge, Brian Burke, Chris Groot, Paul Ong, Shawn Kennedy, Zach Lenker, Frank Bignone, Leslie Brooks Solomon
  • Patent number: 10379148
    Abstract: Methods, apparatus, systems and articles of manufacture to control injection for frequency response measurement. An example method includes calculating a gain of a circuit. The gain is calculated based on a measured response of the circuit to a first disturbance injected at a first frequency. A second frequency at which a second disturbance is to be injected into the circuit is identified. An amplitude at which the second disturbance is to be injected into the circuit at the second frequency is calculated. The amplitude calculated based on a measurement noise and the gain of the circuit at the first frequency. The second disturbance is injected into the circuit using the second frequency and the amplitude.
    Type: Grant
    Filed: October 31, 2016
    Date of Patent: August 13, 2019
    Assignee: TEXAS INSTRUMENTS INCORPORATED
    Inventor: Manish Bhardwaj
  • Patent number: 10369697
    Abstract: A computer-implemented method of determining a collision between an object and a robot, comprises monitoring one or more articular parts of the robot by measuring the parameters associated with the real displacements of the one or more articular parts; comparing the measured parameters with the expected parameters associated with the corresponding commanded displacements; and determining the probability of a collision with an object. Described developments comprise the exclusion of system failures, the identification of the collided object by computer vision or by communicating with the object, the execution of one or more actions such as a safety mode, the identification of systematic discrepancies in performed comparisons, the grouping of articular parts belonging to a same articular chain, and the mutual surveillance of robots. The use of capacitive sensors, bumper sensors and magnetic rotary encoders is disclosed.
    Type: Grant
    Filed: June 5, 2015
    Date of Patent: August 6, 2019
    Assignee: SOFTBANK ROBOTICS EUROPE
    Inventors: Sébastien Dalibard, David Gouaillier
  • Patent number: 10372089
    Abstract: A predicted value shaping system is provided for calculating a highly accurate control value by shaping of a predicted value. A prediction governor for calculating a control value (v) for controlling a controlled object includes: a result value acquisition unit that acquires a previous target value of the controlled object, that is, a result value (r(t?1)); a predicted value acquisition unit that acquires a predicted value (r^(t)) obtained by predicting the target value of the controlled object; and a control value calculation unit that calculates a control value (v(t)) for controlling the controlled object by applying the result value (r(t?1)) and the predicted value (r^(t)) to a predicted value shaping algorithm (G) to correct the predicted value (r^(t). The predicted value shaping algorithm (G) uses parameters of a control model (P) of the controlled object.
    Type: Grant
    Filed: September 14, 2015
    Date of Patent: August 6, 2019
    Assignee: JAPAN SCIENCE AND TECHNOLOGY AGENCY
    Inventors: Shun-ichi Azuma, Yuki Minami
  • Patent number: 10359798
    Abstract: The subject matter of this specification can be embodied in, among other things, a method that includes providing a process controller configured to perform a control algorithm based on at least one first control parameter, providing a parameter controller configured to perform a parameter adjustment algorithm, providing a turbine having an output sensor, providing to the process controller at least one first control parameter and a first input value, controlling the turbine based on the at least one first control parameter and the first input value, receiving a turbine response value provided by the turbine output sensor, determining at least one second control parameter based on the turbine response value and the parameter adjustment algorithm, providing, to the process controller from the parameter controller, the at least one second control parameter, and controlling the turbine based on the at the least one second control parameter and a second input value.
    Type: Grant
    Filed: October 5, 2016
    Date of Patent: July 23, 2019
    Assignee: Woodward, Inc.
    Inventor: Tena K. Britt
  • Patent number: 10360784
    Abstract: An encoder system includes an encoder for outputting positional data and magnetic pole data of an output axis of a motor; and a controller for communicating with the encoder. The encoder includes a positional data generation circuit; a magnetic pole data generation circuit; a first data abnormality detection circuit for detecting an abnormality based on the positional data and the magnetic pole data, and outputting a first alarm signal; and a parallel-to-serial conversion circuit for outputting the positional data, the magnetic pole data, and the first alarm signal to the controller. The controller includes a second data abnormality detection circuit for detecting an abnormality based on the positional data and the magnetic pole data, and outputting a second alarm signal; and a communication abnormality detector for detecting an abnormality in a communication path based on the first and second alarm signals.
    Type: Grant
    Filed: May 16, 2018
    Date of Patent: July 23, 2019
    Assignee: FANUC CORPORATION
    Inventors: Tokuhisa Matsukane, Keisuke Imai
  • Patent number: 10345787
    Abstract: Automatic control device controls servo motor. Automatic control device is provided with control section that calculates operation amount of servo motor based on the difference between current value and target value of a control amount of servo motor. Automatic control device is also provided with first filter that outputs first output value after using a first filter coefficient or a second filter coefficient to perform filtering of operation amount calculated by control section. Automatic control device is also provided with second filter, arranged in parallel with first filter, that outputs second output value after using a third filter coefficient to perform filtering of operation amount calculated by control section. Automatic control device is also provided with switching section that switches between first output value of first filter and second output value of second filter and sends one of the output values to servo motor.
    Type: Grant
    Filed: September 29, 2014
    Date of Patent: July 9, 2019
    Assignee: FUJI CORPORATION
    Inventors: Hideyuki Kumazawa, Mitsuhiro Mizuno
  • Patent number: 10338575
    Abstract: A production processing apparatus according to the present technology includes a first robot arm and a plurality of first tilt tables. The first robot arm is capable of conveying a work. On each of the plurality of first tilt tables, the work conveyed by the first robot arm can be mounted. The plurality of first tilt tables are tilted a predetermined angle from a horizontal surface at positions on a circumference of a circle with the first robot arm being a center, and the work is subjected to production processing in a state where the work is mounted on one of the plurality of first tilt tables.
    Type: Grant
    Filed: August 26, 2015
    Date of Patent: July 2, 2019
    Assignee: SONY CORPORATION
    Inventors: Tooru Sato, Toshiaki Yofu
  • Patent number: 10338539
    Abstract: An example actuator control system includes an actuator, a plurality of motors configured to cooperatively operate the actuator, and a controller. The controller is configured to determine an output signal for controlling active ones of the motors during a current update cycle based on a first gain value, an integral contribution from the current update cycle, and an integral contribution from a preceding update cycle. The controller is configured to, based on a quantity of the motors that is active differing between the current and preceding update cycles, scale the integral contribution from the preceding update cycle for the output signal determination based on the first gain value and a second gain value from the preceding update cycle. A method of controlling a plurality of actuator motors is also disclosed.
    Type: Grant
    Filed: February 19, 2018
    Date of Patent: July 2, 2019
    Assignee: HAMILTON SUNDSTRAND CORPORATION
    Inventors: Steven A. Avritch, Jeffrey A. Eldridge, David F. Dickie
  • Patent number: 10331218
    Abstract: A gyroscopic motion feedback device utilizes one or more pairs of masses mounted on a common axis but independently rotatable to allow rapid variation of the gyroscopic force produced thereby. A sensor detects motion of the mount and a controller uses the detected motion to vary the relative rotational speed of the masses. The device provides haptic feedback where the mount is used to the control the interaction of an objection in a virtual environment, with the controller further varying the relatively rotational speed based on virtual interactions experienced by the object.
    Type: Grant
    Filed: August 9, 2018
    Date of Patent: June 25, 2019
    Assignee: REAL SIMPLE IDEAS, LLC
    Inventor: Daniel J. Deutsch
  • Patent number: 10322482
    Abstract: To provide a numerical controller for a machine tool capable of reducing heat generation and realizing stable heavy cutting, and also capable of realizing efficient light cutting. A numerical controller comprises: first speed change means which changes the feed speed of a feed axis drive motor at the start of cutting to an initial speed lower than a command speed, based on magnetic flux content at the start of cutting; and second speed change means which changes the feed speed from the initial speed to the command speed continuously or intermittently based on time elapsed from the start of cutting and a time constant for change in the magnetic flux content.
    Type: Grant
    Filed: November 22, 2017
    Date of Patent: June 18, 2019
    Assignee: FANUC CORPORATION
    Inventor: Yuuki Morita
  • Patent number: 10317879
    Abstract: Methods, systems, and devices for determining a machining process in a CAM system where the determining is based on CNC machine capabilities, user defined process constraints, and CNC machine configurations.
    Type: Grant
    Filed: April 10, 2017
    Date of Patent: June 11, 2019
    Assignee: D.P. TECHNOLOGY CORP.
    Inventors: Dominique Louette, Olivier Thenoz
  • Patent number: 10320307
    Abstract: [Issue] To provide a small size, low cost AC input/DC output power supply capable of supplying both a DC voltage and a high-precision clock signal. [Solution] An AC input/DC output power supply of the present invention includes: a voltage conversion means for taking an AC voltage as input and generating a secondary voltage, splitting the secondary voltage into a first secondary AC voltage and a second secondary AC voltage, and outputting the first and second secondary voltages; a DC voltage generation means for receiving the first secondary AC voltage and outputting a predetermined DC voltage; a waveform shaping means for receiving the second secondary AC voltage and outputting a square wave voltage signal; and a frequency adjustment means for adjusting a frequency of the square wave voltage signal to be a predetermined frequency, and thereby outputting a clock signal.
    Type: Grant
    Filed: August 1, 2016
    Date of Patent: June 11, 2019
    Assignee: NEC PLATFORMS, LTD.
    Inventor: Yoshihiko Katagiri
  • Patent number: 10310465
    Abstract: A device and method for the generation of a constraint-based, preferably time-optimal motion profile is presented. The device 100 comprises a control unit 102, said control unit 102 is configured to control a mechanical system 104, whereas an alike comprised set-point generator 101 delivers set points for the control unit 102. A moving average filter 111 is coupled to said generator 101. By application of the moving average filter 111 a piecewise constant set point profile changes into a piecewise linear profile. This has several positive effects as explained in the disclosure, while a moving object is driven via the mechanism.
    Type: Grant
    Filed: September 9, 2015
    Date of Patent: June 4, 2019
    Assignee: Robert Bosch GmbH
    Inventor: Walrick Dirkx
  • Patent number: 10303132
    Abstract: A control parameter which causes a servo motor to perform an operation with higher accuracy depending on a purpose and a situation is determined. A control device (10) includes a data evaluation unit (131), a parameter determination unit (132), and an operation data acquisition unit (133). The operation data acquisition unit (133) acquires operation data including a speed or a torque of a servo motor (900). The data evaluation unit (131) calculates an evaluation value by using normative data corresponding to a target of the operation data and the operation data. The parameter determination unit (132) determines a control parameter applied to a servo driver (90) which controls operations of the servo motor (900) by using the evaluation value.
    Type: Grant
    Filed: November 21, 2017
    Date of Patent: May 28, 2019
    Assignee: OMRON Corporation
    Inventors: Masahiro Murai, Yukio Iname
  • Patent number: 10299868
    Abstract: A medical support arm apparatus including: an arm unit including 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 13, 2015
    Date of Patent: May 28, 2019
    Assignee: SONY CORPORATION
    Inventors: Toshimitsu Tsuboi, Takara Kasai, Yasuhisa Kamikawa, Yohei Kuroda, Wataru Kokubo, Tetsuharu Fukushima, Yasuhiro Matsuda, Atsushi Miyamoto
  • Patent number: 10295475
    Abstract: A method includes obtaining an image of a feature machined in a component with an imaging device, determining, by a computing device, a quality of the feature in the component based on the image of the feature, and storing, by the computing device, an indication of the quality of the feature in combination with a unique identifier for the feature in a non-transitory computer-readable medium.
    Type: Grant
    Filed: September 2, 2015
    Date of Patent: May 21, 2019
    Assignee: Rolls-Royce Corporation
    Inventors: Andrew James Ritchey, Michael George Glavicic
  • Patent number: 10274938
    Abstract: A numerical control unit is provided that can change an override value according to various workpiece materials and can extend the tool life. A numerical control unit includes a variation storage unit that stores a variation in override value of a feed speed or a spindle speed for each workpiece material, an override value setting unit that sets the override value based on the variation in override value according to the material of a workpiece being machined; and a control unit that changes the feed speed or the spindle speed based on the override value.
    Type: Grant
    Filed: March 9, 2015
    Date of Patent: April 30, 2019
    Assignee: JTEKT CORPORATION
    Inventors: Katsuhiro Maseki, Tatsuhiko Inagaki, Hiroyuki Tsusaka, Kazuhiro Tsujimura
  • Patent number: 10272573
    Abstract: Systems and methods are provided for an automation system. The systems and methods calculate a motion trajectory of a manipulator and an end-effector. The end-effector is configured to grasp a target object. The motion trajectory defines successive positions of the manipulator and the end-effector along a plurality of via-points toward the target object. The systems and methods further acquire force/torque (F/T) data from an F/T sensor associated with the end-effector, and adjusts the motion trajectory based on the F/T data.
    Type: Grant
    Filed: March 2, 2016
    Date of Patent: April 30, 2019
    Assignee: GE GLOBAL SOURCING LLC
    Inventors: Huan Tan, John Michael Lizzi, Douglas Forman, Charles Burton Theurer, Omar Al Assad, Romano Patrick, Balajee Kannan, Yonatan Gefen
  • 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