With Protective Or Reliability Increasing Features (e.g., "fail-safe" Systems) Patents (Class 318/563)
  • Patent number: 11077011
    Abstract: Determining whether a compression garment is worn by a wearer of the garment by analyzing a pressure signal waveform indicative of a fluid pressure in an inflatable and deflatable bladder of the compression garment. Variance detected in the pressure signal waveform during the analysis is indicative of a change in condition of the compression garment. In one aspect the change in condition is verified using confirmatory analysis. In another aspect, the variance is one of a pressure rise and a pressure impulse. In yet another aspect, the variance is an oscillating amplitude as a function of time representative of a pulse of the wearer.
    Type: Grant
    Filed: October 11, 2016
    Date of Patent: August 3, 2021
    Assignee: KPR U.S., LLC
    Inventors: Jesse Denson, Scott Wudyka, Paul Becker
  • Patent number: 11061391
    Abstract: A method for error-protected acquisition of a measured value in a control unit, wherein the measured value is firstly acquired with a first acquisition device and secondly with a second acquisition device and thereby a first measured value and a second measured value are made available, where in a comparison step in a safety program executing in the control unit, the first and the second measured value are compared with one another for a deviation from one another and upon reaching or exceeding a pre-determined maximum deviation, an error is identified.
    Type: Grant
    Filed: December 3, 2018
    Date of Patent: July 13, 2021
    Assignee: Siemens Aktiengesellschaft
    Inventors: Thomas Kahabka, Johannes Mueller
  • Patent number: 10899023
    Abstract: A failure diagnosis device applicable to a mechanical device provided with motors independent of One another as sources to drive motion axes, respectively, and configured to acquire a moving position of each motion axis and a disturbance torque value applied to the motion axis every predetermined period, and to diagnose a failure of the mechanical device, includes a failure diagnosis unit configured to diagnose the motion axis as a failure when the disturbance torque value is larger than a predetermined failure determination threshold, and a re-determination unit configured to conduct re-determination of the failure on the motion axis, which is diagnosed as the failure by the failure diagnosis unit, based on a previous maintenance record and a previous inspection result.
    Type: Grant
    Filed: May 29, 2015
    Date of Patent: January 26, 2021
    Assignee: Nissan Motor Co., Ltd.
    Inventors: Masaki Kuno, Toshimichi Urakawa, Toru Takagi
  • Patent number: 10871759
    Abstract: A device configured to predict an execution time of an auxiliary function for tool change extracts an auxiliary function command for tool change from a machining program, calculates the storage position of a before-exchange tool and the storage position of an after-exchange tool, based on the auxiliary function command, and calculates a distance between tools, based on the results of the calculation. Also, the prediction device predicts the execution time of the auxiliary function command for tool change with reference to a database in which the distance between tools is associated with an actual value of the auxiliary function execution time for tool change.
    Type: Grant
    Filed: January 25, 2019
    Date of Patent: December 22, 2020
    Assignee: FANUC CORPORATION
    Inventor: Hisateru Ishiwari
  • Patent number: 10852708
    Abstract: A numerical control device that controls a machine tool that machines work by moving a tool relatively to the work on the basis of a machining program includes a analyzing unit that analyzes the machining program and generates movement command data, a detecting unit that detects abnormality during the machining, a retract control unit that supplies, when abnormality is detected, an operation command for a retract operation for retracting the tool from the work, and an integrating unit that integrates a movement amount of the tool based on the supplied operation command. The analyzing unit executes a tool retraction program for moving the tool or the work to a predetermined position after adding the movement amount of the tool integrated by the integrating unit to a coordinate value of the tool on the machining program to update the coordinate value at a point in time when the retract operation ends.
    Type: Grant
    Filed: December 1, 2017
    Date of Patent: December 1, 2020
    Assignee: FANUC CORPORATION
    Inventor: Iwao Makino
  • Patent number: 10809700
    Abstract: A numerical controller performs control for changing a tool mounted on a spindle to another tool stored in a tool magazine based on a machining program. The numerical controller analyzes a command by a block of the machining program, predicts a time required for machining by the analyzed command, and selects a tool changeable before a tool change command, during tool selection, based on the predicted time.
    Type: Grant
    Filed: October 19, 2018
    Date of Patent: October 20, 2020
    Assignee: Fanuc Corporation
    Inventor: Takumi Oohashi
  • Patent number: 10744643
    Abstract: The present disclosure provides a robot servo jitter suppression method and device. The method includes: counting an amount of reciprocating jitter of an angular position of an output shaft of a robot servo in a predetermined period, after the robot servo enters a lock position state for a first predetermined period; determining whether the robot servo is in a jitter state according to the amount of the reciprocating jitter of the angular position of the output shaft of the robot servo and a predetermined fluctuation value; and suppressing the jitter of the robot servo by adjusting control parameter(s) of the robot servo, in response to the robot servo being in the jitter state. The robot servo jitter suppression method and device solve the problem of the jitter of the robot servo appears when the virtual positions of the robot servo and the robot joint structure are not properly controlled.
    Type: Grant
    Filed: April 24, 2018
    Date of Patent: August 18, 2020
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Youjun Xiong, Lifu Zhang, Wenhua Fan, Zhenmin Mo
  • Patent number: 10709392
    Abstract: Analyte sensor faults are detected. Datasets of glucose values sensor electronics are coupled to a glucose sensor in fluid contact with interstitial fluid under a skin surface. Baseline median glucose value and glucose variability values are computed, based on the first dataset. A baseline data point is stored. Evaluation median glucose value and variability are computed, based on the second dataset of glucose values. An evaluation data point is stored. A magnitude of a vector that extends between the baseline data point and the evaluation data point is computed. A component of the magnitude of the vector that is parallel to a hypoglycemia risk contour line is computed and compared to a predefined threshold value. An indication that a sensor fault has been detected if the component is greater than a threshold is displayed.
    Type: Grant
    Filed: August 23, 2018
    Date of Patent: July 14, 2020
    Assignee: Abbott Diabetes Care Inc.
    Inventors: Junli Ou, Erwin Satrya Budiman
  • Patent number: 10699929
    Abstract: A controller includes a control unit which stops a transfer mechanism in a case where the value of a deterioration indication parameter has exceeded a preset threshold, and determines whether or not an event in which the value of the deterioration indication parameter has exceeded the preset threshold is attributed to deterioration of the transfer mechanism which has progressed over time based on a change pattern of time series data of the value of the deterioration indication parameter, and causes the transfer mechanism to operate at a reduced operation speed, in a case where the control unit determines that the event in which the value of the deterioration indication parameter has exceeded the preset threshold is attributed to the deterioration of the transfer mechanism which has progressed over time.
    Type: Grant
    Filed: December 26, 2014
    Date of Patent: June 30, 2020
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Atsushi Nakaya, Hiroyuki Okada, Masaya Yoshida
  • Patent number: 10631700
    Abstract: The present invention relates to a motor driving apparatus and a home appliance comprising the same. The motor driving apparatus according to an embodiment of the present invention comprises: an inverter which converts a direct current power source of a DC stage capacitor to an alternating current power source and outputs the converted alternating power source to a motor by a switching operation; a DC stage resistance device arranged between the DC stage capacitor and the inverter; and a control unit which controls the inverter on the basis of phase current sampled by means of the DC stage resistance device, wherein the control unit controls the frequency of voltage applied to the motor or the rotation frequency of the motor to be synchronized with the sampling frequency of the phase current sampled via the DC stage resistance device. Accordingly, it is possible to accurately calculate the phase current flowing through the motor by means of the DC stage resistance device.
    Type: Grant
    Filed: October 7, 2016
    Date of Patent: April 28, 2020
    Assignee: LG Electronics Inc. and Seoul National University R&DB Foundation
    Inventors: Jongwon Kim, Jungdae Lee, Myungkeun Yoo, Junho Ahn, Jungik Ha, Sungho Jung, Jaeyong Park
  • Patent number: 10498266
    Abstract: To correct a frequency deviation generated in an input signal to an analog filter according to the rotation of a rotor in a resolver, a resolver correction device includes a phase shifter which shifts the phase of a first phase signal of the resolver, with respect to the signals at least having two phases and more, detected by the resolver. The phase-shifted first phase signal and a second phase signal are added, as a phase modulation signal with the excitation signal modulated by a rotation angle of the rotor in the resolver. A phase difference correction signal is generated based on a phase difference between the phase modulation signal of the resolver and the excitation signal. The adjusting amount of the phase shifter is calculated based on the phase difference correction signal, in which the phase shifter adjusts a phase shift amount according to the adjusting amount.
    Type: Grant
    Filed: August 21, 2017
    Date of Patent: December 3, 2019
    Assignee: RENESAS ELECTRONICS CORPORATION
    Inventor: Yoshifumi Ikenaga
  • Patent number: 10377412
    Abstract: A steering assist control system causes multiple actuator units to control an assist torque that provides assistance in steering in accordance with a turning operation on a steering wheel in a vehicle having an information presentation apparatus. The steering assist control system includes: a monitoring part that monitors the actuator units; a torque control part that reduces, in a case of a one-unit anomaly, the assist torque that results from combining output torques from all the actuator units, when the turning operation is performed on the steering wheel; and a warning control part controls the information presentation apparatus. In the case of the one-unit anomaly, the torque control part reduces the assist torque so that the assist torque is smaller than an assist torque output before the occurrence of the one-unit anomaly, every time the turning operation proceeds by a set angle.
    Type: Grant
    Filed: March 24, 2016
    Date of Patent: August 13, 2019
    Assignee: DENSO CORPORATION
    Inventors: Mitsuo Tamagaki, Hiroaki Tanaka, Ifushi Shimonomoto, Takuya Mori, Yuki Fujisawa, Akira Kamiya
  • Patent number: 10357895
    Abstract: Apparatus, systems, and processes control an electric motor to drive a hoop onto a wooden barrel, among other purposes. A controller may be connected to the electric motor and configured to receive user input data and generate one or more control signals for the electric motor that correspond to a torque generation of the electric motor and/or a rotation speed of the electric motor. A barrel hoop driver may comprise the controller and electric motor, where the electric motor drives a press member for driving hoops onto wooden barrels.
    Type: Grant
    Filed: April 18, 2016
    Date of Patent: July 23, 2019
    Assignee: Bohnert Equipment Company, Inc.
    Inventors: Ericus Andreas Van Kleef, James C. Alley, Robert Scott Feldmeier
  • Patent number: 10348220
    Abstract: A PWM modulation circuit controls low-side transistors of three phases to all be in an ON state when a brake current flows; controls, in a period in which a brake current flows in a first direction in one phase, a transistor for sensing in that one phase to be in an ON state; and controls, in a period in which a brake current flows in the first direction in two phases, transistors for three phases to be in an OFF state. When the brake current is to flow, sense-phase control circuits for the three phases control a transistor for sensing, in a phase in which the brake current flows in a sink direction, to be into an ON state, and controls the transistor for sensing in a phase in which the brake current flows in an opposite direction, to be into an OFF state.
    Type: Grant
    Filed: June 11, 2018
    Date of Patent: July 9, 2019
    Assignee: RENESAS ELECTRONICS CORPORATION
    Inventors: Minoru Kurosawa, Seigi Ishiji
  • Patent number: 10329961
    Abstract: The invention relates to a method for regulating a condenser in a thermal cycle apparatus, in particular in an ORC apparatus, wherein the thermal cycle apparatus comprises a feed pump for conveying liquid working medium with an increase in pressure to an evaporator, the evaporator for evaporating and optionally additionally superheating the working medium with a supply of heat, an expansion machine for generating mechanical energy by expansion of the evaporated working medium, a generator for at least partially converting the mechanical energy into electrical energy, and the condenser for condensing the expanded working medium, and wherein the method comprises the following steps: determining a rotational speed of the generator or of the expansion machine; determining, without the use of a temperature sensor, a temperature of cooling air supplied from the condenser; determining from the determined generator or expansion machine rotational speed and the determined cooling air temperature, a condensation setpoi
    Type: Grant
    Filed: September 3, 2014
    Date of Patent: June 25, 2019
    Assignee: ORCAN ENERGY AG
    Inventors: Jens-Patrick Springer, Andreas Grill
  • Patent number: 10324444
    Abstract: Executable format data resulting from decoding of a positioning block (retraction block) prior to start of cutting and an end point coordinate position P1 for command for the retraction block are stored. When machining is interrupted and a request for retraction of a tool is input, a retracting operation 1 is performed to retract the tool from a machining interruption position P2 to the stored end point coordinate position P1 of the retraction block. Subsequently, the stored executable format data of the retraction block is executed, with a moving direction for the executable format data being reversed to move the tool. The tool performs a retracting operation 2 of moving in the opposite direction along a moving path for in the retraction block. The retracting operations 1, 2 allow the tool to be retracted while avoiding interfering with other members.
    Type: Grant
    Filed: August 16, 2017
    Date of Patent: June 18, 2019
    Assignee: Fanuc Corporation
    Inventor: Akinobu Fukumoto
  • Patent number: 10317201
    Abstract: The invention relates to a method for monitoring the safety of a joint (12) of a serial kinematic structure (30), which carries out tasks within a work region (100) under the control of a control unit (20), wherein a current state variable of the joint (12), such as the absolute position (AP) or the time derivatives thereof, is determined cyclically during operation from the current axis position (P) of the joint (12) and compared to a configurable limit value (SA, TA, SL), wherein a function module (3, 4, 5) is used to monitor the state variable. A function module (3, 4, 5) is assigned to each state variable to be monitored. These function modules (3, 4, 5) are designed independently of the control unit (20) of the serial kinematic structure (30), whereby the safety monitoring system (10) can be operated concurrently with and independently of the control unit (20) of the serial kinematic structure (30).
    Type: Grant
    Filed: March 17, 2014
    Date of Patent: June 11, 2019
    Assignee: B&R INDUSTRIAL AUTOMATION GMBH
    Inventors: Thomas Dirschlmayr, Thomas Kapeller
  • Patent number: 10312851
    Abstract: A motor drive includes a condition detection circuit for monitoring the condition of the drive, an determination circuit for determining whether detected data indicates an abnormality, a memory unit for storing a detection value including at least one of a peak voltage applied to the drive, a peak current flowing through the drive, the cumulative number of occurrences of abnormalities, and variations in the peak voltage or current with time, when the abnormality occurs, and a setting unit for setting in advance set values including an allowable peak voltage and current and the allowable number of occurrences of abnormalities, and allowable variations in the peak voltage and current with time allowable by the drive. Whenever the motor drive is powered on, it is determined whether the detection value reaches the set value. When the detection value reaches the set value, the power-on of the motor drive is prohibited.
    Type: Grant
    Filed: November 16, 2015
    Date of Patent: June 4, 2019
    Assignee: FANUC CORPORATION
    Inventor: Tomokazu Yoshida
  • Patent number: 10265860
    Abstract: A robot, such an industrial robot, has an arm. The arm has a plurality of rotation members, a plurality of joints each rotatably and mutually connecting adjacent two rotation members, and a plurality of electric servo motors respectively driving the joints. In this robot, every operation cycle, an angular speed is calculated at which to drive each servo motor, and a speed of a monitoring portion set in each rotation member is calculated. It is then determined whether or not the speed at the monitoring portion is equal to or lower than a reference speed. When it is determined that the speed at the monitoring portion is over the reference speed, the angular speed of each servo motor is instructed to reduce such that the speed at each monitoring portion becomes the reference speed or lower. The servo motors are driven at the angular speed that has been reduced.
    Type: Grant
    Filed: August 24, 2015
    Date of Patent: April 23, 2019
    Assignee: DENSO WAVE INCORPORATED
    Inventors: Satoshi Ide, Daisuke Kawase, Naoya Kagawa
  • Patent number: 10222782
    Abstract: A numerical controller determines a consumption factor representing the degree to which a tool included in a machine tool consumes the life in association with machining conditions, and calculates a tool life (accumulated consumption life) consumed before each block based on the determined consumption factor and a tool usage for each block. If a command of a block read from a machining program is a tool change command, a tool having a tool life not ending before the next tool change command is selected among tools based on the accumulated consumption life.
    Type: Grant
    Filed: June 14, 2016
    Date of Patent: March 5, 2019
    Assignee: FANUC CORPORATION
    Inventors: Takumi Oohashi, Kazuo Sato, Hideaki Maeda
  • Patent number: 10221834
    Abstract: To safely operate a wind turbine, a control system may determine a current state of the wind turbine and identify whether the state is within an operational envelope. Based on measured sensor data, the control system may calculate the current state of the turbine in a multi-dimensional space where each axis of the multi-dimensional space correlates to one of the measured parameters. The boundary of the operational envelope may define a region of the multi-dimensional space where the wind turbine is behaving in a safe manner. A safety system may determine if the state determined by the control system is accurate. If so, the safety system determines whether the current state is within the operational envelope. If the state is outside the envelope, the wind turbine may switch to a safe state during which the turbine may be decoupled from the utility grid or the rotor is stopped.
    Type: Grant
    Filed: September 3, 2014
    Date of Patent: March 5, 2019
    Assignee: VESTAS WIND SYSTEMS A/S
    Inventors: David Steele, Jens Steen Krogh
  • Patent number: 10189131
    Abstract: A motor control device for a machine tool having a plurality of axes includes a plurality of motor control units that control motors; an abnormality detection unit provided for at least one of the motor control units and configured to output an abnormality detection signal upon detecting an abnormality with respect to the axis driven by the motor controlled by the motor control unit provided with the abnormality detection unit; a safety operation control unit provided for a motor control unit that is not the motor control unit provided with the abnormality detection unit, the safety operation control unit configured to control the motor upon receiving the abnormality detection signal in such a way that the tool comes out of contact with the workpiece; and a communication unit that transmits the abnormality detection signal outputted by the abnormality detection unit to the safety operation control unit.
    Type: Grant
    Filed: October 10, 2017
    Date of Patent: January 29, 2019
    Assignee: FANUC CORPORATION
    Inventors: Shougo Shinoda, Satoshi Ikai
  • Patent number: 10144129
    Abstract: The invention relates to a robot, a robot control device, and a method for operating a robot. The robot includes an arm having a plurality of members following one after the other, an attaching device for attaching an end effector and drives for moving the members, and a control device connected to the drives. In another aspect, a computer program running on the control device issues a command for the robot arm to carry out an application step. At least one abort condition of the command from a plurality of abort conditions is detected, the execution of the application step is aborted on the basis of the detected abort condition, and simultaneously with the detection of the abort condition information is passed to the computer program about the abort condition on the basis of which the execution of the application step was aborted.
    Type: Grant
    Filed: March 22, 2012
    Date of Patent: December 4, 2018
    Assignee: KUKA Deutschland GmbH
    Inventor: Bernd Finkemeyer
  • Patent number: 10076285
    Abstract: Analyte sensor faults are detected. Datasets of glucose values sensor electronics are coupled to a glucose sensor in fluid contact with interstitial fluid under a skin surface. Baseline median glucose value and glucose variability values are computed, based on the first dataset. A baseline data point is stored. Evaluation median glucose value and variability are computed, based on the second dataset of glucose values. An evaluation data point is stored. A magnitude of a vector that extends between the baseline data point and the evaluation data point is computed. A component of the magnitude of the vector that is parallel to a hypoglycemia risk contour line is computed and compared to a predefined threshold value. An indication that a sensor fault has been detected if the component is greater than a threshold is displayed.
    Type: Grant
    Filed: March 13, 2014
    Date of Patent: September 18, 2018
    Assignee: ABBOTT DIABETES CARE INC.
    Inventors: Junli Ou, Erwin Satrya Budiman
  • Patent number: 9984766
    Abstract: A data processing apparatus includes a memory and memory protection circuitry for providing an operational path to the memory during operational use of the memory. A memory built-in self-test controller 34 performs built-in self-test operations upon the memory using either an indirect test access path to the memory via the memory protection circuitry or a direct test access path to the memory which bypasses the memory protection circuitry. Thus, the correct operation of the memory protection circuitry itself can be tested in addition to the correct operation of the memory.
    Type: Grant
    Filed: March 23, 2017
    Date of Patent: May 29, 2018
    Assignee: ARM Limited
    Inventors: Alan Jeremy Becker, Peter Logan Harrod
  • Patent number: 9919419
    Abstract: A robot system includes a robot, a control apparatus that controls the robot, a teaching apparatus having a first operation part that makes an emergency stop of a motion of the robot and teaching the motion of the robot, and an emergency stop processing apparatus having a second operation part that continues the motion of the robot after the first operation part is operated, wherein the second operation part is separately provided from the control apparatus.
    Type: Grant
    Filed: May 31, 2016
    Date of Patent: March 20, 2018
    Assignee: Seiko Epson Corporation
    Inventor: Yoshito Miyamoto
  • Patent number: 9831814
    Abstract: An electric motor drive control device includes: an inverter circuit that converts DC power inputted via a DC bus to multiphase AC power and outputs the multiphase AC power to an electric motor; a current detector that detects a DC current flowing in the DC bus; a PWM generator that generates PWM signals and outputs the PWM signals to the inverter circuit; a current calculator that calculates a current value for each of phases to be flowed to the electric motor based upon a value of the DC current and the PWM signals; and a current controller that generates a command signal based upon the current value, and outputs the command signal to the PWM generator, wherein: if one of the phases of the AC power has become missing, the current calculator determines which phase is one that has become missing and calculates current values for other phases.
    Type: Grant
    Filed: August 21, 2015
    Date of Patent: November 28, 2017
    Assignee: Hitachi Automotive Systems, Ltd.
    Inventors: Toshiyuki Ajima, Mitsuo Sasaki, Shigehisa Aoyagi, Tomonobu Koseki, Tomio Sakashita
  • Patent number: 9821462
    Abstract: This method relates to the disconnection of a manual control unit of a multi-axis robot, including a connecting cord for connecting the unit to a controller. The cord includes an input power line and output power line for each of the two cabling circuits of an emergency stop button, and an input power line and output power line for each of the two cabling circuits of a dead man contactor. The method comprises successive steps, in which: a) an operator makes a request to disconnect the unit, b) during a predetermined length of time, the safety controller does not trigger an emergency stop based on the control of the electrical cabling circuits, c) at the end of the predetermined length of time, the safety controller does not trigger an emergency stop if and only if, on the one hand, only one of the two cabling circuits of the emergency stop button is open and, on the other hand, only one of the two cabling circuits of the dead man contactor is open.
    Type: Grant
    Filed: November 3, 2015
    Date of Patent: November 21, 2017
    Assignee: STAUBLI FAVERGES
    Inventor: Louis Garde
  • Patent number: 9821461
    Abstract: An example method includes determining one or more first movements that begin with a robot at a first position, determining one or more second movements that begin with the robot at the first position and end with the robot standing at a second position, making a first prediction of whether one or more motors of the robot executing the one or more first movements would cause a future temperature of any of the one or more motors to exceed a threshold temperature, making a second prediction of whether the one or more motors executing the one or more second movements would cause a future temperature of any of the one or more motors to exceed the threshold temperature, and causing the one or more motors to execute either (i) the one or more first movements or (ii) the one or more second movements.
    Type: Grant
    Filed: October 9, 2015
    Date of Patent: November 21, 2017
    Assignee: X Development LLC
    Inventors: Junichi Urata, Yoshito Ito
  • Patent number: 9800184
    Abstract: A motor drive circuit comprises a motor having a plurality of phases, a switching circuit comprising a plurality of electrical switches, a motor current controller that generates voltage demand signals to be passed to a drive circuit for the switches that in turn generate pulse width modulated switching signals for the switching circuit that cause the switches to selectively connect the phases to a power supply so as to cause current to flow through the phases of the motor, and a motor torque controller that produces a demand signal that is fed to an input of the current controller, the motor current controller responding to an error signal that is at least partially dependent on the value of the demand signal. The torque controller in use updates the demand signal at a first sample rate.
    Type: Grant
    Filed: March 6, 2014
    Date of Patent: October 24, 2017
    Assignee: TRW LIMITED
    Inventor: Nikhil Prahlad
  • Patent number: 9737991
    Abstract: A robot control device includes a contact judging part which judges if the robot has contacted an object based on external force which is detected by the sensor, a stop command part which makes the robot stop when it is judged that the robot has contacted the object, a continuous contact judging part which judges if the robot continues to contact the object after making the robot stop, and a retraction command part which makes the robot retract in a direction away from the object when it is judged that the robot continues to contact the object.
    Type: Grant
    Filed: January 19, 2016
    Date of Patent: August 22, 2017
    Assignee: FANUC CORPORATION
    Inventors: Hiromitsu Takahashi, Kazuhisa Takaki
  • Patent number: 9737950
    Abstract: A welding power supply including power conversion circuitry adapted to receive a primary source of power, to utilize one or more power semiconductor switches to chop the primary source of power, and to convert the chopped power to a welding output is provided. The provided welding power supply includes a pulse width modulated (PWM) digital controller including gate drive circuitry that generates a PWM output signal that controls the switching of the one or more power semiconductor switches. The PWM output signal includes a duty cycle term corrected for one or more sources of error in the welding system.
    Type: Grant
    Filed: October 17, 2016
    Date of Patent: August 22, 2017
    Assignee: ILLINOIS TOOL WORKS INC.
    Inventor: Bernard J. Vogel
  • Patent number: 9733303
    Abstract: The interlock detector includes a first input, wherein a first output signal from an interlock generator is applied to the first input. The interlock detector further includes a second output which is configured to provide a microprocessor with a second output signal. The interlock detector further includes a differential amplifier that includes a second input, a third input, and a third output, wherein the second input and the third input are connected to the first input. The interlock detector further includes a comparator circuit that includes a fourth input and a fourth output, wherein the fourth input is connected to the third output, the fourth output is connected to the second output, and the fourth input is positioned between the comparator circuit and the differential amplifier.
    Type: Grant
    Filed: March 11, 2013
    Date of Patent: August 15, 2017
    Assignees: Robert Bosch GmbH, Samsung SDI Co., Ltd.
    Inventor: Thomas Schaedlich
  • Patent number: 9724167
    Abstract: A system includes a moveable member configured to permit a user to manually move at least a portion of the moveable member to permit an object coupled to the moveable member to be manipulated in space and thereby facilitate the performance of a task using the coupled object. The moveable member is configured to couple to at least a first object and a second object that is interchangeable with the first object and has a substantially different weight than the first object. A brake is configured to limit manual movement of at least the portion of the moveable member to inhibit manipulation in space of the coupled object, both when the moveable member is coupled to the first object and when the moveable member is coupled to the second object.
    Type: Grant
    Filed: September 29, 2010
    Date of Patent: August 8, 2017
    Assignee: MAKO Surgical Corp.
    Inventors: Kam Ziaei, Dennis Moses
  • Patent number: 9701022
    Abstract: In sensor-less collision detection of a robot, a conventional method for displaying abnormality of the robot makes an abnormality display of “collision detected” when a collision is erroneously detected, and does not clarify the situations under which the collision has been erroneously detected. In a method for displaying abnormality of a robot, when a collision of the robot is detected and the collision detection is displayed, at least one abnormality display is selected from a plurality of abnormality detection items different from collision detection. This can offer information useful for the user to understand the situations at occurrence of the erroneous collision detection.
    Type: Grant
    Filed: December 26, 2014
    Date of Patent: July 11, 2017
    Assignee: Panasonic Intellectual Property Management Co., Ltd.
    Inventors: Hiroyuki Nakata, Atsumi Hashimoto, Masaru Kowa, Yasuyoshi Honuchi
  • Patent number: 9690284
    Abstract: After a Z-axis on which a chamfering tool is mounted is located in a machining position for chamfering, two orthogonal axes (X- and Y-axes) perpendicular to the Z-axis are positioned to be ready for the chamfering. The Z-axis is compensated simultaneously with the X- and Y-axes in accordance with a machining path in a machining program, based on tool data, whereby the entire cutting edge of the chamfering tool can be used for each chamfering cycle. Specifically, the radius of the tool is made variable so that a chamfering area can cover the entire cutting edge of the tool.
    Type: Grant
    Filed: November 17, 2014
    Date of Patent: June 27, 2017
    Assignee: FANUC CORPORATION
    Inventor: Daisuke Uenishi
  • Patent number: 9599652
    Abstract: A measuring system and a method for operating it to detect wire breakage based on the measured current or voltage in which the impedance of at least a first sensor is measured and the result transmitted to a connected system. The invention is capable of detecting wire breakage and sensor failure in temperature sensor systems simultaneous with the temperature measurement by the measuring system comprising an AC current source which generates an AC current that is transmitted through the wires, and through at least the first sensor, measuring system analyzing changes in the phase angle between the current and voltage of the AC signal. If the difference in the frequency of the signal affecting the impedance or voltage of the sensor, and the frequency of the injected wire testing signal is sufficiently high, it is possible to distinguish between the first measuring signals and the second wire testing signal.
    Type: Grant
    Filed: May 21, 2014
    Date of Patent: March 21, 2017
    Assignee: PR Electronics A/S
    Inventor: Bjarne Funch Skipper
  • Patent number: 9557722
    Abstract: Described is a control system for stabilizing complex systems through self-adjustment. The complex system consists of agents or machines interacting with an environment and controlled by a controller. The control system includes a sensor configured to measure a state of the complex system and output the measured state of the complex system. A filter receives the measured state of the complex system, computes a variance in the measured state of the complex system over time, and outputs the computed variance. A regulator, which is connected with at least one controller, adjusts a control parameter in response to the computed variance received from the filter. The regulator is configured to regulate each controller's action on each agent or machine based on the control parameter in order to maintain stability of the complex system. In a desired aspect, the at least one control parameter comprises a set of additional input delays.
    Type: Grant
    Filed: August 6, 2012
    Date of Patent: January 31, 2017
    Assignee: HRL Laboratories, LLC
    Inventors: Heiko Hoffmann, David W. Payton
  • Patent number: 9555543
    Abstract: A jointed robot capable to move on a surface is provided. It is known to limit to a predefined fixed value the torque that the motors of the joints of the robot can develop. A rigidity coefficient corresponding to the limit torque is calculated by solving a dynamic equilibrium model of the robot. The contact points of the characteristic effectors are determined by a selection from a list of potential effectors, notably as a function of a criterion of distance from a virtual ground plane. The contact forces for said effectors are calculated by optimal resolution of the equilibrium equations. Finally the torques applied in the dynamic equilibrium model of the robot and the coefficients of corresponding rigidity are calculated.
    Type: Grant
    Filed: August 3, 2012
    Date of Patent: January 31, 2017
    Assignee: ALDEBARAN ROBOTICS
    Inventors: David Gouaillier, Cyrille Collette
  • Patent number: 9553528
    Abstract: A method and apparatus for controlling a motor. The motor comprises windings. A switch bridge comprising a plurality of switches is configured to couple a power source to the windings. A motor controller is configured to control the plurality of switches. An undesired condition identifier is configured to identify an undesired condition when the motor is providing power to the power source, wherein the undesired condition is defined with respect to a characteristic of the power source. An undesired condition reducer is configured to reduce the undesired condition in response to identifying the undesired condition by the undesired condition identifier.
    Type: Grant
    Filed: July 16, 2015
    Date of Patent: January 24, 2017
    Assignee: THE BOEING COMPANY
    Inventors: Christopher Pete Benson, Douglas C. Cameron
  • Patent number: 9533416
    Abstract: The invention relates to a method for commanding the brakes (F1, F2, F3) of the motors (M1, M2, M3) of a multi-axis robot (R1), comprising: a robot arm (B) comprising at least two degrees of freedom each associated with an electric motor (M1, M2, M3), a sensor (C1, C2, C3) for measuring movement information, and a brake (F1, F2, F3), an interfacing unit (4) of the brakes (F1-F3) able to control the supply of electricity to the brakes (F1-F3), a central processing unit (2), variable drives (V1, V2, V3) having a torque off function of the motors (M1-M3), a security system (4, 5), the method comprising the following successive steps: 6a) selecting a motor (M1-M3), 6b) activating an electric braking function using the selected motor (M1-M3), 6c) opening the brake (F1-F3), 6d) comparing the movement information delivered by the sensor (C1-C3) to a threshold, 6e) closing the brake (F1-F3) when the movement information exceeds the threshold.
    Type: Grant
    Filed: April 3, 2015
    Date of Patent: January 3, 2017
    Assignee: STAUBLI FAVERGES
    Inventor: Louis Garde
  • Patent number: 9425715
    Abstract: Disclosed is a motor driving circuit of an EPB system which may reduce dark current. The present invention provides a motor driving circuit, including: a motor which includes two power input terminals to be applied with a battery power and a ground power; an H-bridge circuit which alternatively applies the battery power and the ground power to the two power input terminals in response to four motor driving signals applied from an ECU to drive the motor; an activating transistor which is connected between the battery power and the H-bridge circuit and is activated in response to a fail-safe control signal applied from the ECT to apply the battery power to the H-bridge circuit; and two monitoring units which are connected to corresponding input terminals of two power input terminals of the motor to distribute a voltage level which is applied to the motor and output monitoring signals.
    Type: Grant
    Filed: November 6, 2014
    Date of Patent: August 23, 2016
    Assignee: HYUNDAI MOBIS CO., LTD.
    Inventor: Hyeon Seok Jeong
  • Patent number: 9377282
    Abstract: A method for validating a workpiece measurement in a hand-held spatial dimension measurement metrology tool comprises vibrating a portion of the metrology hand tool using the vibration excitation element; sensing a vibration signature using the vibration sensor configuration; identifying a valid contact state between the metrology hand tool and the workpiece based on a vibration signature criterion; identifying a valid seating state based on a measurement stability criterion applied to a set of dimensional measurements of the metrology hand tool; and indicating that a dimensional measurement is valid for a dimensional measurement that is obtained when the valid contact state and the valid seating state occur simultaneously.
    Type: Grant
    Filed: September 3, 2013
    Date of Patent: June 28, 2016
    Assignee: Mitutoyo Corporation
    Inventors: Matthew Raymond Dockrey, Casey Edward Emtman
  • Patent number: 9342067
    Abstract: A robot apparatus includes a rectangular wave generating portion arranged on the output side of a speed reducer, and configured to generate first output pulse signals upon driving of a joint. A control portion includes calculating portions and a motor control portion. The motor control portion estimates an estimated joint angle using input pulse signals, and controls to operate a servo motor so that this estimated joint angle matches a target joint angle. The calculating portions calculate a torsion angle of the joint corresponding to a deviation amount between the first output pulse signals and a pulse waveform of an ideal state. The motor control portion controls to operate the servo motor so as to correct the estimated joint angle by the torsion angle.
    Type: Grant
    Filed: September 18, 2013
    Date of Patent: May 17, 2016
    Assignee: CANON KABUSHIKI KAISHA
    Inventor: Tsutomu Osaka
  • Patent number: 9327825
    Abstract: An actuator control system for coupling to one or more flight control computers (FCCs); comprising: apparatus for controlling an aerodynamic control surface in response to commands received from one or more FCCs, and, integrated with the controlling apparatus, a failure protection system comprising apparatus arranged to provide at least one of the following functionalities: a servo monitor functionality, a command monitor functionality, and a loop closure functionality. Thus, in the overall flight control system, some or all of the elements of the failure protection system are located in the actuator control stage.
    Type: Grant
    Filed: March 22, 2012
    Date of Patent: May 3, 2016
    Assignee: BAE SYSTEMS plc
    Inventors: Nicholas White, Stephen Richard Morgan, John Kenneth Clarkstone
  • Patent number: 9114539
    Abstract: A robot includes a first horizontal arm coupled to a base, a second horizontal arm coupled to the base via the first horizontal arm, first and second motors adapted to rotate the respective arms, and first and second encoders adapted to calculate rotational angles and rotational velocities of the respective motors. A first motor control section subtracts first and second angular velocities based on the first and second encoders from a sensor angular velocity detected by an angular sensor, and controls the first motor so that a velocity measurement value obtained by adding a vibration velocity based on a vibration angular velocity as the subtraction result and a first rotational velocity becomes equal to a velocity command value.
    Type: Grant
    Filed: March 27, 2014
    Date of Patent: August 25, 2015
    Assignee: Seiko Epson Corporation
    Inventors: Katsuji Igarashi, Masaki Motoyoshi
  • Publication number: 20150137726
    Abstract: A motor controller according to the present invention includes a stop cause detecting unit for detecting a stop cause by which an emergency stop of a motor is carried out, a stop command generating unit for generating a stop command that stops a tool along a command trajectory, and a retraction command generating unit for generating a retraction command that moves the tool and an object to be processed relatively with each other so that interference between the tool and the object to be processed is avoided. The motor controller is configured such that a machine tool is operated according to a superimposed command obtained by superimposing the retraction command onto the stop command when the stop cause detecting unit detects a stop cause.
    Type: Application
    Filed: November 13, 2014
    Publication date: May 21, 2015
    Inventor: Zhiwei Tang
  • Patent number: 8917049
    Abstract: When a failure of a feedback control operation of an electric motor is sensed, a control unit changes the feedback control operation to an open loop control operation. At the time of executing the open loop control operation, the control unit sequentially changes the exciting phase of the motor without executing feedback of information of the count value of the encoder counter and rotates a rotor of the motor until a count value of an exciting phase change counter reaches an open loop target count value, which corresponds to a target rotational position of the rotor. When the control unit changes the feedback control operation to the open loop control operation, the control unit sets the open loop target count value by correcting a feedback target count value based on an exciting phase deviation correction value for the count value of the encoder counter.
    Type: Grant
    Filed: December 4, 2012
    Date of Patent: December 23, 2014
    Assignee: Denso Corporation
    Inventor: Jun Yamada
  • Patent number: 8907603
    Abstract: A steering control apparatus includes a direct current power source, a three-phase alternating current motor, and a motor driving circuit. An emergency switching element is provided on at least two phases of a three-phase power supply line connected to the three-phase alternating current motor within the motor driving circuit, and the emergency switching element is turned off when an abnormality occurs such that the motor driving circuit is disconnected from the three-phase alternating current motor. The emergency switching element is a MOSFET, and the MOSFETs are provided in pairs in each of the two phases of the three-phase power supply line. Further, parasitic diodes of the pairs of MOSFETs are disposed in opposite orientations to each other.
    Type: Grant
    Filed: August 8, 2013
    Date of Patent: December 9, 2014
    Assignee: JTEKT Corporation
    Inventor: Yoshiyuki Shibata
  • Patent number: 8896254
    Abstract: A robot which is able to complete all or a part of desired operations and take a safety countermeasure in order to prevent an unexpected result from being obtained, even when a power source of a motor-based robot is unintentionally and suddenly cut off. A method of controlling a robot, which includes a main power source, a subsidiary power source and a motor to receive power from at least one of the main power source and the subsidiary power source, includes driving the motor using power supplied from the subsidiary power source if power supplied from the main power source is cut off, selecting at least one of a plurality of safety control modes to stably control the robot in consideration of a current state of the robot, and controlling the robot to operate in the selected safety control mode.
    Type: Grant
    Filed: October 5, 2011
    Date of Patent: November 25, 2014
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Sung Gu Kwon, Dong Min Shin, Jong Owan Kim