Program- Or Pattern-controlled Systems Patents (Class 318/567)
  • Patent number: 10434642
    Abstract: A mechanical arm and an operation method thereof, a mechanical arm device and a manufacturing equipment of a display panel are disclosed. The mechanical arm includes an arm main body, a bearing section and a first driver. The bearing section is arranged at a first end of the arm main body, and is movably connected with the first end of the arm main body, the bearing section includes a first bearing surface; and the first driver is arranged at the first end of the arm main body, and is connected with the bearing section to drive the bearing section at least to rotate parallel to the first bearing surface.
    Type: Grant
    Filed: November 30, 2017
    Date of Patent: October 8, 2019
    Assignees: BOE Technology Group Co., Ltd., Hefei Xinsheng Optoelectronics Technology Co., Ltd.
    Inventors: Aihua Lei, Erqing Zhu, Jun Zhang, Wei Shang
  • Patent number: 10439520
    Abstract: According to an aspect of the invention, a motor stop control method of a motor stop control apparatus which includes an arithmetic control unit and a detection unit. The arithmetic control unit has a stop start position at which a stop control is started from a position which is a predetermined angle before a target position at which a motor stops. The arithmetic control unit calculates a rotational speed of the motor at the stop start position on the basis of a detection value of the detection unit, and a stop time at which the rotational speed of the motor reaches zero from the stop start position on the basis of a deceleration line indicating a change in the rotational speed of the motor, the rotational speed of the motor, and the predetermined angle.
    Type: Grant
    Filed: January 17, 2018
    Date of Patent: October 8, 2019
    Assignees: NIDEC CORPORATION, NIDEC COPAL CORPORATION
    Inventors: Osamu Okazaki, Yuji Tanaka
  • Patent number: 10409256
    Abstract: Provided is a tool-path generating device that includes a point-sequence generating unit that generates a point sequence that represents a tool path on the basis of a machining program, and a smoothing unit that smooths the generated point sequence. The smoothing unit includes a filter-length setting unit that sets filter lengths that are applied to the points such that a pre/post-smoothing divergence amount of each point in the point sequence is equal to or less than a first threshold, a filter-length changing unit that changes the set filter lengths such that an absolute value of a difference between the filter lengths applied to adjacent points in the point sequence is equal to or less than a second threshold, and a filter processing unit that performs filter processing on the basis of the changed filter lengths.
    Type: Grant
    Filed: October 20, 2017
    Date of Patent: September 10, 2019
    Assignee: FANUC CORPORATION
    Inventors: Hiroki Murakami, Souichirou Ide, Osamu Hanaoka
  • Patent number: 10401835
    Abstract: A numerical controller for performing table-format-data-based operation control includes a reading unit that analyzes a command block read from table format data to acquire a reference value and a coordinate value of a control point and outputs the reference value and the coordinate value, a segment distinction unit that divides movement to the control point into acceleration/deceleration segments and a constant speed segment, a feed speed calculation unit that calculates a feed speed in the constant speed segment, and a distribution process unit that calculates the travel of a controlled axis for each control cycle so that acceleration/deceleration is applied in the acceleration/deceleration segments and the feed speed calculated by the feed speed calculation unit is achieved, and delay in the coordinate value with respect to the reference value based on the acceleration/deceleration control is corrected by using the feed speed calculated by the feed speed calculation unit.
    Type: Grant
    Filed: June 23, 2016
    Date of Patent: September 3, 2019
    Assignee: FANUC CORPORATION
    Inventor: Akira Kanemaru
  • Patent number: 10394246
    Abstract: Embodiments provide a plurality of personalized, user selectable styles. Each style is determined by a combination of dimensions. Each style, except the default balanced style, prioritizes one of the dimensions over the other cleaning dimensions. In one embodiment, the styles are cleaning styles and the cleaning dimensions are cleaning time, coverage and obstacle avoidance. The cleaning styles are gentle, fast, thorough and balanced. The gentle style protects expensive furniture, with obstacle avoidance prioritized over cleaning time and coverage. The fast style cleans quickly, prioritizing cleaning time over coverage and obstacle avoidance. The thorough style prioritizes coverage over cleaning time and obstacle avoidance. The balanced style prioritizes all three cleaning dimensions substantially the same. The prioritization is achieved through adjustments to the autonomous robot navigation. User selection of a style can be achieved directly or automatically based on various mechanisms, such as user history.
    Type: Grant
    Filed: March 31, 2017
    Date of Patent: August 27, 2019
    Assignee: Neato Robotics, Inc.
    Inventors: Lilia Moshkina-Martinson, Kristen Holtz
  • Patent number: 10379723
    Abstract: A machining program editing apparatus that enables a machining program to be edited accurately in a short time, and a machine tool having the same, are provided. A machining program editing apparatus 1 for editing a machining program of a machine tool 10 includes a control means 5 for controlling the display content of a display means 3 for displaying the machining program. When a preset NC code, among the NC codes included in the machining program, is selected on the display means 3, the control means 5 allows an edit window 7 for inputting an editing content, according to the type of the NC code, to be displayed near the display position of the NC code.
    Type: Grant
    Filed: December 9, 2016
    Date of Patent: August 13, 2019
    Assignee: DMG MORI CO., LTD.
    Inventors: Hironari Sakamoto, Takashi Yamamoto
  • Patent number: 10379542
    Abstract: The invention relates to a location and mapping device intended for being installed in a mobile vehicle in an environment comprising a plurality of zones, with: a receiving module (11) designed to receive data of the position (d(a)) of obstacles relative to the vehicle; a processing module (12, 14) designed to determine, in accordance with the data received (d(a)) and for a plurality of zones positioned relative to the vehicle, measurement values (M_SCANt,i) that respectively represent a likelihood of occupation of the zone in question, a likelihood of non-occupation of the zone in question and a likelihood of not knowing the zone in question; a mapping module (18, 20) designed to build, for each zone of said plurality of zones of the environment, values (M_GRIt,k) which respectively represent a likelihood of occupation of the zone in question, a likelihood of non-occupation of the zone in question and a likelihood of not knowing the zone in question; and a location module (16) designed to determine the posit
    Type: Grant
    Filed: August 28, 2015
    Date of Patent: August 13, 2019
    Assignee: Valeo Schalter und Sensoren GmbH
    Inventors: Guillaume Trehard, Evangeline Pollard, Fawzi Nashashibi, Benazouz Bradai
  • Patent number: 10363639
    Abstract: A lifting device for transporting a component from a first position to a second position is provided. The second position is defined relative to a destination datum feature. The lifting device includes a computing device and an arm having a clamp mechanism and a locator mechanism. The arm is selectively movable to engage the component, removably couple the component to the arm using the clamp mechanism, and facilitate transport of the component to the second position. The locator mechanism includes a datum feature that interacts with the destination datum feature to transmit a signal to the computing device to indicate the component is at the second position.
    Type: Grant
    Filed: October 23, 2015
    Date of Patent: July 30, 2019
    Assignee: Honda Motor Co., Ltd.
    Inventors: Benjamin Barton MacArthur, Sasha Begovic, Robert Johan Mogensen
  • Patent number: 10339233
    Abstract: Systems and a method for calculating thickness values of a coating material applied by a coating gun on object surfaces in industrial processes include measuring, on real test surfaces, the thickness values of coating material samples applied by the coating gun on the real test surfaces. The measured thickness values are used to generate 3D virtual objects modeling the coating dispersions of the coating gun at given angles formed between the coating gun and the test surface. The thickness values of the coating material applied on the surface of a simulated object by a simulated gun at a certain angle are calculated by detecting the collision between the 3D virtual object mounted on the simulated coating gun and surface elements of the simulated object surface.
    Type: Grant
    Filed: July 27, 2015
    Date of Patent: July 2, 2019
    Assignee: Siemens Industry Software Ltd.
    Inventors: Dror Davidi, Moshe Hazan, Rahav Madvil
  • Patent number: 10274928
    Abstract: A system for control of a numerically controlled machine tool by a user, including an operator console being operable by the user and a mobile data carrier, and to an operator console and a mobile data carrier for use in such system. The operator console has a receiving slot for receiving the mobile data carrier and a first communication interface adapted to be communicably connected to a second communication interface of the mobile data carrier, wherein the second communication interface includes a female connector socket and the first communication interface includes a male connector plug provided at an inner end face portion of the receiving slot for being plugged into the female connector socket of the mobile data carrier when the mobile data carrier is received in the receiving slot.
    Type: Grant
    Filed: September 11, 2014
    Date of Patent: April 30, 2019
    Assignees: DMG MORI CO., LTD., DMG MORI AKTIENGESELLSCHAFT
    Inventors: Reinhold Seitz, Alexander Strebelow
  • Patent number: 10278310
    Abstract: An assistance apparatus according to the disclosure generates monitor area data on the basis of dimension data of rack rows that are each constituted by a plurality of racks and that are arranged in a first direction in a three-dimensional space, the dimension data including the length of each rack row in the first direction and the height thereof in a second direction perpendicular to the first direction, interval data that includes an interval, in a third direction, between the rack rows adjacent to each other in the third direction, the third direction being perpendicular to the first and second directions, field-of-view angle data that includes the field-of-view angle of each temperature sensor, and temperature sensor position data that indicates certain temperature sensor positions; and includes a display control unit that displays monitor coverage information on a display device on the basis of the monitor area data.
    Type: Grant
    Filed: March 27, 2017
    Date of Patent: April 30, 2019
    Assignee: AZBIL CORPORATION
    Inventor: Kei Koga
  • Patent number: 10203682
    Abstract: Disclosed is a position controller for a tilting head in a machining center. The position controller includes an offset attachment having a body combined to the tilting head and a spherical contact secured to the body, an offset detector built in the machining center such that the offset detector move out into a process area of the machining center and automatically detects a tool offset from a contact point with the spherical contact, a storing unit individually storing first and second tool offsets by respective rotation positions of the tilting head, and an operator generating a transform offset of the first tool offset by a rotational transform and a center error vector from the transform offset and the second tool offset. Accordingly, the center error of the tilting head is automatically detected and corrected in the machining center.
    Type: Grant
    Filed: April 13, 2017
    Date of Patent: February 12, 2019
    Assignee: DOOSAN MACHINE TOOLS CO., LTD.
    Inventor: Hyon-Seok Kim
  • Patent number: 10189159
    Abstract: Examples are provided that describe a model free power detector. In one example, a method includes receiving, by one or more computing devices, a measurement of electrical power to a robotic device. The method also includes receiving, by the one or more computing devices, a measurement of mechanical power by the robotic device. Based on combinations of the electrical power to the robotic device being one of positive, negative, or about zero, and the mechanical power by the robotic device being one of positive, negative, or about zero, the method includes determining possible states of operation of the robotic device. The method also includes providing, by the one or more computing devices, the possible states of operation of the robotic device to a detector.
    Type: Grant
    Filed: April 6, 2015
    Date of Patent: January 29, 2019
    Assignee: X Development LLC
    Inventors: Rob Wilson, Jeffrey Thomas Bingham
  • Patent number: 10116250
    Abstract: When there is an error between an actual resistance value of an AC rotary machine (ACRM) and an estimated resistance value estimated from a detected external temperature of the ACRM, the ACRM cannot be rotated smoothly. In view of this, provided are a control device for an ACRM and the like, including a resistance value estimation unit (10) configured to calculate an estimated resistance value (Rest) by adding to a basic estimated resistance value (Rest0), which is a value obtained by estimating a resistance value from a detected external temperature of the ACRM, an estimated resistance correction value (Radd), which is determined such that a range that can be taken by an error (?R) of the resistance value estimated in advance falls within a range of the error of the resistance value that enables the ACRM to be rotated smoothly.
    Type: Grant
    Filed: June 16, 2014
    Date of Patent: October 30, 2018
    Assignee: Mitsubishi Electric Corporation
    Inventors: Yuya Tsuchimoto, Isao Kezobo, Yoshihiko Kimpara, Shunsuke Nakajima
  • Patent number: 10105842
    Abstract: An operation program creating method comprises performing, with a computer, a speed setting step that creates an operation program of a robot in such a manner that speeds at a plurality of teaching points are set, and in the speed setting step, the speed at a specified teaching point on the designed movement path is set based on a position change or a posture change in a plurality of teaching points including the specified teaching point, a teaching point which is upstream of the specified teaching point on the designed movement path, and/or a teaching point which is downstream of the specified teaching point on the designed movement path.
    Type: Grant
    Filed: December 22, 2014
    Date of Patent: October 23, 2018
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Masayuki Watanabe, Takayuki Yoshimura
  • Patent number: 10105846
    Abstract: A robot control system includes an operation command output unit which outputs an operation command of a motor, a position detection unit which is provided on the motor to detect the position of a control shaft, a stop signal output unit which outputs a stop signal to stop the robot when the speed of the control shaft acquired from the position detection unit exceeds a speed threshold value, and an operation command interruption unit which interrupts the operation command outputted from the operation command output unit when the stop signal is outputted.
    Type: Grant
    Filed: July 16, 2015
    Date of Patent: October 23, 2018
    Assignee: FANUC CORPORATION
    Inventors: Takumi Oyama, Tomoyuki Yamamoto
  • Patent number: 10090791
    Abstract: A machine learning apparatus includes: a state observation unit that observes a state variable including an error between a position command and an actual position of a rotor, temperature of a motor driving apparatus and the motor, and voltage of each part of the motor driving apparatus; and a learning unit that learns a current feedback offset correction value for correcting an offset in the current feedback value, an inter-current-feedback-phase unbalance correction value for correcting an unbalance between phases in the current feedback value, and a current command correction value for a dead zone for correcting a current command in order to compensate a decreased amount of current due to a dead zone by which switching elements of upper and lower arms in the same phase of an inverter for motor power supply are not simultaneously turned on, in accordance with a training data set defined by the state variable.
    Type: Grant
    Filed: October 11, 2016
    Date of Patent: October 2, 2018
    Assignee: FANUC CORPORATION
    Inventors: Sou Saito, Taku Sasaki, Tsutomu Shikagawa
  • Patent number: 10081105
    Abstract: A method for verifying the assignment of a drive to a control device of an industrial robot. A drive, comprising at least one actuator and a motion sensor, is assigned to one of the axles of the robot. The assignment is verified by outputting a suitable test signal from the control device to the drive, and comparing the output test signal with motion signals generated by the motion sensor.
    Type: Grant
    Filed: December 14, 2015
    Date of Patent: September 25, 2018
    Assignee: KUKA Roboter GmbH
    Inventor: Torsten Geiler
  • Patent number: 10078468
    Abstract: A method for use in a dispersed storage network includes receiving location data corresponding to a location of a client computing device; determining, based on the location data, that the client computing device is at a location outside a home area of the client computing device; and transferring pre-fetch slices associated with the client computing device from a first plurality of dispersed storage units associated with the home area of the client computing device for storage in a second plurality of dispersed storage units associated with the location of the client computing device.
    Type: Grant
    Filed: August 18, 2016
    Date of Patent: September 18, 2018
    Assignee: International Business Machines Corporation
    Inventors: Brian F. Ober, Jason K. Resch
  • Patent number: 10065315
    Abstract: A method for operating a robotic device with a kinematic chain of mobile components is provided. The kinematic chain includes a function-specific end-effector at one end. Sensor values are acquired by sensors of the robotic device arranged on the kinematic chain or in the environment of the kinematic chain. A force acting on the end-effector or another component of the kinematic chain, or a variable dependent thereupon, is determined in a prespecified manner based on the acquired sensor values. The force or variable determined is compared with a prespecified first safety limit value by a control mechanism of the robotic device. A characteristic of the kinematic chain or the function-specific end-effector is adapted if the force or variable determined is in a prespecified relationship to the first safety limit value in order to increase the operational safety of a robotic device and of people in the environment of the robotic device.
    Type: Grant
    Filed: November 26, 2015
    Date of Patent: September 4, 2018
    Assignee: Siemens Aktiengesellschaft
    Inventors: Abhinav Gulhar, Philip Mewes, Sabine Thürauf
  • Patent number: 10054482
    Abstract: A tool for positioning a scanning device provided with a spectrometer comprises a support having a resting zone suitable for being rested onto a surface, a fixing arrangement for fixing the scanning device to the tool. The support is so dimensioned as to leave uncovered an operative zone in which the spectrometer is movable for acquiring an image provided on a substrate, so that the spectrometer can acquire the image while the support is resting directly on the substrate. The tool further comprises a vision device comprising a video camera for recording the image and a control unit that controls the video camera, the control unit being programmed to recognise pre-established points of the image recorded by the video camera.
    Type: Grant
    Filed: September 18, 2015
    Date of Patent: August 21, 2018
    Inventor: Antonio Maccari
  • Patent number: 10042347
    Abstract: A standby control for a machine tool. The standby control is operable for regulating the energy consumption of one or more energy-consuming components of the machine tool during nonoperation of the machine tool. The standby control includes a controller operable to individually activate or deactivate energy-consuming components according to a predeterminable input value in order that a temperature of at least one of the individual components or a temperature of the machine tool is influenced during nonoperation of the machine tool.
    Type: Grant
    Filed: November 3, 2015
    Date of Patent: August 7, 2018
    Assignee: MIKRON AGIE CHARMILLES SA
    Inventors: Jean-Philippe Besuchet, Michael Monsch, Micha Kuenzi
  • Patent number: 10022865
    Abstract: Aspects of the present disclosure describe a robot which has a controller, actuators, encoders, and mechanical components. The robot may produce motion about an X, Z, RU, RL, and Theta axes. Movements of the robot are controlled by the controller. The repeatability of the robot is improved by designing the robot such that a control cycle frequency of the controller is 50 times or more greater than a vibrational frequency of one or more of the mechanical components. In order to reduce the release of particulates, a baffled enclosure may be used. It is emphasized that this abstract is provided to comply with the rules requiring an abstract that will allow a searcher or other reader to quickly ascertain the subject matter of the technical disclosure. This abstract is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims.
    Type: Grant
    Filed: February 27, 2015
    Date of Patent: July 17, 2018
    Assignee: KLA-TENCOR CORPORATION
    Inventor: Yoram Hanfling
  • Patent number: 10025305
    Abstract: A cleaning robot includes a navigator to move a main body, a remote controller to output a modulated infrared ray in accordance with a control command of a user and to form a light spot, a light receiver to receive the infrared ray from the remote controller, and a controller to control the navigator such that the main body tracks the light spot when the modulated infrared ray is received in accordance with the control command. Because the cleaning robot tracks a position indicated by the remote controller, a user may conveniently move the cleaning robot.
    Type: Grant
    Filed: February 27, 2015
    Date of Patent: July 17, 2018
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Jea Yun So, Jin Hee Kim, Won Min Lee, Gwang Jin Jung, Sang Hwa Choi, Shin Kim, Sang Sik Yoon, Byoung In Lee, Hyun Soo Jung
  • Patent number: 10025297
    Abstract: A machine tool comprises: a servomotor feeding a workpiece or a tool; a motor control section controlling the servomotor; and a processor connected to the motor control section, in a parameter adjustment mode while rotating a load by the servomotor with a given speed command issued to the motor control section under a condition where torque is limited, the processor calculating load inertia based on the torque and an angular acceleration of the servomotor that is obtained based on an output from the servomotor, calculating a parameter based on the load inertia, and adjusting a control parameter set to the motor control section based on the parameter.
    Type: Grant
    Filed: November 6, 2017
    Date of Patent: July 17, 2018
    Assignee: NAKAMURA-TOME PRECISION INDUSTRY CO., LTD.
    Inventor: Yoshiharu Hoshino
  • Patent number: 10011027
    Abstract: A leg structure includes: a pair of first-stage leg servos connected to the waist structure, each of the first-stage leg servos including a first output shaft; second-stage leg servos corresponding to and arranged opposite to the first-stage leg servos, the second-stage leg servos including second output shafts perpendicular to the first output shaft; a pair of connecting assemblies each used for mounting one of the first-stage leg servos and one of the second-stage leg servos, the connecting assemblies each including a connecting member for mounting one end of the first output shaft and one end of the second output shaft, a first end cover fixed to the connecting member and used for mounting the other end of the first output shaft, and a second end cover fixed to the connecting member and used for mounting the other end of the second output shaft.
    Type: Grant
    Filed: March 22, 2017
    Date of Patent: July 3, 2018
    Assignee: UBTECH ROBOTICS CORP.
    Inventors: Youjun Xiong, Feng Hu, Xinpu Chen
  • Patent number: 9981357
    Abstract: One embodiment of the present invention can be characterized as a method for controlling a multi-axis machine tool that includes obtaining a preliminary rotary actuator command (wherein the rotary actuator command has frequency content exceeding a bandwidth of a rotary actuator), generating a processed rotary actuator command based, at least in part, on the preliminary rotary actuator command, the processed rotary actuator command having frequency content within a bandwidth of the rotary actuator and generating a first linear actuator command and a second linear actuator command based, at least in part, on the processed rotary actuator command. The processed rotary actuator command can be output to the rotary actuator, the first linear actuator command can be output to a first linear actuator and the second linear actuator command can be output to a second linear actuator.
    Type: Grant
    Filed: June 21, 2016
    Date of Patent: May 29, 2018
    Assignee: Electro Scientific Industries, Inc.
    Inventors: Guang Lu, Mehmet E. Alpay, Mike Tyler, Qian Xu, Jan Kleinert, Zhibin Lin, James D. Brookhyser, Ho Wai Lo, Kurt M. Eaton
  • Patent number: 9975241
    Abstract: This disclosure pertains to machine object determination based on human interaction. In general, a device such as a robot may be capable of interacting with a person (e.g., user) to select an object. The user may identify the target object for the device, which may determine whether the target object is known. If the device determines that target object is known, the device may confirm the target object to the user. If the device determines that the target object is not known, the device may then determine a group of characteristics for use in determining the object from potential target objects, and may select a characteristic that most substantially reduces a number of potential target objects. After the characteristic is determined, the device may formulate an inquiry to the user utilizing the characteristic. Characteristics may be selected until the device determines the target object and confirms it to the user.
    Type: Grant
    Filed: December 3, 2015
    Date of Patent: May 22, 2018
    Assignee: Intel Corporation
    Inventors: Gila Kamhi, Amit Moran, Kobi Nistel, David Chettrit
  • Patent number: 9975248
    Abstract: A method and system for exploring a remote environment from an environment simulator at a local base is disclosed.
    Type: Grant
    Filed: December 20, 2016
    Date of Patent: May 22, 2018
    Inventor: Kenneth Dean Stephens, Jr.
  • Patent number: 9939814
    Abstract: A method for autonomous map generation by a robot comprising: instructing the robot to traverse a route within an environment in which the robot is deployed; while following the route, causing the robot to collect sensor data to identify features in the environment and to generate an initial map of areas in environment that have been traversed; upon completion of the route, autonomously generating a map of valid areas of the environment by moving throughout the environment while collecting sensor data; while autonomously generating the map, determining that a particular area is potentially invalid by detecting features that are previously unknown to the robot; generating and providing an electronic message to an operator of the robot comprising sensor data of the particular area and a prompt requesting information indicating whether the particular area is valid or invalid; upon receiving a response from the operator, continuing autonomously generating the map according to the response wherein if the particula
    Type: Grant
    Filed: May 1, 2017
    Date of Patent: April 10, 2018
    Assignee: Savioke, Inc.
    Inventors: Robert S. Bauer, Alain Minier, Stephan Wirth, Lucas Chiesa, Christian Fritz, Adrian Canoso
  • Patent number: 9925013
    Abstract: A medical navigation system is provided including a surgical positioning system for positioning a payload during a medical procedure. The medical navigation system has a robotic arm having a plurality of joints, the robotic arm forming part of the surgical positioning system and having an end effector for holding the payload, an input device for providing input, and a controller electrically coupled to the robotic arm and the input device.
    Type: Grant
    Filed: January 14, 2016
    Date of Patent: March 27, 2018
    Assignee: Synaptive Medical (Barbados) Inc.
    Inventors: Trevor James Dell, Adam Keith White, David Bruce McFadzean, Monroe Milas Thomas, Oleg Valerievitch Rakitine, Mark Leon Unger, Kirusha Srimohanarajah, Gal Sela, Kamyar Abhari, Bradley Allan Fernald, William Dennis Babby
  • Patent number: 9908238
    Abstract: A method and system for determining at least one property associated with a selected axis of a manipulator (2). The elasticity of the links (4, 6, 9, 10, 13, 14) and joints (3, 5, 7, 8, 11, 12) of a manipulator (2) can be modeled and the resulting compliance can be determined. A certain method is used to control the manipulator (2) such that certain quantities related to actuator torque and/or joint position can be determined for a certain kinematic configuration of the manipulator (2). Depending on the complexity of the manipulator (2) and the number of properties that are of interest, the manipulator (2) is controlled to a plurality of different kinematic configurations in which configurations the quantities are determined. Thereafter, a stiffness matrix (K) for each component of the manipulator (2) can be determined, and a global stiffness matrix (MSM) for the total manipulator (2) can be determined in order to determine at least one property of the selected axis.
    Type: Grant
    Filed: August 25, 2014
    Date of Patent: March 6, 2018
    Assignee: COGNIBOTICS AB
    Inventors: Klas Nilsson, Adam Nilsson, Mathias Haage, Bjorn Olofsson, Anders Robertsson, Olof Sornmo
  • Patent number: 9895807
    Abstract: An inventive programming means for programming a movement of a robot axis arrangement and a movement of at least one further robot axis arrangement is adapted to synchronize the pair of positions of the movement of the robot axis arrangement and the pairs of positions of the movement of at least one more robot axis arrangement, and while maintaining this synchronization, to specify at least another position between either one of these pairs of positions, which is not synchronized with another position of the hereby synchronized pair of positions.
    Type: Grant
    Filed: June 13, 2013
    Date of Patent: February 20, 2018
    Assignee: KUKA Roboter GmbH
    Inventors: Guenther Wiedemann, Manfred Huettenhofer, Stefanie Deller, Andreas Hagenauer, Martin Weiss
  • Patent number: 9886020
    Abstract: A numerical control device comprising an acceleration/deceleration characteristic acquisition part which acquires predetermined acceleration/deceleration characteristic information showing a correspondence between a command speed and a maximum acceleration of a spindle, a rotation amount acquisition part which acquires predetermined rotation amount information showing the rotation amount of the spindle for a period from when feed operation of the spindle is started to when a tapping tool reaches a bottom of the hole of a workpiece, a machining time calculation part which calculates a correspondence between the command speed and a machining time required to reach the rotation amount, based on the acceleration/deceleration characteristic information and the rotation amount information, and a speed determination part which determines an optimum value of the command speed for minimizing the machining time, based on the correspondence calculated by the machining time calculation part.
    Type: Grant
    Filed: January 22, 2015
    Date of Patent: February 6, 2018
    Assignee: FANUC CORPORATION
    Inventors: Junichi Tezuka, Hajime Ogawa
  • Patent number: 9874864
    Abstract: In a molder, at least one rotatably driven tool (7, 8, 10, 11) is used to produce the structure (27) or contour on the workpiece (1) by workpiece removal. The workpiece positions along the workpiece (1) for producing the structure or contour are set depending on the data of the workpiece (1) and of the tool (7, 8, 10, 11). The data are transmitted to the machine controller which processes the CNC program based on the data during the passage of the workpiece (1) through the molder and moves the tool (7, 8, 10, 11) into the required positions via CNC drives depending on the workpiece position. The workpiece position is sensed during the passage of the workpiece (1) through the molder. In order to sense the workpiece position in the molder, at least one measuring element (18) is provided upstream and downstream of the tool (1), said measuring element (18) being connected to the machine controller and supplying signals that describe the advancing travel of the workpiece (1) to the machine controller.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: January 23, 2018
    Assignee: Michael Weinig AG
    Inventors: Andreas Konrad, Jürgen Schmidt
  • Patent number: 9868211
    Abstract: A robot includes a body that is movable relative to a surface one or more measurement devices within the body to output information based on an orientation of the body at an initial location on the surface, and a controller within the body to determine an orientation of the body based on the information and to restrict movement of the body to an area by preventing movement of the body beyond a barrier that is based on the orientation of the body and the initial location.
    Type: Grant
    Filed: April 9, 2015
    Date of Patent: January 16, 2018
    Assignee: iRobot Corporation
    Inventors: Marcus Williams, Ping-Hong Lu, Joseph M. Johnson, Fabrizio Santini
  • Patent number: 9859836
    Abstract: By providing a configuration for calculating motor control constants to be set in a motor control apparatus automatically on the basis of a target response time constant obtained from a target response time constant input unit, waveform parameters obtained from a waveform parameter input unit, a normalized time constant obtained from a normalized time constant calculation unit, and a motor load inertia obtained from a motor load inertia input unit, it is possible to obtain a motor control constant calculation device that can determine appropriate motor control constants for obtaining a desired response characteristic by automatic calculation while avoiding variation and an increase in the number of steps due to differences in the abilities of users.
    Type: Grant
    Filed: May 13, 2014
    Date of Patent: January 2, 2018
    Assignee: Mitsubishi Electric Corporation
    Inventors: Kazuto Yokoyama, Masahiro Iezawa, Keiichi Enoki, Yasufumi Ogawa, Kotaro Nakano
  • Patent number: 9839855
    Abstract: A system includes one or more retro-reflective markers positioned within a ride system and a tracking system that may detect the one or more retro-reflective markers to track a position of a rider. The tracking system includes an emitter that may emit light toward the one or more retro-reflective markers, a detector that may detect reflected light from the one or more retro-reflective markers, and a controller that may determine the position of the rider relative to the one or more retro-reflective markers based on detection of the reflected light and that may provide an indication of the position of the rider.
    Type: Grant
    Filed: March 20, 2017
    Date of Patent: December 12, 2017
    Assignee: UNIVERSAL CITY STUDIOS LLC
    Inventor: Paula Stenzler
  • Patent number: 9827675
    Abstract: A collision avoidance method according to the present invention avoids collision of a robot arm 120 including an upper arm part 122 and a forearm part 124 connected to each other via an elbow part 134 with an obstacle. Movable areas of the upper arm part 122 and the forearm part 124 in a state in which positions of both ends of the robot arm 120 have been fixed are calculated. Intersections of the movable areas with a first line on a boundary surface of an obstacle area including the obstacle are calculated. A collision avoidance range in which the robot arm 120 does not collide against the obstacle area in the movable areas is determined based on the intersections that have been calculated.
    Type: Grant
    Filed: November 27, 2015
    Date of Patent: November 28, 2017
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Tomohisa Moridaira
  • Patent number: 9817373
    Abstract: A motor controller configured to be coupled to a motor and to a system controller is described. The motor controller includes a proportional-integral (PI) regulator coupled to a timer controller. The motor controller is configured to generate, by the PI regulator, a pulsed signal representing a reported speed of the motor. Additionally, the motor controller is configured to transmit the pulsed signal to the system controller, measure a time period that elapses for the motor to make a predefined number of revolutions, measure a number of pulses transmitted in the pulsed signal, and determine a measured speed of the motor from the time period. Further, the motor controller is configured to determine, by the PI regulator, a difference between the reported speed and the measured speed, and adjust, by the PI regulator, the pulsed signal based on the difference between the reported speed and the measured speed.
    Type: Grant
    Filed: January 13, 2015
    Date of Patent: November 14, 2017
    Assignee: Regal Beloit America, Inc.
    Inventors: William Arthur Ziegler, Katie D. Hamilton, Paul Steven Mullin, Jeffrey Jay Long, Michael David Smith
  • Patent number: 9772620
    Abstract: A facility for automated modelling of the cutting process for a particular material to be cut by a beam cutting tool, such as a waterjet cutting system, from empirical data to predict aspects of the waterjet's effect on the workpiece across a range of material thicknesses, across a range of cutting geometries, and across a range of cutting quality levels, all of which may be broader than, and independent of the actual requirements for a target workpiece, is described.
    Type: Grant
    Filed: July 16, 2014
    Date of Patent: September 26, 2017
    Assignee: OMAX Corporation
    Inventors: Axel H. Henning, James M. O'Connor
  • Patent number: 9755566
    Abstract: A controller and a method for a machine tool, capable of discriminating the factors in overheating, and taking appropriate measures depending on each factor. A first amplifier of the controller has an acceleration/deceleration judging part which judges as to whether the spindle motor is accelerated or decelerated; a first temperature estimating part which estimates a first amount of change in temperature of the spindle motor when the spindle motor is in the acceleration/deceleration state; a second temperature estimating part which estimates a second amount of change in temperature of the spindle motor when the spindle motor is in the steady state; a comparing part which compares the first and second estimated values. A numerical controlling part of the controller transmits an operation command for changing the operation of at least one of the spindle motor and a feed shaft motor, when the spindle motor is overheated.
    Type: Grant
    Filed: October 9, 2014
    Date of Patent: September 5, 2017
    Assignee: Fanuc Corporation
    Inventor: Tadashi Okita
  • Patent number: 9740207
    Abstract: Techniques for navigating semi-autonomous mobile robots are described. A semi-autonomous mobile robot moves within an environment to complete a task. A navigation server communicates with the robot and provides the robot information. The robot includes a navigation map of the environment, interaction information, and a security level. To complete the task, the robot transmits a route reservation request to the navigation server, the route reservation request including a priority for the task, a timeslot, and a route. The navigation server grants the route reservation if the task priority is higher than the task priorities of conflicting route reservation requests from other robots. As the robot moves within the environment, the robot detects an object and attempts to classify the detected object as belonging to an object category. The robot retrieves an interaction profile for the object, and interacts with the object according to the retrieved interaction profile.
    Type: Grant
    Filed: December 23, 2015
    Date of Patent: August 22, 2017
    Assignee: Intel Corporation
    Inventors: Lior Storfer, Tamara Gaidar, Ido Lapidot
  • Patent number: 9715226
    Abstract: A numerical controller with a multi-core processor estimates moving instruction creation processing time required for creation of a moving instruction that is to be executed in a predetermined cycle on the basis of a machining instruction obtained from a machining program and divides a process for creating the moving instruction with respect to cores of the multi-core processor on the basis of the estimated processing time. Consequently, processing performance for the moving instruction creation process is improved.
    Type: Grant
    Filed: June 11, 2015
    Date of Patent: July 25, 2017
    Assignee: FANUC Corporation
    Inventor: Masanori Kobayashi
  • Patent number: 9674435
    Abstract: Three different systems are disclosed for producing data bases that are used to drive virtual reality display apparatus. The systems employ 3-D stereo camera pairs, airborne microphones, conduction microphones, physical and chemical sensors, CPU's and supporting electronics. The data bases can be used by virtual reality audiences in real time as the data bases are created or they can be stored and used at a later time. The systems are dedicated to eliminating artifacts that would otherwise tend to interfere with the enjoyment of the virtual reality experience for virtual reality viewing audiences. The systems cover multidimensional video content, multidimensional audio content, multidimensional physical content and multidimensional chemical content. The systems are intended to be set up inside a venue for capturing VR content.
    Type: Grant
    Filed: November 2, 2016
    Date of Patent: June 6, 2017
    Inventors: Lawrence Maxwell Monari, Lawrence Scott Monari
  • Patent number: 9636824
    Abstract: A transfer system includes a first station at which a workpiece is placed, a second station which receives the workpiece from the first station, a robot including a holder for holding the workpiece and for transferring the workpiece from the first station to the second station, an image capturing unit for capturing an image of the workpiece that reflects a position of the workpiece in the first station, a first memory unit that stores intended placement position information indicating an intended placement position of the workpiece in the first station, and a deviation calculator that calculates a deviation of the position of the workpiece in the first station relative to the intended placement position. The deviation calculator calculates the deviation based on the image of the workpiece and the intended placement position information.
    Type: Grant
    Filed: August 7, 2014
    Date of Patent: May 2, 2017
    Assignee: DAIHEN Corporation
    Inventor: Takumi Kobayashi
  • Patent number: 9630319
    Abstract: A method includes maneuvering a robot in (i) a following mode in which the robot is controlled to travel along a path segment adjacent an obstacle, while recording data indicative of the path segment, and (ii) in a coverage mode in which the robot is controlled to traverse an area. The method includes generating data indicative of a layout of the area, updating data indicative of a calculated robot pose based at least on odometry, and calculating a pose confidence level. The method includes, in response to the confidence level being below a confidence limit, maneuvering the robot to a suspected location of the path segment, based on the calculated robot pose and the data indicative of the layout and, in response to detecting the path segment within a distance from the suspected location, updating the data indicative of the calculated pose and/or the layout.
    Type: Grant
    Filed: March 18, 2015
    Date of Patent: April 25, 2017
    Assignee: iRobot Corporation
    Inventor: Jasper Vicenti
  • Patent number: 9623319
    Abstract: A robotic gaming system is provided that includes at least one sensor placed on a playing surface. At least one robot is controlled by a player to navigate on the playing surface and manipulate at least one target towards a gate. The sensor is operative for identifying when the target is moved to a scoring region of the playing surface.
    Type: Grant
    Filed: October 10, 2013
    Date of Patent: April 18, 2017
    Inventor: Kenneth C. Miller
  • Patent number: 9546914
    Abstract: Methods and apparatuses are disclosed to estimate temperature at one or more critical points in a data processing system comprising modeling a steady state temperature portion of a thermal model at the one or more critical points using regression analysis; modeling the transient temperature portion of the thermal model at the one or more critical points using a filtering algorithm; and generating a thermal model at the one or more critical points by combining the steady state temperature portion of the thermal model with the transient temperature portion of the thermal model. The thermal model may then be used to estimate an instantaneous temperature at the one or more critical points or to predict a future temperature at the one or more critical points.
    Type: Grant
    Filed: October 31, 2012
    Date of Patent: January 17, 2017
    Assignee: Apple Inc.
    Inventors: Keith Cox, Gaurav Kapoor, Vaughn Arnold
  • Patent number: 9529190
    Abstract: An optical scanning device includes: a projector configured to radiate laser light incident thereon while causing the laser light to make angular movement around a projection center, and a reflector with a parabolic surface, the reflector being configured to reflect the laser light from the projector. The projection center is positioned at a focal point of the parabolic surface. The projector radiates the laser light such that the greater a difference between a rotation angle of the laser light and a reference angle, the lower an angular speed of the laser light, the reference angle being the rotation angle of the laser light when the laser light reflects on a vertex of the parabolic surface. A laser machining device includes the optical scanning device, and is configured to cause the laser light from the reflector to fall on a workpiece to form a machining line.
    Type: Grant
    Filed: March 25, 2013
    Date of Patent: December 27, 2016
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Mutsuhiro Nakazawa, Kazunori Takahara, Osami Oogushi