Program- Or Pattern-controlled Systems Patents (Class 318/567)
  • Patent number: 8659255
    Abstract: A robot confinement system includes a portable housing and a mobile robot. The portable housing includes a first detector operable to detect a presence of the mobile robot in a field of detection, and an emitter operable to emit a first signal when the first detector detects the presence of the mobile robot in the field of detection. The mobile robot is operable to move on a surface to clean the surface and includes a controller operable to control a movement path of the mobile robot on the surface. The mobile robot further includes a second detector operable to detect the first signal emitted by the portable housing. The controller of the mobile robot is operable to change the movement path of the mobile robot in response to detection of the first signal.
    Type: Grant
    Filed: June 30, 2010
    Date of Patent: February 25, 2014
    Assignee: iRobot Corporation
    Inventors: Joseph L. Jones, Philip R. Mass
  • Patent number: 8653779
    Abstract: A rotating electrical-machine control system is provided with: a rotating electrical-machine comprising a rotor further comprising permanent magnets that are divided into a dividing-number of sections; an inverter circuit that drives the rotating electrical-machine by PWM control, using a carrier wave having a carrier frequency; a storage unit that has stored therein a relationship file that indicates the relationship between the dividing-number of the magnets, the magnet temperature, and the carrier frequency; and a control apparatus.
    Type: Grant
    Filed: May 25, 2010
    Date of Patent: February 18, 2014
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Takahisa Yashiro, Hiroki Kato, Kentaro Haruno
  • Patent number: 8648555
    Abstract: A data processor determines whether a composite torque command is larger than a preset torque threshold for a time interval. The composite torque command is convertible into a direct-axis current command and a quadrature-axis current command. The data processor determines whether a rotor speed of the motor is less than a preset speed threshold for the time interval. The data processor, the current adjustment module, or the current shaping module adjusts the direct-axis current command and the quadrature-axis current command to obtain a revised direct-axis current command and revised quadrature-axis current command for the time interval if the composite torque command is larger than the preset torque threshold and if the rotor speed is less than the preset speed threshold, where the revised current commands vary by the detected rotational position of the rotor to achieve a generally constant shaft torque output.
    Type: Grant
    Filed: June 28, 2011
    Date of Patent: February 11, 2014
    Assignee: Deere & Company
    Inventors: Long Wu, Robert Shaw
  • Patent number: 8624531
    Abstract: A pair of direct d-q-axis voltage commands is associated with a monotonically varying test sequence of test rotor angular positions to determine a correct rotational direction of a rotor of the motor in response to application of the pair of direct d-q-axis voltage commands to the motor. The rotor of the motor rotates (e.g., self spins in a diagnostic mode) in response to the applied direct d-q-axis voltage commands and applied monotonically varying test sequence of test rotor angular positions. The primary positioning module or data processor determines that conductor connections between the inverter (e.g., motor controller) and the motor are correct if the calculated shaft speed sign is positive with respect to an applied monotonically varying test sequence of rotor angular positions that monotonically increases.
    Type: Grant
    Filed: June 28, 2011
    Date of Patent: January 7, 2014
    Assignee: Deere & Company
    Inventors: Long Wu, Robert Shaw, Alan K. Gilman
  • Patent number: 8624537
    Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
    Type: Grant
    Filed: July 1, 2011
    Date of Patent: January 7, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 8620536
    Abstract: Controlling a digging operation of an industrial machine that includes a dipper, a crowd motor drive, and a controller. The crowd motor drive is configured to provide one or more control signals to a crowd motor, and the crowd motor is operable to provide a force to the dipper to move the dipper toward or away from a bank. The controller is connected to the crowd motor drive and is configured to monitor a characteristic of the industrial machine, identify an impact event associated with the dipper based on the monitored characteristic of the industrial machine, and set a crowd motoring torque limit for the crowd motor drive when the impact event is identified.
    Type: Grant
    Filed: March 14, 2013
    Date of Patent: December 31, 2013
    Assignee: Harnischfeger Technologies, Inc.
    Inventors: Joseph Colwell, William Hren, David Wendt, Michael Linstroth
  • Patent number: 8604736
    Abstract: Method of operating an actuator (1) for maneuvering a movable element (52), comprising a motor of asynchronous type or of brushless type or comprising a motor associated with a differential brake, and comprising a partially irreversible reduction gear, which comprises a step of establishing a measurement of an operating parameter of the actuator and a step of using this measurement to determine whether the actuator is driving the movable element or whether the actuator is being driven by the movable element, and then a step of implementing first logic for determining an end of travel or an obstacle, or a step of implementing second logic for determining an end of travel or an obstacle, depending on whether the actuator drives the movable element or the actuator is driven by the movable element.
    Type: Grant
    Filed: October 16, 2008
    Date of Patent: December 10, 2013
    Assignee: Somfy SAS
    Inventors: Bernard Grehant, Alain Tranchand, Geoffroy Dumont D'ayot
  • Patent number: 8598825
    Abstract: According to an embodiment, a lead angle control circuit is configured to control a lead angle of a motor drive signal driving a motor. The lead angle control circuit includes a control signal generating section, an upper limit voltage limit section and a lead angle data generating section. The lead angle data generating section is configured to generate a relationship line between lead angle data representing the lead angle and a lead angle control signal, and configured to generate the lead angle data based on the relationship line and the lead angle control signal. The relationship line reaches an upper limit point from a lower limit point through a changing point. In the changing point, the lead angle control signal is a changing point voltage, and the lead angle data represents the lead angle corresponding to a lead angle setting voltage.
    Type: Grant
    Filed: February 9, 2012
    Date of Patent: December 3, 2013
    Assignee: Kabushiki Kaisha Toshiba
    Inventors: Shen Wang, Takehiro Hara
  • Patent number: 8594842
    Abstract: A robotic system comprises a transmitter emitting a plurality of angularly-spaced beams of radiation in an area; and a robot moving within said area and able to detect when it is in the path of one of said beams. On moving through a measured distance across the paths of two or more of the beams, the robot can determine the relative position of the transmitter and the robot by using the distance and the angular spacing of the beams.
    Type: Grant
    Filed: May 27, 2010
    Date of Patent: November 26, 2013
    Assignee: F Robotics Acquisitions Ltd.
    Inventor: Shai Abramson
  • Patent number: 8577501
    Abstract: A remote control unit configured to wirelessly control a mobile robot moving through an environment and having a robot camera. The remote control unit comprises a privacy button operable by a local user and configured to engage a privacy mode of the mobile robot, and a wireless transmitter configured to emit a wireless control signal to the mobile robot based on input from a keypad of the RC unit. The wireless control signal is configured to cause the robot camera to block the field of view of the robot camera such that the environment of the mobile robot is obscured when the privacy mode of the mobile robot is engaged.
    Type: Grant
    Filed: July 31, 2012
    Date of Patent: November 5, 2013
    Assignee: iRobot Corporation
    Inventors: Matthew Cross, Tony Campbell
  • Patent number: 8571766
    Abstract: Systems, methods, devices, and computer readable media for controlling a digging operation of an industrial machine that includes a dipper and a crowd drive. A method includes determining an acceleration associated with the industrial machine, determining a crowd retract factor based on the acceleration, comparing the crowd retract factor to a threshold crowd retract factor, setting a crowd speed reference and a crowd retract torque for the crowd drive for a period of time based on the comparison of the crowd retract factor to the threshold crowd retract factor.
    Type: Grant
    Filed: January 15, 2013
    Date of Patent: October 29, 2013
    Assignee: Harnischfeger Technologies, Inc.
    Inventors: Joseph Colwell, William Hren, David Wendt, Michael Linstroth
  • Patent number: 8556795
    Abstract: A portable external device for a mechanical circulation support system includes first and second power sources, e.g. batteries and control electronics for redundant uninterrupted operation of an implantable blood pump. The control and power source module may be configured to accommodate a variety of wearable configurations for patient convenience and comfort.
    Type: Grant
    Filed: March 4, 2011
    Date of Patent: October 15, 2013
    Assignee: Minnetronix Inc.
    Inventors: Nathan J. Bolyard, Don W. E. Evans, Thomas P. Sutera
  • Patent number: 8560119
    Abstract: A robot cleaner that travels straight through alignment of drive wheels to move the robot cleaner and a method of controlling travel of the same. Information related to a movement angle of the robot cleaner is detected from angle information of a caster wheel rotating depending upon a state of a floor, such as a carpet in a state in which texture of the carpet occurs in one direction, and, when the movement angle of the robot cleaner deviates due to slippages of the drive wheels, rates of rotation of the drive wheels are adjusted to correct the slippages of the drive wheels such that the robot cleaner easily travels straight.
    Type: Grant
    Filed: June 15, 2010
    Date of Patent: October 15, 2013
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Jun Hwa Lee, Jae Man Joo, Dong Won Kim, Jun Pyo Hong, Woo Ram Chung, Jae Young Jung, Kyung Hwan Yoo, Hwi Chan Jang, Jang Youn Ko, Jeong Gon Song, Sam Jong Jeung
  • Patent number: 8541970
    Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
    Type: Grant
    Filed: July 1, 2011
    Date of Patent: September 24, 2013
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 8538750
    Abstract: This invention realizes a speech communication system and method, and a robot apparatus capable of significantly improving entertainment property. A speech communication system with a function to make conversation with a conversation partner is provided with a speech recognition means for recognizing speech of the conversation partner, a conversation control means for controlling conversation with the conversation partner based on the recognition result of the speech recognition means, an image recognition means for recognizing the face of the conversation partner, and a tracking control means for tracing the existence of the conversation partner based on one or both of the recognition result of the image recognition means and the recognition result of the speech recognition means. The conversation control means controls conversation so as to continue depending on tracking of the tracking control means.
    Type: Grant
    Filed: November 2, 2012
    Date of Patent: September 17, 2013
    Assignee: Sony Corporation
    Inventors: Kazumi Aoyama, Hideki Shimomura
  • Patent number: 8519728
    Abstract: Methods and apparatuses for modifying a stage position and measuring at least one parameter of a motor connected with a stage during a commanded stage position are described. In one embodiment of one aspect of the invention, the motor is configured to move the stage in a first direction in response to the at least one parameter and determine whether the at least one parameter is within a threshold range.
    Type: Grant
    Filed: December 12, 2008
    Date of Patent: August 27, 2013
    Assignee: FormFactor, Inc.
    Inventors: Sun Yalei, Uday Nayak
  • Patent number: 8504200
    Abstract: A system and method for operating robots in a robot competition. One embodiment of the system may include operator interfaces, where each operator interface is operable to control movement of a respective robot. A respective operator interface may be in communication with an associated operator radio, where each radio may have a low power RF output signal. A robot controller may be coupled to each robot in the robot competition. A robot radio may be coupled to a respective robot and in communication with a respective robot controller and operator radio. The robot radios may have a low power RF output signal while communicating with the respective operator radios. Alternatively, the radios may be short range radios, where a distance of communication may be a maximum of approximately 500 feet.
    Type: Grant
    Filed: September 2, 2011
    Date of Patent: August 6, 2013
    Assignee: Innovation First, Inc.
    Inventors: David A. Norman, Robert H. Mimlitch, III, Paul S. Adams
  • Patent number: 8494671
    Abstract: The invention relates to a grinding machine for grinding a workpiece, which has been set on a chuck top surface, by moving a rotating grinding wheel in relation to the workpiece. The grinding machine includes: a microscope configured to be vertically movable; a CCD camera configured to take an image viewed through the microscope; and an image processor configured to process the image taken by the CCD camera to measure a vertical distance between a reference plane of the microscope and an object of the microscope. The image processor is adapted to measure the vertical distance between the reference plane of the microscope and the object of the microscope based on sharpness of the image, which corresponds to how clear the microscope is focused.
    Type: Grant
    Filed: February 25, 2011
    Date of Patent: July 23, 2013
    Assignee: Toshiba Kakai Kabushiki Kaisha
    Inventors: Takanobu Akiyama, Hiroyuki Kakishima
  • Patent number: 8483879
    Abstract: A robotic system includes a robot adapted for moving a payload in proportional response to an input force from an operator, sensors adapted for measuring a predetermined set of operator input values, including the input force, and a controller. The controller determines a changing stiffness value of the operator using set of operator input values, and automatically adjusts a level of control sensitivity over the robot using the stiffness value. The input values include the input force, a muscle activation level of the operator, and a position of the operator. A method of controlling the robot includes measuring the operator input values using the plurality of sensors, processing the input values using the controller to thereby calculate the stiffness value, and automatically adjusting the level of control sensitivity over the robot using the stiffness value. A specific operator may be identified, with control sensitivity being adjusted based on the identity.
    Type: Grant
    Filed: November 30, 2009
    Date of Patent: July 9, 2013
    Assignee: GM Global Technology Operations LLC
    Inventors: Dalong Gao, Roland J. Menassa, Robin Stevenson
  • Patent number: 8478438
    Abstract: A main control process is made common to all machine tools by describing in a NC program a tool trajectory including a change in posture in a coordinate system (30) fixed to a machining object (W), fixedly arranging a preparatory reference coordinate system (20) on a machine table (2), representing an installation position of the machining object (W) and a position of a spindle (91) on which a tool (11) is mounted in the preparatory reference coordinate system (20), and containing portions relating to a configuration of axes in a conversion function group of correlation between the position (q) of the spindle (91) and an axis coordinate (r). Thus, the processes of reading the NC program, correction of the tool trajectory and conversion into the trajectory of a spindle position based on the installation position of the machining object, the tool shape, and tool dimensions are made completely common.
    Type: Grant
    Filed: September 16, 2008
    Date of Patent: July 2, 2013
    Assignee: Shin Nippon Koki Co., Ltd.
    Inventor: Nobutaka Nishibashi
  • Patent number: 8466642
    Abstract: The control apparatus for an electric rotating machine includes a prediction section to predict a controlled variable of the electric rotating machine applied with an output voltage of a power conversion circuit for each of prescribed operation states of the power conversion circuit, and a manipulation section to manipulate the power conversion circuit to operate in one of the respective operation states determined as an actual operation state based on the controlled variable predicted by the prediction section. The control apparatus further includes an average voltage direction calculating section to calculate a direction of an average output voltage vector of the power conversion circuit. The manipulation section includes a priority setting section to set priority for each of the operation states based on the direction of the average output voltage vector calculated by the average voltage direction calculating section in determining the actual operation state.
    Type: Grant
    Filed: March 9, 2011
    Date of Patent: June 18, 2013
    Assignee: Denso Corporation
    Inventor: Akihiro Imura
  • Patent number: 8456124
    Abstract: A parallel mechanism includes a base portion, a bracket to which an end effecter is attached, a plurality of actuators attached to the base portion, a plurality of arms through which the plurality of actuators and the bracket are coupled together in parallel, and a control device arranged to control the actuators. When the end effecter in a stopped state is moved to a target position, the control device is arranged to control the actuators so that a level of acceleration at which the end effecter is accelerated is higher than a level of deceleration at which the end effecter is decelerated.
    Type: Grant
    Filed: September 7, 2011
    Date of Patent: June 4, 2013
    Assignee: Murata Machinery, Ltd.
    Inventors: Tatsuhiko Nishida, Hideaki Nakanishi, Manabu Yamashita
  • Patent number: 8456111
    Abstract: A linear drive based on linear motors, for panels, in particular sliding doors, movable along a respective travel path. A linear drive for at least one panel, in particular a sliding door leaf, movable along a travel path, has at least one linear motor for this at least one panel. The linear motor is provided with a stator member and a carriage. Furthermore, the linear drive has a control circuit. The control circuit is adapted to stop the linear motor in the event of failure of power supply to the linear motor, by switching-off the linear motor and operating it as a generator. Thereupon, in terms of its displaceability, this movable panel is enabled by the control circuit. In addition, the linear drive has a switch for switching-off the energy supply to the at least one linear motor.
    Type: Grant
    Filed: July 18, 2008
    Date of Patent: June 4, 2013
    Assignee: Dorma GmbH & Co. KG
    Inventor: Sven Busch
  • Patent number: 8401701
    Abstract: A substrate transfer robot sets an interference region in advance in the range of motion of the substrate transfer robot; stores a plurality of patterns of a combination of a starting position, a target position, and the interference region, the starting position and the target position being among taught positions; determines which pattern among the plurality of patterns a movement of the substrate transfer robot from the starting position to the target position matches when the substrate transfer robot moves between the plurality of taught positions; and determines a movement path from the starting position to the target position so as to avoid the interference region in accordance with the determined pattern so that the substrate transfer robot avoids the interference region.
    Type: Grant
    Filed: September 16, 2009
    Date of Patent: March 19, 2013
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventor: Yoshiki Kimura
  • Patent number: 8378612
    Abstract: A control system for a massage device. The massage device has a base, a carriage movably engaged with the base, a plurality of kneading heads mounted on the carriage, and a motor operative to drive the plurality of kneading heads to produce a kneading effect on a body of a user and to drive the carriage up and down relative to the base such that various areas of the body can be massaged.
    Type: Grant
    Filed: December 13, 2010
    Date of Patent: February 19, 2013
    Inventor: Chichun Wu
  • Publication number: 20130033218
    Abstract: A synchronous control apparatus capable of switching cam curves with ease and without delay is provided. A cam curve storing unit stores a representation of a first cam curve and a representation of a second cam curve. Before switch-over of the cam curves, a control unit finds a position command value to a driven-side member, after the switch-over of the cam curves, the control unit finds the position command value, and in a switch-over period of the cam curves, the control unit finds the position command value to the driven-side member based on a value obtained by utilizing first data based on the first cam curve or a position of the driven shaft and second data based on the second cam curve to provide a weighted average at each control timing.
    Type: Application
    Filed: July 12, 2012
    Publication date: February 7, 2013
    Applicant: OMRON CORPORATION
    Inventors: Takaaki YAMADA, Hiroshi SAWARAGI, Junji SHIMAMURA
  • Patent number: 8368339
    Abstract: A method of confining a robot in a work space includes providing a portable barrier signal transmitting device including a primary emitter emitting a confinement beam primarily along an axis defining a directed barrier. A mobile robot including a detector, a drive motor and a control unit controlling the drive motor is caused to avoid the directed barrier upon detection by the detector on the robot. The detector on the robot has an omnidirectional field of view parallel to the plane of movement of the robot. The detector receives confinement light beams substantially in a plane at the height of the field of view while blocking or rejecting confinement light beams substantially above or substantially below the plane at the height of the field of view.
    Type: Grant
    Filed: August 13, 2009
    Date of Patent: February 5, 2013
    Assignee: iRobot Corporation
    Inventors: Joseph L. Jones, Philip R. Mass
  • Patent number: 8355847
    Abstract: Systems, methods, devices, and computer readable media for controlling a digging operation of an industrial machine that includes a dipper and a crowd drive. A method includes determining an acceleration associated with the industrial machine, determining a crowd retract factor based on the acceleration, comparing the crowd retract factor to a threshold crowd retract factor, setting a crowd speed reference and a crowd retract torque for the crowd drive for a period of time based on the comparison of the crowd retract factor to the threshold crowd retract factor.
    Type: Grant
    Filed: August 31, 2011
    Date of Patent: January 15, 2013
    Assignee: Harnischfeger Technologies, Inc.
    Inventors: Joseph Colwell, William Hren, David Wendt, Michael Linstroth
  • Patent number: 8321221
    Abstract: This invention realizes a speech communication system and method, and a robot apparatus capable of significantly improving entertainment property. A speech communication system with a function to make conversation with a conversation partner is provided with a speech recognition means for recognizing speech of the conversation partner, a conversation control means for controlling conversation with the conversation partner based on the recognition result of the speech recognition means, an image recognition means for recognizing the face of the conversation partner, and a tracking control means for tracing the existence of the conversation partner based on one or both of the recognition result of the image recognition means and the recognition result of the speech recognition means. The conversation control means controls conversation so as to continue depending on tracking of the tracking control means.
    Type: Grant
    Filed: May 16, 2012
    Date of Patent: November 27, 2012
    Assignee: Sony Corporation
    Inventors: Kazumi Aoyama, Hideki Shimomura
  • Patent number: 8265789
    Abstract: A network-based robot system includes an activity creating device creating activities in hierarchical structure, and a robot downloading the activity tree over a communication network and executing an activity selected in the activity tree. The activities describe action execution procedures to be run by the robot and are arranged in an activity tree.
    Type: Grant
    Filed: December 2, 2008
    Date of Patent: September 11, 2012
    Assignee: Electronics and Telecommunications Research Institute
    Inventors: Seung-Ik Lee, Sung Hoon Kim
  • Patent number: 8265793
    Abstract: A mobile robot provides telecommunication service between a remote user at a remote terminal and a local user in proximity to the mobile robot. The remote user can connect to the mobile robot via the Internet using a peer-to-peer VoIP protocol, and control the mobile robot to navigate about the mobile robot's environment. The mobile robot includes a microphone, a video camera and a speaker for providing telecommunication functionality between the remote user and the local user. Also, a hand-held RC unit permits the local user to navigate the mobile robot locally or to engage privacy mode for the mobile robot. When NAT or a firewall obstructs connection from the remote terminal to the mobile robot, an Internet server facilitates connection using methods such as STUN, TURN, or relaying.
    Type: Grant
    Filed: September 27, 2007
    Date of Patent: September 11, 2012
    Assignee: Irobot Corporation
    Inventors: Matthew Cross, Tony Campbell
  • Patent number: 8248773
    Abstract: A method executes an altimeter function to unlock a portable electronic device. A user can move the portable electronic device in an up-down direction to set a predetermined changed height for unlocking the portable electronic device. In an unlock procedure, an altimeter detects a changed height of the portable electronic device and outputs detected information of the portable electronic device. If the changed height is the same as the predetermined changed height, the locked portable electronic device is unlocked.
    Type: Grant
    Filed: September 17, 2010
    Date of Patent: August 21, 2012
    Assignee: Chi Mei Communication Systems, Inc.
    Inventors: Po-Tai Huang, Chun-Fang Weng
  • Patent number: 8212510
    Abstract: Methods and apparatus are provided for a controlling an electric motor that is at least partially disposed within a motor housing. The rotational speed and position of the electric motor are sensed, and a temperature of the electric motor is sensed. The sensor signals are converted to optical signals and are propagated in a fiber optic cable. The electric motor is controlled based, at least in part, on the propagated optical signals.
    Type: Grant
    Filed: November 9, 2009
    Date of Patent: July 3, 2012
    Assignee: GM Global Technology Operations LLC
    Inventors: Jeremy B. Campbell, Jim R. Switzer, Steven E. Schulz
  • Patent number: 8209179
    Abstract: This invention realizes a speech communication system and method, and a robot apparatus capable of significantly improving entertainment property. A speech communication system with a function to make conversation with a conversation partner is provided with a speech recognition means for recognizing speech of the conversation partner, a conversation control means for controlling conversation with the conversation partner based on the recognition result of the speech recognition means, an image recognition means for recognizing the face of the conversation partner, and a tracking control means for tracing the existence of the conversation partner based on one or both of the recognition result of the image recognition means and the recognition result of the speech recognition means. The conversation control means controls conversation so as to continue depending on tracking of the tracking control means.
    Type: Grant
    Filed: July 2, 2004
    Date of Patent: June 26, 2012
    Assignee: Sony Corporation
    Inventors: Kazumi Aoyama, Hideki Shimomura
  • Patent number: 8201467
    Abstract: Electromechanical actuators (EMAs) include an output disposed at a location that is axially central between two EM devices. The EMAs include either one or two motors and an output mechanism. The motors are adapted to be energized and are operable, upon being energized, to either generate torques about a first axis or drive forces along a first axis. The output mechanism is responsive to the torques or forces to translate along a second axis that is perpendicular to the first axis.
    Type: Grant
    Filed: September 25, 2008
    Date of Patent: June 19, 2012
    Assignee: Honeywell International Inc.
    Inventors: Andrew T. Johnson, Casey Hanlon, Kellan Geck
  • Patent number: 8183815
    Abstract: A method is disclosed for automatically determining an effective mass of a door system that is driven by a motor and has at least one door. In this case a speed change accomplished during an acceleration movement is established, and a force variable, for example the motor current or an armature voltage, influencing the drive force of the motor is summed or integrated during the acceleration movement. The effective door mass is established from the sum or the integral of the force variable and the speed change, the summation or the integration of the force variable being performed over a number of operating system cycles of a control device assigned to the door system. Also described is a control device for automatically determining the effective door mass, having a memory for force variable profiles that is designed in such a way that mass can be established for different force variable profiles in the memory in conjunction with an unchanged program code.
    Type: Grant
    Filed: October 12, 2006
    Date of Patent: May 22, 2012
    Assignee: Siemens Aktiengesellschaft
    Inventors: Uwe Krause, Heinz Ludwig, Uwe Nolte, Guido Sonntag
  • Patent number: 8179418
    Abstract: A robotic system that can be used to treat a patient. The robotic system includes a mobile robot that has a camera. The mobile robot is controlled by a remote station that has a monitor. A physician can use the remote station to move the mobile robot into view of a patient. An image of the patient is transmitted from the robot camera to the remote station monitor. A medical personnel at the robot site can enter patient information into the system through a user interface. The patient information can be stored in a server. The physician can access the information from the remote station. The remote station may provide graphical user interfaces that display the patient information and provide both a medical tool and a patient management plan.
    Type: Grant
    Filed: April 14, 2008
    Date of Patent: May 15, 2012
    Assignee: Intouch Technologies, Inc.
    Inventors: Timothy C. Wright, Fuji Lai, Marco Pinter, Yulun Wang
  • Patent number: 8180487
    Abstract: A method of calibrating a vision based robotic system. The method includes engaging a calibration pin with a robotic tool and moving the calibration pin to a calibration block that includes at least one set of optical sensors having an optical transmitter to transmit an optical beam and an optical receiver to receive the optical beam. Further, the transmitted optical beam includes a center point. The method further includes: moving the calibration pin to the center point of the transmitted optical beam; determining a calibration pin center position relative to the robotic tool; and commanding a machine vision assembly having a camera to capture an image of a plurality of camera reading points of the calibration block and to determine a camera center position.
    Type: Grant
    Filed: September 30, 2008
    Date of Patent: May 15, 2012
    Assignee: Western Digital Technologies, Inc.
    Inventors: Jambunathan Vangal-Ramamurthy, Robert E. Foster
  • Patent number: 8155789
    Abstract: An offline programming device for preparing an operation program for making a robot with a hand perform a handling operation for an object with respect to a machine tool.
    Type: Grant
    Filed: December 20, 2007
    Date of Patent: April 10, 2012
    Assignee: Panuc Ltd
    Inventors: Yoshiharu Nagatsuka, Kozo Inoue
  • Patent number: 8148931
    Abstract: There are included a plurality of actuators, an instruction generator for generating instructions of plural degrees of freedom, a position arithmetic unit for calculating positions of plural degrees of freedom from signals of a plurality of sensors, a control arithmetic unit for calculating operation amounts of plural degrees of freedom from the instructions of plural degrees of freedom and the positions of plural degrees of freedom, a thrust force conversion arithmetic unit for calculating thrust force instructions of the plurality of actuators from the operation amounts of the plural degrees of freedom, a current instruction unit for calculating current instructions which should be flowed to the plurality of actuators, and a sensor configuration input device for selecting a desired sensor configuration from among a plurality of sensor configurations. The positions of plural degrees of freedom are calculated by using a position arithmetic expression corresponding to a selected sensor configuration.
    Type: Grant
    Filed: January 13, 2010
    Date of Patent: April 3, 2012
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventor: Takashi Mamba
  • Patent number: 8143833
    Abstract: The invention relates to a processing unit of a measuring signal related to conditions of an object controlled by power electronics. The processing unit comprises an interface with digital terminals, wherein the interface is provided with at least one terminal for a sensor which generates the measuring signal. Further, the processing unit comprises a calculating unit to which the interface is connected. The calculating unit is equipped with a real-time control system. In addition, the calculating unit comprises a general-purpose processor.
    Type: Grant
    Filed: August 2, 2006
    Date of Patent: March 27, 2012
    Assignee: Atlas Copco Airpower N.V.
    Inventor: Gerd Terörde
  • Patent number: 8145347
    Abstract: In a numerical control apparatus, a rotation-axis filtering processor subjects an angle change amount between interpolation points between rotation angles of a rotation axis to moving average filtering thereby smoothing the angle change amount between the interpolation points. A translation-axis timing synchronization unit subjects a moving amount between interpolation points between tool-tip positions of a translation axis to moving average filtering, to synchronize timing of rotation of the rotation axis being smoothed and timing of movement of the translation axis. A coordinate transformation unit transforms the tool-tip position into coordinates of a machine position of the translation axis according to a configuration of the machine tool, from each tool-tip position after timing synchronization between axes of the translation axis is performed and from each rotation angle of the rotation axis after being filtered.
    Type: Grant
    Filed: March 12, 2009
    Date of Patent: March 27, 2012
    Assignee: Mitsubishi Electric Corporation
    Inventors: Naoki Nakamura, Tomonori Sato
  • Patent number: 8134324
    Abstract: A parallel mechanism includes a base portion, a bracket to which an end effecter is attached, a plurality of actuators attached to the base portion, a plurality of arms through which the plurality of actuators and the bracket are coupled together in parallel, and a control device arranged to control the actuators. When the end effecter in a stopped state is moved to a target position, the control device is arranged to control the actuators so that a level of acceleration at which the end effecter is accelerated is higher than a level of deceleration at which the end effecter is decelerated.
    Type: Grant
    Filed: May 19, 2009
    Date of Patent: March 13, 2012
    Assignee: Murata Machinery, Ltd.
    Inventors: Tatsuhiko Nishida, Hideaki Nakanishi, Manabu Yamashita
  • Patent number: 8120304
    Abstract: Methods and systems for, in one embodiment, accelerating a stage through a clearance height in a first direction and decelerating the stage in the first direction while accelerating in a second direction are shown. The stage is moved in a third direction and a determination is made whether the stage movement in the second direction is below a threshold value before continuing to move the stage further in the third direction. The first direction is perpendicular to the second direction and is parallel and opposite to the third direction.
    Type: Grant
    Filed: December 12, 2008
    Date of Patent: February 21, 2012
    Assignee: FormFactor, Inc.
    Inventors: Sun Yalei, Uday Nayak, Richard J. Casler, Jr., Thomas Rohrs
  • Patent number: 8115439
    Abstract: A system for moving robots in accordance with a predetermined algorithm. The system includes: a surface having a position-coding pattern which identifies the surface; mobile robots for moving across the surface, each robot being configured for sensing and decoding the position-coding pattern; and a computer system in communication with the mobile robots. The computer system is configured to send instructions for moving each mobile robot relative to the surface in response to position information corresponding to that mobile robot. Further, the computer system is configured to determine instructions for moving each mobile robot using a predetermined algorithm. The predetermined algorithm is selected on the basis of the identity of the surface.
    Type: Grant
    Filed: January 3, 2011
    Date of Patent: February 14, 2012
    Assignee: Silverbrook Research Pty Ltd
    Inventors: Zhenya Alexander Yourlo, Paul Lapstun, Kia Silverbrook
  • Patent number: 8115427
    Abstract: Systems, devices, and methods for controlling a motor are disclosed. A method may include determining a rotational direction of a motor from a pair of quadrature signals sent to a microprocessor. The method further includes adjusting an internal count stored in the microprocessor at each edge of each of the pair of quadrature signals. The method further includes adjusting an external count stored in the microprocessor and transmitting an interrupt to a main controller after a first phase signal and a second phase signal have transitioned through each combinational logic state in one of a forward rotational direction and a reverse rotational direction. The method further includes transmitting a signal comprising the rotational direction of the motor and the external count from the microprocessor to a main controller.
    Type: Grant
    Filed: October 23, 2008
    Date of Patent: February 14, 2012
    Assignee: Won-Door Corporation
    Inventors: Kevin D. Banta, D. George Field, E. Carl Goodman, Duane O. Hall
  • Patent number: 8108071
    Abstract: A method for coordinating cooperative robots is provided. The method includes following steps. An abnormal event is detected by a sensor disposed in an environment or in a robot. The abnormal event is broadcasted to the cooperative robots. Each robot determines whether the priority of the abnormal event is higher than that of its currently executing task. If the answer is “yes,” whether function attributes of the robot meet attributes of the abnormal event is then determined. If the function attributes of the cooperative robot do not meet the attributes of the abnormal event, the robot broadcasts to acquire help from other robots, thereby constituting an instantly designated task team. The instantly designated task team goes to where the abnormal event takes place to process the abnormal event. After the abnormal event has been eliminated, the instantly designated task team is dismissed and these robots resume their original tasks.
    Type: Grant
    Filed: January 8, 2008
    Date of Patent: January 31, 2012
    Assignee: Industrial Technology Research Institute
    Inventors: Yen-Chun Lin, Jen-Hua Wu, Kuo-Tsung Tseng
  • Patent number: 8098030
    Abstract: A drive unit for a door or a gate includes an electric motor, a detection unit for detecting the position of the door or gate, the detection unit being coupled to the motor and providing an identical pulse sequence with every rotation of the motor, wherein the duration of one pulse in the sequence is different from the duration of the other pulses in the sequence, which are equal. All detected pulses are stored in a non-volatile memory. The drive unit includes an electronic control and regulating circuit including an output stage for the electric motor and at least one memory, in which an operational program is stored providing a programmable learning procedure for an opening and closing movement of the door or gate based on the pulses provided by the detection unit.
    Type: Grant
    Filed: May 19, 2009
    Date of Patent: January 17, 2012
    Assignee: Novoferm tormatic GmbH
    Inventors: Ulrich Theile, Christian Dietz
  • Patent number: 8098038
    Abstract: A servomotor control system that includes a numerical control unit and servo control unit enables the use of learning control based on an angle synchronization method in high-speed oscillating motion performed by, for example, a jig grinder. The numerical control unit calculates a reference angle ?(=?t), and also calculates a cyclic oscillation command F(t) according to the reference angle ? and a machining condition (angular velocity ?). The servo control unit calculates a difference between the value in the oscillation command F(t) and the position of the servomotor (positional difference ?) at intervals of a predetermined cycle, and performs learning control according to the reference angle ?, oscillation command F(t), and positional difference ?.
    Type: Grant
    Filed: September 9, 2010
    Date of Patent: January 17, 2012
    Assignee: FANUC Ltd
    Inventors: Tadashi Okita, Yukio Toyozawa, Naoto Sonoda
  • Patent number: 8095239
    Abstract: A robot movement control device is connected to a communications network in a remote location relative to a robotic device that is also connected to the communications network. The robot movement control device is an electronic device with a video display for displaying a real-time video image sent to it by a camera associated with the robot. A robot movement control overlay is displayed in the field of the real-time video image at the robot control device and robot control commands are generated by selecting locations within the boundary of the movement control overlay which include speed and directional information. The control commands are sent by the robot control device over the network to the robot which uses the commands to adjust its speed and direction of movement.
    Type: Grant
    Filed: September 29, 2008
    Date of Patent: January 10, 2012
    Assignee: North End Technologies, Inc
    Inventors: Timothy D. Root, Jeffrey T Muller