Program- Or Pattern-controlled Systems Patents (Class 318/567)
  • Patent number: 7579803
    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: October 30, 2007
    Date of Patent: August 25, 2009
    Assignee: iRobot Corporation
    Inventors: Joseph L. Jones, Philip R. Mass
  • Patent number: 7576509
    Abstract: Driving of a pulse motor is controlled in such a manner that a rotating body driven by the pulse motor rotates at a uniform angular velocity. Angular displacement of the rotating body is detected, a difference between a detection value of the angular displacement and a target value of angular displacement set in advance is calculated, and a drive pulse frequency of a drive pulse signal to be used for driving the pulse motor is calculated based on the difference and a reference drive pulse frequency. Whether the difference is added to the reference drive pulse can be selected.
    Type: Grant
    Filed: September 10, 2004
    Date of Patent: August 18, 2009
    Assignee: Ricoh Company, Limited
    Inventors: Makoto Komatsu, Toshiyuki Andoh, Yoshihiro Sakai
  • Patent number: 7568536
    Abstract: An omni-directional robot cleaner, composed of a platform and a plurality of driving units for driving and controlling the movement of the platform, in which the platform further comprises: a sensing unit, for obstacle detection; a cleaning unit, for collecting and removing dust and dirt; a processing unit, capable of receiving signals transmitted from the sensing unit while planning and mapping a travel path accordingly; and a power unit, for providing power to the omni-directional robot cleaner while managing the same.
    Type: Grant
    Filed: September 21, 2006
    Date of Patent: August 4, 2009
    Assignee: Industrial Technology Research Institute
    Inventors: Hung-Hsiu Yu, Shou-Ren Chen, Yu-Lun Ho, Wei-Han Wang, Fang Chang
  • Patent number: 7567052
    Abstract: A directed beam emitter system for robot navigation in which a light beam emitter emits a modulated directed light beam of a first modulation and an omnidirectional diffuse light region emitter emits a modulated diffuse light region of a second modulation. The modulated directed light beam and the modulated diffuse light region overlap in a plane parallel to ground level such that a light beam receiver on a robot may detect either one or both of the modulated directed light beam and the modulated diffuse light region. The light beam emitter is responsive to a control system used to control one or more light beam emitters.
    Type: Grant
    Filed: October 30, 2007
    Date of Patent: July 28, 2009
    Assignee: iRobot Corporation
    Inventors: Joseph L. Jones, Philip R. Mass
  • Patent number: 7564208
    Abstract: A system for controlling an electric motor comprises, in one embodiment, an encoder; a central processor in communication with said encoder; a module processor in communication with said central processor; feedback circuitry in communication with said module processor, wherein said encoder is an electronic device that provides rotor and stator positional information to said central processor, and further comprising a user interface in communication with said central processor, wherein said user interface enables a user to select preferred operational parameters for an electric motor. Another embodiment comprises a method for controlling an electric motor, comprising: determining rotor position based on data received from an encoder; determining how to energize stator coils; directing a power module to provide appropriate current to appropriate coils; and monitoring rotor response, wherein determining how to energize stator coils comprises consulting a look-up table.
    Type: Grant
    Filed: July 24, 2007
    Date of Patent: July 21, 2009
    Assignee: Xidem, Inc.
    Inventors: James L. Bailey, Kyle J. Bunch
  • Patent number: 7557528
    Abstract: A method for autonomously identifying a type of motor based on a characteristic value of the motor, the method including measuring a characteristic value of a motor, comparing the measured characteristic value to a known characteristic value, and identifying the motor based on the measured characteristic value when compared to the known characteristic value.
    Type: Grant
    Filed: September 25, 2006
    Date of Patent: July 7, 2009
    Assignee: General Electric Company
    Inventors: Ajith K. Kumar, Kevin Jones
  • Patent number: 7531981
    Abstract: A controller for a servomotor capable of improving accuracy of positioning and quality of a machined surface by switching modes of correction of a position command or the like, and reducing a shock at the time of switching. A correction amount generating section obtains a correction amount based on a value of a correction factor such as machine temperature. When the external signal is in ON state, a position command or the like is corrected by the correction amount obtained by the correction amount generating section and sent via switches. A correction amount holding section holds the correction amount obtained by the correction amount generating section. When the external signal turns to OFF state, the connection of the switches is changed so that correction is performed by the correction amount held in the correction amount holding section. When the connection of the switches is changed, the correction amount does not change rapidly, so that the machine does not suffer a shock.
    Type: Grant
    Filed: February 8, 2007
    Date of Patent: May 12, 2009
    Assignee: Fanuc Ltd
    Inventors: Yasusuke Iwashita, Tadashi Okita, Hiroyuki Kawamura, Kenichi Takayama
  • Patent number: 7526362
    Abstract: A remote robot control method using a three-dimensional pointing procedure and a robot control system using the remote robot control method. The robot control system controls a robot in response to a user's gesture or sign without modifying the structure of the robot. The remote robot control method includes measuring a distance between a remote controller and a robot, calculating an initial position of the remote controller in an inertial navigation frame of the remote controller, calculating an initial position of the robot in the navigation frame of the remote controller, calculating an origin of the inertial navigation frame of the remote controller shown in an inertial navigation frame of the robot, calculating a new position of the remote controller in the inertial navigation frame of the remote controller, and calculating a new position of the robot in the navigation frame of the robot.
    Type: Grant
    Filed: October 27, 2004
    Date of Patent: April 28, 2009
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Dong-yoon Kim, Jong-koo Oh, Won-chul Bang, Joon-kee Cho, Kyoung-ho Kang, Sung-jung Cho, Eun-sook Choi, Wook Chang
  • Patent number: 7525274
    Abstract: A method and a system for controlling a plurality of manipulators with a large number of control units associated with the manipulators in such a way that each control unit controls at least one manipulator, are characterized in that an operating device accesses several control units for controlling the manipulators. Thus, it is possible according to the invention to operate even very closely juxtaposed manipulators without any crossing and interlacing of the connecting channels between the operating devices and control units which would prevent a reliable association in operation. The invention also makes it possible for only one operator to operate cooperating robots.
    Type: Grant
    Filed: March 25, 2004
    Date of Patent: April 28, 2009
    Assignee: KUKA Roboter GmbH
    Inventors: Arif Kazi, Jens Bunsendal, Gerhard Hietmann, Carsten Spieβ
  • Patent number: 7518329
    Abstract: A method and a device for cutting freeform surfaces is disclosed. In 5-axis cutting, a workpiece is milled by a tool, i.e., a milling cutter, in such a way that a desired freeform surface is obtained. The tool is moved for cutting along at least one tool path, i.e., cutting path, defined on the basis of interpolation points in relation to the workpiece. According to this invention, a tool vector in the form of leading angles and setting angles is defined for each interpolation point on the tool path. For each interpolation point a normal vector is determined from the leading angles and the setting angles and also from a drive vector determined for each interpolation point. The normal vector in each interpolation point on the tool path is used for a 3D-radius correction for equalizing/compensating for deviations in dimensions of the milling cutter.
    Type: Grant
    Filed: July 2, 2004
    Date of Patent: April 14, 2009
    Assignee: MTU Aero Engines GmbH
    Inventor: Arndt Glaesser
  • Patent number: 7479751
    Abstract: A method is employed to eliminate undesired velocity reversal in a motion profile. A start speed, a start acceleration, a speed limit, an acceleration limit, a deceleration limit, an acceleration jerk limit, and a deceleration jerk limit are programmed for the motion profile. A critical jerk value needed to avoid velocity reversal associated with the motion profile is calculated. The critical jerk value is compared to the programmed deceleration jerk limit. The larger of the critical jerk value and the programmed deceleration jerk limit is set as a computed maximum deceleration jerk limit for use with the motion profile. In this manner, the computed maximum deceleration jerk limit will never be lower than the critical jerk and undesired velocity reversal is eliminated.
    Type: Grant
    Filed: January 29, 2007
    Date of Patent: January 20, 2009
    Assignee: Rockwell Automation Technologies, Inc.
    Inventors: Bohumir Sladek, Jacob Strickler Baker
  • Patent number: 7479750
    Abstract: A controller including a learning control unit for determining learning data based on a positional deviation between a target-position command commanding superimposed-type motion including repetitive motion and a positional fed-back variable obtained from an output portion of an electric motor; and an operation control section for controlling the electric motor based on a corrected positional deviation. The learning control unit includes a first learning section for periodically determining, based on the positional deviation, and storing, first learning data according to a first learning period; a learning-data correcting section for correcting the first learning data to eliminate an influence of a local change included in the target-position command or the positional fed-back variable and periodically arising according to a period different from the first learning period; and a positional-deviation correcting section for correcting the positional deviation by using corrected learning data.
    Type: Grant
    Filed: January 30, 2007
    Date of Patent: January 20, 2009
    Assignee: Fanuc Ltd
    Inventors: Yasusuke Iwashita, Kazuomi Maeda, Yukio Toyozawa
  • Patent number: 7479752
    Abstract: Methods and devices are provided for rotating an end effector on a long, flexible medical device. The methods and devices utilize an actuator mechanism that is effective to rotate an end effector on the distal end of an elongate flexible shaft. The actuator mechanism is movable between a freely rotatable position and a rotationally resistant position. When the actuator mechanism is in a freely rotatable position, the actuator mechanism can be rotated to impart torque to the end effector, and thus at least a distal portion of the elongate shaft, to cause the end effector to rotate. In order to prevent the actuator mechanism from “freewheeling,” wherein the actuator mechanism freely rotates in an opposite direction upon release rather than the end effector rotating in the desired direction, the actuator mechanism can be moved to the rotationally resistant position.
    Type: Grant
    Filed: June 21, 2006
    Date of Patent: January 20, 2009
    Assignee: Ethicon-Endo Surgery, Inc.
    Inventors: Jeffrey David Messerly, Gary W. Knight, Barry Thomas Jamison, William D. Shaw, Jr.
  • Publication number: 20080309274
    Abstract: A method and structure receives a desired rotational speed and/or step frequency for an electric motor. If the desired rotational speed is above a predetermined limit, the method performs closed-loop mode control of coil current of the electric motor by varying the average voltage supplied to the electric stepper motor according to observed feedback current from the current feedback loop connected to the electric stepper motor. To the contrary, if the desired rotational speed is not above the predetermined limit, the method performs open-loop mode control of coil current of the electric stepper motor by setting the average voltage supplied to the electric stepper motor according to values computed from the step frequency, irrespective of the observed feedback current from the current feedback loop.
    Type: Application
    Filed: June 12, 2007
    Publication date: December 18, 2008
    Inventor: Barry Thomson
  • Patent number: 7456593
    Abstract: A system, method and apparatus for controlling a linear stage a pallet is described herein. In one aspect, a conveyor system includes a conveyor pallet that includes a first mobile magnetic component and a second mobile magnetic component. A first stationary magnetic component can magnetically engage the first mobile magnetic component. A second stationary magnetic component can magnetically engage the second mobile magnetic component. A first controller can activate a first magnetic displacement between the first stationary magnetic component and the first mobile magnetic component when the conveyor pallet is in a first range of positions. A second controller can activate a second magnetic displacement between the second stationary magnetic component and the second mobile magnetic component when the conveyor pallet is in a second range of positions.
    Type: Grant
    Filed: April 10, 2006
    Date of Patent: November 25, 2008
    Assignee: Anorad Corporation
    Inventors: John Floresta, Chris Stollberger, Claude Chirignan, Stephen R. Safranek, Frederick A. Sommerhalter, Jr.
  • Patent number: 7456600
    Abstract: A detailed architectural and operational characteristic of a pulse code width modulation (PCWM) motor drive system is presented. The system can drive a three phase permanent magnet AC (PMAC) motor sinusoidally without sensing its rotor position. The system employs an ultrasonic carrier frequency (e.g., of approximately 20 kHz) to avoid annoying acoustic noise problems. While keeping the hardware construction at a minimum, it can provide the highest possible motor performance by satisfying various motor operating requirements. The system may include an AC to DC converter, an application specific integrated circuit (ASIC), a DC to DC step-down chopper, and a gate drive and power transistor circuitry to drive a three phase AC motor.
    Type: Grant
    Filed: June 24, 2008
    Date of Patent: November 25, 2008
    Assignee: System Homes Company, Ltd.
    Inventor: Hozo Yoshino
  • Patent number: 7451016
    Abstract: An industrial robot system including a plurality of industrial robots. Each robot includes a manipulator, a control unit for automatically operating the manipulator, and a movable key device configured to store information about the identity of the robot to which the moveable key device belongs. A portable operating unit is configured to teach and program the robots. The portable operating unit is adapted for wireless communication with each control unit. The portable operating unit includes a member for receiving one of the moveable key devices, a reader for reading a robot identity from the received moveable device, and a communication establisher for establishing wireless communication between the operating unit and the control unit of the identified robot upon reading the robot identity from the moveable key device.
    Type: Grant
    Filed: April 2, 2002
    Date of Patent: November 11, 2008
    Assignee: ABB AB
    Inventors: Svein Johannessen, Jan Endresen, Erik Carlson
  • Publication number: 20080272717
    Abstract: A control system and method to determine position of a rotor relative to a stator for a synchronous multipole electrical machine is presented, including one for application on a fuel/electric hybrid powertrain for a vehicle. The machine includes a stator, a rotor, and a rotor position sensing mechanism. The control system controls the electrical machine, in conjunction with an electrical storage device and an inverter, using algorithms and calibrations which derive a rotor position based upon a sensorless position sensing technique, and determine an offset from a sensed rotor position. Electrical output from the inverter to the machine is controlled based the offset, which is stored non-volatile memory. A rotor position is derived based upon a sensorless position sensing technique during initial machine operation after startup of the machine, and includes operation in a torque-generative mode and in an electrical energy-generative mode.
    Type: Application
    Filed: May 3, 2007
    Publication date: November 6, 2008
    Inventors: Sean E. Gleason, Steven E. Schulz, Patrick M. Prihoda
  • Patent number: 7436140
    Abstract: A self-supporting stand for a thin display device is to be controlled so that the display device faces in a preset screen direction in a one-touch manner. A function of constantly recognizing the screen direction of the display device and detecting its own direction by detecting a resistance value of a resistance volume such as a variable resistor installed in an electric screen direction changing mechanism, and a control unit which reproduces a preset screen direction no matter in which direction the screen faces currently, are combined with each other.
    Type: Grant
    Filed: June 20, 2006
    Date of Patent: October 14, 2008
    Assignee: Hitachi, Ltd.
    Inventors: Masanori Takaji, Tatsuya Nakazawa, Yutaka Yamada, Toshihiko Matsuzawa, Satoshi Ishizuka
  • Publication number: 20080243303
    Abstract: The invention describes a system for collective nanorobotics (CNRs) for electronics applications. CNRs are used to selectively activate electronics devices and remote devices and to target objects in sensor networks. A method of delivering CNRs in aerosol form is specified. The CNRs use reaggregation methods to restructure their shapes on-demand for improved material resistance capabilities.
    Type: Application
    Filed: November 13, 2007
    Publication date: October 2, 2008
    Applicant: Solomon Research LLC
    Inventor: Neal Solomon
  • Patent number: 7429845
    Abstract: A stage assembly (220) that moves a work piece (200) a movement step (257) includes a first stage (238), a first mover assembly (242), a second stage (240), and a second mover assembly (244). The first mover assembly (242) moves the first stage (238) with a first acceleration profile (366) during the movement step (257) and the second mover assembly (244) moves the second stage (240) with a second acceleration profile (368) during the movement step (257) that is different than the first acceleration profile. For example, the second mover assembly (244) moves the second stage (240) during the movement step (257) with a higher maximum acceleration than the first mover assembly (242) moves the first stage (238) during the movement step (257). Further, the second mover assembly (244) moves the second stage (240) during the movement step (257) with a higher average acceleration than the first mover assembly (242) moves the first stage (238) during the movement step (257).
    Type: Grant
    Filed: April 16, 2005
    Date of Patent: September 30, 2008
    Assignee: Nikon Corporation
    Inventor: Michael Binnard
  • Patent number: 7427846
    Abstract: A method of optimizing a servo controller power required in the operation of two-dimensional flexure (Microelectronic Memory Storage) MEMS devices. Furthermore, provided is an arrangement for optimizing servo controller power in a two-dimensional flexure MEMS storage device through a utilization of the inventive method.
    Type: Grant
    Filed: February 2, 2006
    Date of Patent: September 23, 2008
    Assignee: International Business Machines Corporation
    Inventors: Hien P. Dang, Sri M. Sri-Jayantha
  • Publication number: 20080218116
    Abstract: A servo controller for synchronously controlling a master driving source for driving a driving shaft and a slave driving source for driving a driven shaft, having a position control section that performs a position control based on a positional deviation which is a difference between a position command value given to the slave driving source and a feedback value detected from the slave driving source, an operational section that calculates a synchronization error which is a difference of the positional deviation between the master driving source and the slave driving source, and a correction data calculating section that calculates first correction data for correcting the positional deviation of the slave driving source.
    Type: Application
    Filed: March 7, 2008
    Publication date: September 11, 2008
    Applicant: FANUC LTD
    Inventors: Kazuomi MAEDA, Naoto SONODA, Yukio TOYOZAWA
  • Patent number: 7423404
    Abstract: Some embodiments of the present invention provide an anti-collision device used for a sample-loading system. This device may include a code plate, an optical coupler, a location signal-detecting unit, a drive pulse counting unit and a drive pulse-sending unit. The optical coupler detects the code plate during the relative movement between the optical coupler and the code plate and outputs detection signals. The location signal detecting unit determines whether to output location signals to the drive pulse counting unit. The drive pulse counting unit judges whether collisions occur to the sample-loading system. Some embodiments of the present invention provide an anti-collision method and a sample-loading system comprising the anti-collision device.
    Type: Grant
    Filed: December 4, 2006
    Date of Patent: September 9, 2008
    Assignee: Shenzhen Mindray Bio-Medical Electronics Co, Ltd.
    Inventors: Yanwen Weng, Jiankun Hu, Xingcai Zhu
  • Patent number: 7417393
    Abstract: A control device determines whether a motor generator is controlled in a PWM control mode, an overmodulation control mode or a rectangular-wave control mode. If a command to perform a boosting operation by a voltage step-up converter is issued while the motor generator is controlled in the rectangular-wave control mode, the control device controls an inverter to drive the motor generator by switching the control mode to the overmodulation or PWM control mode. Further, the control device controls the inverter to drive the motor generator by suppressing increase of a torque command value.
    Type: Grant
    Filed: July 12, 2004
    Date of Patent: August 26, 2008
    Assignees: Toyota Jidosha Kabushiki Kaisha, Denso Corporation
    Inventors: Masaki Okamura, Takashi Yamashita
  • Publication number: 20080197797
    Abstract: A system, in one embodiment, includes a drive having a housing, a stator disposed in the housing, a rotor disposed in the stator, and a programmable logic controller disposed inside, mounted on, or in general proximity to the housing. In another embodiment, a system includes a network, a first motor having a first integral programmable logic controller coupled to the network, and a second motor having a second integral programmable logic controller coupled to the network. In a further embodiment, a system includes a rotary machine having a rotor and a stator disposed concentric with one another, a microprocessor, memory coupled to the microprocessor, a power supply coupled to the microprocessor and the memory, and a machine sensor coupled to the microprocessor.
    Type: Application
    Filed: September 29, 2006
    Publication date: August 21, 2008
    Inventor: Yehia M. El-Ibiary
  • Patent number: 7414378
    Abstract: The invention relates to the field of material handling or logistic equipment in particular, relates to turntables, which can be used especially for automation of production line, assembly assistance, linefeeading and synchronous manufacturing. A high precision positioning powered turntable and its controlling method are disclosed herewithin, based on slewing ring bearing having an integral gear on the inner ring, and positively driven by a gear motor. A plurality of sensors and sensor flags are installed for monitoring position of the turntable top structure for controlling acceleration, deceleration and stopping. A controller, such as a programmable logic controller, is used for monitoring the position of the turntable top structure tlirough the plurality of sensors, and decides how it operates a motor drive, such as variable frequency drive, of the gearmotor for controlling the acceleration, deceleration and stopping of the turntable.
    Type: Grant
    Filed: December 5, 2006
    Date of Patent: August 19, 2008
    Assignee: Sailrail Automated Systems, Inc.
    Inventor: Shawn Dawson
  • Patent number: 7402974
    Abstract: Disclosed herein is a device for detecting lift of an autonomous mobile robot. The device comprises at least one detection unit to detect lift of the main body of the robot during driving of the robot and to generate and output the lift detection signal, and a controller to control driving of the robot, and to output the driving stop signal to a driving motor after generating a driving stop signal for stopping driving of the robot according to the lift detection signal transmitted from the detection unit. When the robot is lifted by a user, the device stops driving of the motor in response to the lift of the robot, thereby eliminating additional operation of the user to stop driving of the robot as well as protecting the user.
    Type: Grant
    Filed: December 12, 2005
    Date of Patent: July 22, 2008
    Assignee: LG Electronics Inc.
    Inventor: Hyeong-shin Jeon
  • Patent number: 7397212
    Abstract: A DC motor phase estimation algorithm that estimates a speed-related harmonic frequency of a DC motor current under dynamic load conditions having known geometry parameters. The algorithm estimates the phase and magnitude of a complex coefficient in a complex single frequency adaptive filter that receives a primary signal from the motor current and estimates a reference signal using an incident frequency by adapting the complex coefficient to match the magnitude and phase of the speed-related harmonic component of the primary signal. The rate of change of the phase of the complex coefficient is determined by a phase-lock loop coupled to the adaptive filter to adapt a dynamic incident frequency corresponding to a single frequency component of interest in the primary signal. The incident frequency is extracted, and the motor speed is estimated using the extracted incident frequency and the known motor geometry parameters.
    Type: Grant
    Filed: October 30, 2006
    Date of Patent: July 8, 2008
    Assignee: Square D Company
    Inventor: Larry A. Turner
  • Patent number: 7391177
    Abstract: In a master-slave manipulator system capable of presenting an obstacle and a limit to an operating range as a force feed-back with no use of a motor in an operation input device and having high reliability, a small size and good operability, the system comprises a manipulator having an arm, an operation input device for moving the arm of the manipulator, and a controller for controlling the manipulator and the operation input device, and the operation input device is provided on joints with a mode change-over mechanism having three modes: of which, in a first mode, power is not transmitted; in a second mode, power is transmitted in one direction and is not transmitted in a reverse direction thereof; and in a third mode, power is transmitted in the reverse direction and is not transmitted in the one direction, selecting one of the above modes and changing over from one mode to the selected mode.
    Type: Grant
    Filed: May 17, 2006
    Date of Patent: June 24, 2008
    Assignee: Hitachi, Ltd.
    Inventors: Kosuke Kishi, Kazuhiro Umekita
  • Patent number: 7378811
    Abstract: A landing shock absorbing device 18 disposed in a foot mechanism 6 of a leg of a robot, wherein an inflatable bag-like member 19 (variable capacity element) is provided at a bottom face side of the foot mechanism 6. The bag-like member 19 is constructed of an elastic material such as rubber. The air in atmosphere may flow into and out of the bag-like member 19 by inflow/outflow means 20 equipped with a solenoid valve 27, and the like. In a lifting state of the foot mechanism 6, inflow of the air into the bag-like member 19 is controlled, thereby controlling the final height of the bag-like member 19 in an inflated state to the height in response to a gait type of the robot. While properly reducing an impact load during a landing motion of the leg of a legged mobile robot depending on the gait type of the robot, stability of a posture of the robot may easily be secured, resulting in allowing a configuration to be lighter in weight.
    Type: Grant
    Filed: December 11, 2002
    Date of Patent: May 27, 2008
    Assignee: Honda Giken Kogyo Kabushiki Kaisha
    Inventors: Toru Takenaka, Hiroshi Gomi, Kazushi Hamaya, Yoshinari Takemura, Takashi Matsumoto, Takahide Yoshiike, Yoichi Nishimura, Kazushi Akimoto, Taro Yokoyama
  • Patent number: 7375485
    Abstract: Systems and methods for controlling a rotating electromagnetic machine. The rotating machine, such as a permanent magnet motor or hybrid switched reluctance motor, includes a stator having a plurality of phase windings and a rotor that rotates relative to the stator. A drive is connected to the phase windings for energizing the windings. A controller outputs a control signal to the drive in response to inputs of demanded torque, rotor position and/or speed. Control methods include calculating a scaled torque demand from the received torque demand to obtain substantially constant torque over a range of motor speeds, calculating an optimal dr-axis injection current using a cost function and a starting method that switches from speed control mode to torque control mode at a predetermined rotor speed or at predetermined start-up timing intervals.
    Type: Grant
    Filed: March 27, 2007
    Date of Patent: May 20, 2008
    Assignee: Emerson Electric Co.
    Inventors: Prakash B. Shahi, Arthur E. Woodward, Joseph G. Marcinkiewicz, Michael I. Henderson
  • Patent number: 7372230
    Abstract: An off-axis rotary joint (20) for selectively enabling communication of a signal (i.e., electrical and/or optical) between a housing (21) mounted for rotation about an axis (y-y) relative to a hollow shaft assembly (22) at all permissible relative angular displacements (e.g., 0°, 180°, 360°, 540°, 720°, etc.
    Type: Grant
    Filed: April 18, 2006
    Date of Patent: May 13, 2008
    Assignee: Focal Technologies Corporation
    Inventor: Robert Fisher McKay
  • Patent number: 7365510
    Abstract: In a method for measuring motor speed and position by detecting the back EMF generated during pole-pair interactions, a separate respective duration of a power phase suppression signal, that is set during back EMF detection, is stored in memory for each respective pole. The separate respective duration values are determined during a calibration phase by iteratively lengthening each respective duration one unit at a time (up to a maximum value) until no part of the respective back EMF signal occurs outside the suppression signal duration, and those values are stored. During operation, the approach of a pole-pair interaction may be determined from the electrical cycle of the power supply, and then the stored duration value is used to control the state of the suppression signal.
    Type: Grant
    Filed: March 23, 2007
    Date of Patent: April 29, 2008
    Assignee: Marvell International Ltd.
    Inventors: Foo Leng Leong, Chen Yong Teoh, Siew Yong Chui
  • Patent number: 7348742
    Abstract: A method of making an optical filter wheel of a device synchronizable with an internal, rotatable virtual reference wheel, created in a memory of a motor controller of the device, is disclosed. The method includes a single trigger event that initializes rotation of the virtual reference wheel. The controller determines the orientation of an optical filter wheel of the device and maintains an ongoing representation of said orientation over time. The controller controls the motor, which causes the filter wheel to become coincident with the virtual reference wheel after the trigger event. A self-contained light fixture is also disclosed, which includes an optical filter wheel driven by an electric motor that is synchronizable with an internal, rotatable virtual reference wheel of the fixture. The method and light fixture permits optical filter wheels of multiple light fixtures, which may be identical, to synchronize with one another.
    Type: Grant
    Filed: July 21, 2005
    Date of Patent: March 25, 2008
    Assignee: Energy Focus, Inc.
    Inventor: Laszlo A. Takacs
  • Patent number: 7348748
    Abstract: A system and method for generating a controlled motion path with a machine-tool system having a controller operating in a servo rate. The method includes a first interpolation step, in which a path segment corresponding to a number of servo update periods is calculated. After the first interpolation step, a speed override factor is established. After establishing the speed override factor a second interpolation step occurs, which includes calculating a number of path setpoints for each path segment. The number of servo update periods per path segment may vary over the path.
    Type: Grant
    Filed: June 2, 2006
    Date of Patent: March 25, 2008
    Assignee: Delta Tau Data Systems, Inc.
    Inventor: Curtis Wilson
  • Patent number: 7339342
    Abstract: A stepper motor controlling apparatus has a driver which drives a stepper motor in response to an input pulse signal, a PWM controlling section which changes a duty ratio of the pulse signal fed to the driver to control a rotation of the stepper motor, a pulse encoder which rotates in response to the rotation of the stepper motor, and outputs a pulse according to a position of a moving object, a position counter which counts the pulse output from the pulse encoder to sense a present position of the moving object, and a pulse rate controlling section which controls an update latency time of the pulse signal according to a deviation between a target position of the moving object and the present position.
    Type: Grant
    Filed: December 14, 2005
    Date of Patent: March 4, 2008
    Assignee: Yokogawa Electric Corporation
    Inventors: Naoyuki Harada, Hiroshi Otawa
  • Patent number: 7313461
    Abstract: A method for data connectivity in a room with a robotic device. In the method, at least one condition is detected with a plurality of sensors and the detected at least one condition is communicated from the sensors to associated access points. One or more of the access points are selected and the robotic device is maneuvered to a location in a vicinity of one or more of the selected access points. The detected at least one condition is communicated from one or more of the selected access points to the robotic device. In addition, the robotic device is maneuvered to a location in a vicinity of a base station and the detected at least one condition is communicated from the robotic device to the base station.
    Type: Grant
    Filed: November 26, 2003
    Date of Patent: December 25, 2007
    Assignee: Hewlett-Packard Development Company, L.P.
    Inventors: Ratnesh K. Sharma, Cullen E. Bash, Chandrakant D. Patel, Gopalakrishnan Janakiraman
  • Patent number: 7286903
    Abstract: A method and system are disclosed for transmitting data among robots and a controller computer system within an automated robotic library. A robotic library communication protocol is described for communicating among the robotic mechanisms and the controller computer system. The robotic library communication protocol defines multiple fields for each packet including a preamble field that describes a predetermined preamble value that is equal to a particular value. Data is transmitted among the robotic mechanisms and the controller computer system utilizing the robotic library communication protocol. Each packet that conforms to the protocol includes only the preamble value in the preamble field. Power is provided to the robotic mechanisms utilizing a power signal. Data that has been encoded according to the protocol is transmitted to the robotic mechanisms using the power signal.
    Type: Grant
    Filed: April 9, 2004
    Date of Patent: October 23, 2007
    Assignee: Storage Technology Corporation
    Inventor: William Sehnert
  • Patent number: 7282882
    Abstract: A robot control system for simultaneously controlling multi-axial robots each of which has actuators, a standard movement part being set in each of the robots, includes: a single main controller for calculating respective movement positions of the standard moving part on a movement route along which the standard moving part is to be moved; and sub-controllers installed for each of the robots, each of the sub-controllers calculating an operation amount of each of the actuators so that the standard moving part of a corresponding robot is to be moved along the movement route, based on the movement positions of the standard moving part of the corresponding robot on the movement route, and controlling each of the actuators of the robots in accordance with the operation amount.
    Type: Grant
    Filed: December 30, 2005
    Date of Patent: October 16, 2007
    Assignee: Kawasaki Jukogyo Kabushiki Kaisha
    Inventors: Hiroaki Kitatsuji, Naoyuki Matsumoto, Yoshinori Kegasa
  • Publication number: 20070229014
    Abstract: The invention relates to a method for operating a control system of an industrial process, the control system having at least one control loop comprising a sensor (200), a control device (300) and an actuator (400), the actuator being connected to the sensor (200) via the industrial process (100). To detect faults in the control loop, it is proposed to inject (51, 52) a predefined test signal at an arbitrary point of the control loop, and to monitor (61 to 63) the response of the control loop as a function of the test signal at a separation of at least one control-loop element.
    Type: Application
    Filed: March 14, 2007
    Publication date: October 4, 2007
    Applicant: ABB Patent GmbH
    Inventor: Ralf Huck
  • Patent number: 7276866
    Abstract: A moving control apparatus comprising: a moving member provided movably at least in one direction; a driver having a movable element connected to the moving member and a stator to displace the movable element; a controller which energizes the driver to cause the movable element to generate a thrust; a position detector which detects a relative position between the movable element and the stator in the driver; a measurement unit which drives the movable element of the driver and measures an induced voltage generated in the driver; and a correction calculator which calculates a thrust ripple correction value to correct a thrust ripple as a variation of a thrust generated in the driver from the measured induced voltage and the relative position in the driver, and multiplies a command to the driver by the correction value.
    Type: Grant
    Filed: January 27, 2006
    Date of Patent: October 2, 2007
    Assignee: Canon Kabushiki Kaisha
    Inventor: Tosiya Asano
  • Patent number: 7274165
    Abstract: A numerical controller capable of mitigating mechanical shock caused by tool compensation while a machine tool is operated according to table data. X- and Z-axis path tables Tx, Tz store X- and Z-axis positions corresponding to reference positions (time or spindle position). A tool compensation table Tt stores X- and Z-axis compensation amounts (tool compensation numbers) associated with the respective reference positions. At every predetermined period, X- and Z-axis path table interpolators read command positions from the path tables Tx, Tz based on the reference position, and obtain command motion amounts by interpolation. X- and Z-axis tool interpolators read compensation amounts from the tool compensation table Tt based on the reference position, and obtain compensation motion amounts by interpolation. Adders add up the command motion amounts and the respective compensation motion amounts to drive respective motors.
    Type: Grant
    Filed: April 25, 2006
    Date of Patent: September 25, 2007
    Assignee: FANUC Ltd
    Inventors: Yasushi Takeuchi, Takahiko Endo
  • Patent number: 7248006
    Abstract: A system for controlling an electric motor comprises, in one embodiment, an encoder; a central processor in communication with said encoder; a module processor in communication with said central processor; feedback circuitry in communication with said module processor, wherein said encoder is an electronic device that provides rotor and stator positional information to said central processor, and further comprising a user interface in communication with said central processor, wherein said user interface enables a user to select preferred operational parameters for an electric motor. Another embodiment comprises a method for controlling an electric motor, comprising: determining rotor position based on data received from an encoder; determining how to energize stator coils; directing a power module to provide appropriate current to appropriate coils; and monitoring rotor response, wherein determining how to energize stator coils comprises consulting a look-up table.
    Type: Grant
    Filed: July 1, 2003
    Date of Patent: July 24, 2007
    Assignee: XIDEM, Inc.
    Inventors: James L. Bailey, Kyle J. Bunch
  • Patent number: 7227328
    Abstract: A method is for detecting a possible collision of at least two objects moving with respect to each other by simulating the intended relative motion of the two objects. At least one of the objects is assigned an envelope surrounding the object, the path line represents the relative motion of the objects is covered in steps of a defined step size, and the occurrence of an overlap of the objects is detected for ascertaining a possible collision of the objects. For at least one object, the outer contour of the corresponding envelope is used as a datum for detecting an overlap. At least one object is assigned an inner and an outer envelope, of which the inner envelope surrounds the object and the outer envelope surrounds the inner envelope. The outer envelope is used as a datum for detecting an overlap of the two objects, and when an overlap is detected in a segment of the path line, the segment of the path line is re-traversed using a smaller, second step size.
    Type: Grant
    Filed: December 19, 2005
    Date of Patent: June 5, 2007
    Assignee: Dr. Johannes Heidenhain GmbH
    Inventor: Josef Haunerdinger
  • Patent number: 7221120
    Abstract: A robot hand has a plurality of fingers and is provided, at a location at which the robot hand touches an object, with a moving means for touching the object and moving the object. The moving means is provided to the palm side of the robot hand and/or the finger pad side of the robot hand.
    Type: Grant
    Filed: December 1, 2005
    Date of Patent: May 22, 2007
    Assignee: Sharp Kabushiki Kaisha
    Inventor: Hiroyuki Tadano
  • Patent number: 7211980
    Abstract: Robot platforms, methods, and computer media are disclosed. The robot platform includes perceptors, locomotors, and a system controller, which executes instructions for a robot to follow a target in its environment. The method includes receiving a target bearing and sensing whether the robot is blocked front. If the robot is blocked in front, then the robot's motion is adjusted to avoid the nearest obstacle in front. If the robot is not blocked in front, then the method senses whether the robot is blocked toward the target bearing and if so, sets the rotational direction opposite from the target bearing, and adjusts the rotational velocity and translational velocity. If the robot is not blocked toward the target bearing, then the rotational velocity is adjusted proportional to an angle of the target bearing and the translational velocity is adjusted proportional to a distance to the nearest obstacle in front.
    Type: Grant
    Filed: July 5, 2006
    Date of Patent: May 1, 2007
    Assignee: Battelle Energy Alliance, LLC
    Inventors: David J. Bruemmer, Matthew O. Anderson
  • Patent number: 7208900
    Abstract: An industrial robot including a manipulator, a control unit for controlling the manipulator, and a portable operating unit for teaching and manually operating the robot. The portable operating unit is adapted for wireless communication with the control unit and includes an operator control. The invention increases the safety by ensuring that the operator is within the specified operating area.
    Type: Grant
    Filed: October 17, 2002
    Date of Patent: April 24, 2007
    Assignee: ABB AB
    Inventors: Erik Carlson, Jan Endresen, Snorre Kjesbu
  • Patent number: 7208898
    Abstract: Method and apparatus for control object manipulation from an initial position to a final position. A jerk control profile describes a near time-optimal jerk trajectory for the control object and includes a sequence of first, second and third sinusoidal pulses of respectively alternating polarity and common absolute magnitude. The area of the second pulse is nominally equal to the combined area of the first and third pulses, and the pulses are preferably symmetric about the respective maximum pulse values. Associated control profiles (control voltage, current, velocity, displacement, etc.) are derived from the jerk control profile. For longer seeks, constant, non-zero jerk segments are inserted into the profile between the pulses, during which control voltage is maintained near saturation. The control object preferably comprises a transducer in a data storage device and the jerk control profile is stored in a memory location of the device.
    Type: Grant
    Filed: June 22, 2005
    Date of Patent: April 24, 2007
    Assignee: The Board of Regents for Oklahoma State University
    Inventors: Chad Andrew Stoecker, Eduardo Akira Misawa, Clyde Everett Goodner, III
  • Patent number: 7205744
    Abstract: In a method for measuring motor speed and position by detecting the back EMF generated during pole-pair interactions, a separate respective duration of a power phase suppression signal, that is set during back EMF detection, is stored in memory for each respective pole. The separate respective duration values are determined during a calibration phase by iteratively lengthening each respective duration one unit at a time (up to a maximum value) until no part of the respective back EMF signal occurs outside the suppression signal duration, and those values are stored. During operation, the approach of a pole-pair interaction may be determined from the electrical cycle of the power supply, and then the stored duration value is used to control the state of the suppression signal.
    Type: Grant
    Filed: July 7, 2006
    Date of Patent: April 17, 2007
    Assignee: Marvell International Ltd.
    Inventors: Foo Leng Leong, Cheng Yong Teoh, Siew Yong Chui