With Program Recording Or Composing Means Patents (Class 318/568.1)
  • Patent number: 11389886
    Abstract: The disclosure provides an electric discharge machining apparatus.
    Type: Grant
    Filed: September 23, 2019
    Date of Patent: July 19, 2022
    Assignee: Sodick Co., Ltd.
    Inventor: Masashi Sakaguchi
  • Patent number: 11370105
    Abstract: A robot system includes an operating device that receives an operation instruction from an operator, a real robot that is installed in a work space and performs a series of works constituted of a plurality of steps, a camera configured to image the real robot, a display device configured to display video information of the real robot imaged by the camera and a virtual robot, and a control device, in which the control device is configured to operate the virtual robot displayed on the display device based on instruction information input from the operating device, and thereafter operate the real robot in a state that the virtual robot is displayed on the display device when operation execution information to execute an operation of the real robot is input from the operating device.
    Type: Grant
    Filed: August 27, 2018
    Date of Patent: June 28, 2022
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Masayuki Watanabe, Takayuki Yoshimura
  • Patent number: 11365959
    Abstract: The three-dimensional measuring method includes: a conveying step of conveying a workpiece to be measured by a robot arm configured to change an attitude of the workpiece; a measuring step of performing three-dimensional measurement on the workpiece by a probe configured to be movable relative to the surface plate in a state in which the workpiece is held by the robot arm; a relative-position change detecting step of detecting a change in a relative position between the surface plate and the robot arm; and a vibration correcting step of correcting a result of the measurement performed on the workpiece in the measuring step based on a result of detection performed in the relative-position change detecting step.
    Type: Grant
    Filed: June 2, 2021
    Date of Patent: June 21, 2022
    Assignee: TOKYO SEIMITSU CO., LTD.
    Inventors: Hitoshi Tamura, Tomotaka Yamagata, Kento Kurihara, Yoichi Togawa
  • Patent number: 11365068
    Abstract: A method for operating a robot includes providing target data for a target object; determining whether a pre-pick target for the target object is reachable by the robot; determining whether a pick target is reachable by the robot; and executing a pick routine directing the robot to pick up the target object and deposit the target object at a desired location responsive to a determination that the pre-pick target and the pick target are reachable by the robot.
    Type: Grant
    Filed: September 5, 2018
    Date of Patent: June 21, 2022
    Assignee: ABB Schweiz AG
    Inventors: Steven Wertenberger, Thomas Watson, Jonathan D. Ferrell
  • Patent number: 11359958
    Abstract: A system for singulating objects includes a bin for receiving a collection of objects, a robotic manipulator for grasping objects from the bin, a scale for measuring a weight of the grasped objects, and a computer system for comparing measured weights to acceptable weight ranges to detect double picks. Methods include determining acceptable weight ranges by weighing a plurality of objects.
    Type: Grant
    Filed: May 13, 2020
    Date of Patent: June 14, 2022
    Assignee: Kindred Systems Inc.
    Inventors: James Sterling Bergstra, David Gabriel Hallock
  • Patent number: 11325257
    Abstract: The operation program creation device includes, an input unit, a storage unit that stores path data indicating a path along which predetermined position of the robot should pass for an operation of the robot to the workpiece, and a control unit which creates the operation program corresponding to the path data when the control unit receives, from the input unit, a start request for creating or renewing the operation program for the operation, wherein the control unit is capable of changing a position of at least one of the robot and the workpiece relative to each other based on an input to the input unit, the control unit provides predetermined notification information when a relative position between the robot and the workpiece when the start request is received is different from the relative position at the time when the operation program for the workpiece was created.
    Type: Grant
    Filed: October 10, 2019
    Date of Patent: May 10, 2022
    Assignee: FANUC CORPORATION
    Inventor: Tatsuya Oumi
  • Patent number: 11327503
    Abstract: A mobile robot is configured for operation in a commercial or industrial setting, such as an office building or retail store. The robot can patrol one or more routes within a building, and can detect violations of security policies by objects, building infrastructure and security systems, or individuals. In response to the detected violations, the robot can perform one or more security operations. The robot can include a removable fabric panel, enabling sensors within the robot body to capture signals that propagate through the fabric. In addition, the robot can scan RFID tags of objects within an area, for instance coupled to store inventory. Likewise, the robot can generate or update one or more semantic maps for use by the robot in navigating an area and for measuring compliance with security policies.
    Type: Grant
    Filed: August 18, 2019
    Date of Patent: May 10, 2022
    Assignee: Cobalt Robotics Inc.
    Inventors: Travis J. Deyle, Erik Schluntz, Peregrine Badger
  • Patent number: 11318612
    Abstract: A control device includes at least two processors comprising at least a first processor and a second processor. The control device controls at least one autonomous motion mechanism on the basis of a recognition result received from a recognition device. A storage device of the control device stores upper-level software, middle-level software, and lower-level software. The upper-level software derives a feature amount representing a feature of the recognition result. The middle-level software generates a motion plan of the autonomous motion mechanism on the basis of the feature amount. The lower-level software outputs a command value for controlling the autonomous motion mechanism on the basis of the motion plan. The first processor executes at least the upper-level software, the second processor executes at least the lower-level software, and at least one processor included in the control device executes the middle-level software.
    Type: Grant
    Filed: February 26, 2019
    Date of Patent: May 3, 2022
    Assignee: Kabushiki Kaisha Toshiba
    Inventors: Junichiro Ooga, Akihito Ogawa
  • Patent number: 11312015
    Abstract: A system and method for moving an object against a working surface of a finishing machine that is set in a fixed position. The object is moved in a precise movement pattern while following a precise contact pressure pattern. The object is moved against the working surface of the finishing machine using a robot with an articulating arm. Other movement is provided by a dynamic platform upon which the robot rests. The dynamic platform includes a linear slide that enables the robot to reciprocally move. The dynamic platform also includes an active contact flange that acts upon the linear slide. The active contact flange is programmable and imparts the contact pressure pattern to the object through the linear slide and the robot. A rotary table can also be provided that selectively rotates the robot, the linear slide and the active contact flange.
    Type: Grant
    Filed: September 9, 2019
    Date of Patent: April 26, 2022
    Assignee: Reliabotics LLC
    Inventors: Steven Evers, Frank Thissen, Chris Robinson
  • Patent number: 11312025
    Abstract: The present disclosure is directed toward a robotic system that includes a robotic arm, a robotic end-effector, a lock, and a control system. The robotic end-effector is detachably coupled to the robotic arm and includes a locomotion device to move the robotic end-effector independent of the robotic arm. The lock is disposed with the robotic arm and robotic end-effector, and is operable to detach and attach the robotic arm and the robotic end-effector. The control system is configured to control the robotic arm and the robotic end-effector, and to operate the lock to detach and attach the robotic arm and the robotic end-effector.
    Type: Grant
    Filed: April 2, 2019
    Date of Patent: April 26, 2022
    Assignee: Ford Global Technologies, LLC
    Inventors: Raj Sohmshetty, David Jeffeory Berels, Anthony Mario D'Amato, Jianbo Lu
  • Patent number: 11305432
    Abstract: A work machine includes a pickup member configured to pick up a component; a storage device configured to store positional information on multiple pickup positions where the pickup member can pick up the component; a recognition device configured to optically recognize a multiple of the component including the pickup target; and a control device configured to select, from the multiple pickup positions of the pickup target component, one pickup position which is less likely to interfere with other components based on the positional information and a recognition result from the recognition device, and cause the pick member to pick up the pickup target component at the one selected pickup position.
    Type: Grant
    Filed: January 12, 2017
    Date of Patent: April 19, 2022
    Assignee: FUJI CORPORATION
    Inventors: Nobuo Oishi, Kazuaki Mori
  • Patent number: 11298823
    Abstract: A sensor device and a sensing method capable of detecting even a small external force are provided. A sensor device includes: a backflow prevention unit provided in the middle of a circuit that supplies a current from a power supply unit to a motor unit; a potential detection unit configured to detect each of potentials at a preceding stage and a subsequent stage of the backflow prevention unit; and an external force detection unit configured to detect an external force applied to a member connected to the motor unit on the basis of the potentials at the preceding stage and the subsequent stage of the backflow prevention unit.
    Type: Grant
    Filed: August 24, 2018
    Date of Patent: April 12, 2022
    Assignee: SONY CORPORATION
    Inventor: Toshimitsu Kai
  • Patent number: 11264865
    Abstract: An actuator capable of realizing a high output with a compact size is proposed. An actuator provided with a motor including a cylindrical rotor, and a reducer including an input shaft coaxial with a rotational shaft of the motor and nested in the rotor. The reducer has a cylindrical shape, the reducer further includes an output shaft coaxial with the rotational shaft of the motor, the motor further includes a stator, and the actuator is further provided with a casing which supports the reducer and the stator.
    Type: Grant
    Filed: November 24, 2017
    Date of Patent: March 1, 2022
    Assignee: SONY CORPORATION
    Inventor: Kiyokazu Miyazawa
  • Patent number: 11247340
    Abstract: This disclosure is related to a non-contact tool center point calibration method for a robot arm, and the method comprises: obtaining a coordinate transformation relationship between a flange surface of the robot arm and cameras by a hand-eye calibration algorithm; constructing a space coordinate system by a stereoscopic reconstruction method; actuating a replaceable member fixed with the flange surface to present postures in a union field of view of the cameras sequentially, recording feature coordinates of the replaceable member in the space coordinate system, and recording flange surface coordinates which is under the postures in the space coordinate system; obtaining a transformation relationship between a tool center point and the flange surface; and updating the transformation relationship into a control program of the robot arm. Moreover, the disclosure further discloses a calibration device performing the calibration method and a robot arm system having the calibration function.
    Type: Grant
    Filed: December 26, 2018
    Date of Patent: February 15, 2022
    Assignee: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE
    Inventors: Sheng Chieh Hsu, Hao Hsiang Yang, Shu Huang, Yan Yi Du
  • Patent number: 11230014
    Abstract: An aspect of the invention relates to a robot including an operation determining unit that selects an operation of the robot, a drive mechanism that executes the operation selected by the operation determining unit, a body temperature detecting unit that detects a basic body temperature of a user, and a physical condition determining unit that determines a physical condition of the user based on a basic body temperature cycle of the user. When the basic body temperature of the user reaches a predetermined consideration timing in the basic body temperature cycle, the robot changes an amount of activity thereof.
    Type: Grant
    Filed: November 13, 2018
    Date of Patent: January 25, 2022
    Assignee: GROOVE X, INC.
    Inventor: Kaname Hayashi
  • Patent number: 11224978
    Abstract: Provided is a robot. For example, a joint part of this robot is provided with: a motor; a reduction gear coupled to the motor; an output-side member fixed to the output shaft of the reduction gear; a position detection mechanism for detecting the rotational position of the motor; a circuit board to which the motor and the position detection mechanism are electrically connected; and a case in which the motor, the reduction gear, the position detection mechanism, and the circuit board are housed. The motor and the reduction gear are fixed to the case. A motor driving circuit for driving the motor, a signal transmission circuit for outputting a signal inputted to the circuit board to outside the circuit board, and a connector to which an end of a wiring is connected are mounted to the circuit board.
    Type: Grant
    Filed: March 8, 2017
    Date of Patent: January 18, 2022
    Assignee: NIDEC CORPORATION
    Inventor: Yuu Ayuzawa
  • Patent number: 11213949
    Abstract: A processing system is disclosed for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments.
    Type: Grant
    Filed: July 8, 2019
    Date of Patent: January 4, 2022
    Assignee: Berkshire Grey, Inc.
    Inventors: Thomas Wagner, Kevin Ahearn, Benjamin Cohen, Michael Dawson-Haggerty, Christopher Geyer, Thomas Koletschka, Kyle Maroney, Matthew T. Mason, Gene Temple Price, Joseph Romano, Daniel Smith, Siddhartha Srinivasa, Prasanna Velagapudi, Thomas Allen
  • Patent number: 11198218
    Abstract: A robotic system and method having a movable and adjustable platform with a plurality of vertically-adjustable legs depending from the platform, the legs having wheels for moving and turning, and a plurality of sensors incorporated with a 3-D model program and movement algorithm that utilizes the information and data collected by the sensors for directing the motors and controls units to move and adjust the robotic system and the system device provided herein.
    Type: Grant
    Filed: June 21, 2019
    Date of Patent: December 14, 2021
    Inventors: Nick Gorkavyi, Mikhail Fedorov
  • Patent number: 11192252
    Abstract: A robot is provided. The robot includes a lower module includes a wheel and a motor provided inside the lower module, and an upper module disposed at an upper portion of the lower module and including a trash can assembly and a display unit. The upper module includes a body part coupled to the upper portion of the lower module and a head part rotatably coupled to an upper portion of the body part. The body part includes a front case forming a front outer appearance of the body part and including the trash can assembly provided inside the front case, and a rear case forming a rear outer appearance of the body part and including the display unit.
    Type: Grant
    Filed: June 13, 2019
    Date of Patent: December 7, 2021
    Assignee: LG ELECTRONICS INC.
    Inventors: Iljae Lee, Dooil Byun
  • Patent number: 11181885
    Abstract: A manufacturing device monitoring system includes a plurality of manufacturing devices and a remote monitoring device. The manufacturing device includes a work unit, an equipment notifier, an error detector, and an error notifier. The error notifier determines whether or not an error detected by the error detector may be corrected by an operation from the remote monitoring device, notifies the remote monitoring device of the occurrence of the error in a case where the error can be corrected, and operates the equipment notifier to notify a first notification pattern in a case where the error cannot be corrected.
    Type: Grant
    Filed: May 22, 2018
    Date of Patent: November 23, 2021
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Takuya Nakayama, Tetsushi Oohori, Kenichiro Ishimoto, Atsushi Nakazono
  • Patent number: 11176291
    Abstract: Methods, systems, and apparatus, including medium-encoded computer program products, for computer aided design and manufacture of physical structures using roughing toolpath sequences generated for subtractive manufacturing include, in one aspect, a method including: obtaining 3D models of a part and a workpiece and information regarding different cutting tools and cutting data therefor; determining a set of candidate combinations of the different cutting tools to effect the roughing operations by estimating a target machining result for each of multiple, tool-size-ordered lists of the different cutting tools; generating an expanded set of combinations of the different cutting tools to effect the roughing operations by adding variations of the candidate combinations; populating a multidimensional roughing operations representation vector using the expanded set of combinations; optimizing values of the multidimensional roughing operations representation vector using simulation of the roughing operations; and p
    Type: Grant
    Filed: August 21, 2018
    Date of Patent: November 16, 2021
    Assignee: Autodesk, Inc.
    Inventor: Stephen William Mackman
  • Patent number: 11161242
    Abstract: In a robot having a first rotary shaft and a second rotary shaft driven by respective motors and extending in the same direction, the second rotary shaft is rotated while vibrating the first rotary shaft that is holding a load directly or indirectly, thereby rotating the first rotary shaft relative to a load. This enables calculating the gravitational torque of the load applied to the first rotary shaft.
    Type: Grant
    Filed: May 30, 2019
    Date of Patent: November 2, 2021
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Ryosuke Yamamoto, Hiroyuki Nakata, Atsumi Hashimoto, Yasuyoshi Honuchi
  • Patent number: 11159116
    Abstract: The present invention improves performance of a motor control device. A slave device (90) includes: an inverter (73) configured to drive a motor (74); and a control section (10) configured to control the motor (74) via the inverter (73). The control section (10) includes: a feedback signal obtaining section configured to obtain a feedback signal indicative of a predetermined physical quantity corresponding to an operating state of the motor (74); a communication section (120) configured to communicate with a PLC (100); and a PWM signal output section (130) configured to supply a motor driving signal to the inverter (73). The control section (10) is implemented by a single IC chip.
    Type: Grant
    Filed: December 17, 2018
    Date of Patent: October 26, 2021
    Assignee: OMRON Corporation
    Inventor: Takeshi Kiribuchi
  • Patent number: 11131368
    Abstract: An example robot includes: a leg having an upper leg member and a lower leg member coupled to the upper leg member at a knee joint; a screw actuator disposed within the upper leg member, where the screw actuator has a screw shaft and a nut mounted coaxial to the screw shaft such that the screw shaft is rotatable within the nut; a motor mounted at an upper portion of the upper leg member and coupled to the screw shaft; a carrier coupled and mounted coaxial to the nut such that the nut is disposed at a proximal end of the carrier; and a linkage coupled to the carrier, where the linkage is coupled to the lower leg member at the knee joint.
    Type: Grant
    Filed: February 27, 2019
    Date of Patent: September 28, 2021
    Assignee: Boston Dynamics, Inc.
    Inventors: Steven D. Potter, Zachary John Jackowski, Adam Young
  • Patent number: 11123866
    Abstract: A processing system is disclosed for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments.
    Type: Grant
    Filed: May 9, 2019
    Date of Patent: September 21, 2021
    Assignee: Berkshire Grey, Inc.
    Inventors: Thomas Wagner, Kevin Ahearn, Benjamin Cohen, Michael Dawson-Haggerty, Christopher Geyer, Thomas Koletschka, Kyle Maroney, Matthew T. Mason, Gene Temple Price, Joseph Romano, Daniel Smith, Siddhartha Srinivasa, Prasanna Velagapudi, Thomas Allen
  • Patent number: 11110612
    Abstract: Provided is a processing device that includes a processing unit that estimates a holding force with which an operator holds an operation body on the basis of a model that corresponds to a first robot. The first robot includes the operation body provided in a link connected to a passive articulation and a force sensor that detects a force applied to the operation body. The model regards the force sensor as a virtual articulation.
    Type: Grant
    Filed: May 22, 2017
    Date of Patent: September 7, 2021
    Assignee: SONY CORPORATION
    Inventors: Hiromasa Masuda, Kenichiro Nagasaka
  • Patent number: 11045961
    Abstract: A robot includes a robot main body that includes a base and an arm configured to include a first casing and a second casing connected to the first casing, a motor that drives the arm, and a light emitting element that emits light and in which the first casing and the second casing form a first space and a second space isolated from the first space in a state of being connected to each other, the light emitting element is disposed in the first space, and the motor is disposed in the second space.
    Type: Grant
    Filed: September 27, 2018
    Date of Patent: June 29, 2021
    Inventors: Yoshinobu Goto, Takuya Owa
  • Patent number: 11027431
    Abstract: An automatic calibration method of a robot system comprises providing a ball-rod member including a connection rod and a sphere connected to the connection rod, fixing the connection rod to an end execution tool mounted on a flange of a robot, providing distance sensors around a target point, and sensing an actual distance from each of the distance sensors to the sphere. The robot is controlled to move a center of the sphere to the target point in different poses based on the actual distances sensed by the distance sensors. A first transformation matrix of the center of the sphere with respect to a center of the flange is calculated based on pose data of the robot at the target point. A second transformation matrix of a center of the end execution tool with respect to the center of the flange is calculated based on the first transformation matrix.
    Type: Grant
    Filed: September 24, 2018
    Date of Patent: June 8, 2021
    Assignees: Tyco Electronics (Shanghai) Co. Ltd., TE Connectivity Corporation
    Inventors: Yingcong Deng, Dandan Zhang, Roberto Francisco-Yi Lu, Yun Liu, Lvhai Hu
  • Patent number: 11007648
    Abstract: A method is provided for grasping randomly sized and randomly located objects. The method may include assigning a score associated with the likelihood of successfully grasping an object. Other features of the method may include orientation of the end effector, a reachability check, and crash recovery.
    Type: Grant
    Filed: September 4, 2018
    Date of Patent: May 18, 2021
    Assignee: ABB Schweiz AG
    Inventors: Steven Wertenberger, Thomas Watson, Matthew Sallee
  • Patent number: 11007636
    Abstract: An assembly of links and motorized joint unit of a mechanism comprises one or more pairs of links, each said link having a tubular body, at least one end of each of the tubular body being an open end having at least one connector. A motorized joint unit has a first portion received in the open end of the tubular body of a first of the links, the motorized joint unit secured to the at least one connector of the first of the links, a second portion rotatable relative to the first portion by actuation of the motorized joint unit, the second portion received in the open end of the tubular body of a second of the links, the motorized joint unit secured to the at least one connector of the second of the links. A protective sleeve has a tubular body rotatably mounted over the at least one connector of each of the first and the second link, the protective sleeve concealing the connectors and a joint between the pair of links.
    Type: Grant
    Filed: March 28, 2018
    Date of Patent: May 18, 2021
    Assignee: KINOVA INC.
    Inventors: Louis Joseph Caron L'Ecuyer, Philippe Fauteux, Alexandre Picard, Sebastien Messier
  • Patent number: 11000981
    Abstract: A mold changing apparatus includes a conveyance unit that is configured to generate a driving force for positioning the mold in addition to loading and unloading the mold into and from an injection molding machine, and a fluid pressure cylinder to assist acceleration and deceleration of the mold in cooperation with the conveyance unit.
    Type: Grant
    Filed: July 30, 2019
    Date of Patent: May 11, 2021
    Assignee: NICHIETSU INC.
    Inventor: Hien Tuong The
  • Patent number: 10994358
    Abstract: The invention described herein generally pertains to a system and method for welder system that relates to creating a welding sequence for a welding environment in which the welding sequence is based upon non-real time data collected from a welding procedure. Welding procedure information is collected and utilized to create a welding sequence to perform two or more welds in which at least one parameter is based on the collected welding procedure information (e.g., non-real world welding procedure).
    Type: Grant
    Filed: March 14, 2013
    Date of Patent: May 4, 2021
    Assignee: LINCOLN GLOBAL, INC.
    Inventors: Joseph A. Daniel, Edward Enyedy, James Hearn, Judah Henry
  • Patent number: 10974393
    Abstract: An automation apparatus includes a mechanism having a machine coordinate system and configured to work on a work which moves in the machine coordinate system, a sensor configured to successively detect positions of the work as the work moves, and a processor. The processor is configured to calculate a plurality of machine coordinate positions of the work in the machine coordinate system successively based on the positions successively detected by the sensor, and is configured to determine, based on the plurality of machine coordinate positions of the work, a working position at which the mechanism is configured to work on the work.
    Type: Grant
    Filed: October 18, 2018
    Date of Patent: April 13, 2021
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Yasufumi Yoshiura, Hiroshi Anno
  • Patent number: 10969791
    Abstract: Provided is a robot, including: a plurality of sensors; a processor; a tangible, non-transitory, machine readable medium storing instructions that when executed by the processor effectuates operations including: capturing, with an image sensor, images of a workspace as the robot moves within the workspace; identifying, with the processor, at least one characteristic of at least one object captured in the images of the workspace; determining, with the processor, an object type of the at least one object based on characteristics of different types of objects stored in an object dictionary; and instructing, with the processor, the robot to execute at least one action based on the object type of the at least one object.
    Type: Grant
    Filed: September 13, 2019
    Date of Patent: April 6, 2021
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia
  • Patent number: 10967515
    Abstract: An apparatus for remotely controlling field robots, includes: an interface unit; a work command generator generating a work command signal for operating field robots; an autonomous command generator which generates an autonomous operation command signal for controlling an operation of a second field robot when a user selects a following mode and the work command generator generates a work command signal for a first field robot to correspond to the following mode, or generates an autonomous operation command signal for controlling operations of the first field robot and the second field robot in order to operate an object of work when the user selects an object mode and the work command generator generates a work command signal for the object of work to correspond to the object mode; and a communication unit transmitting the generated autonomous operation command signal to the first field robot and the second field robots.
    Type: Grant
    Filed: October 24, 2018
    Date of Patent: April 6, 2021
    Assignee: DAEGU GYEONGBUK INSTITUTE OF SCIENCE AND TECHNOLOGY
    Inventors: Seung Yeol Lee, Dae Jin Kim, Sung Hoon Eom, Jeon Il Moon
  • Patent number: 10960536
    Abstract: A robot arm supporting a workpiece, a support mechanism in a form of a coordinate measuring machine supporting a detector head, and a fixation portion in a form of a contact block fixing the detector head to the workpiece are used to bring the contact block fixed to a table and the workpiece into contact to each other. The detector head measures the workpiece while a relative position of the detector head and the workpiece is fixed.
    Type: Grant
    Filed: December 4, 2018
    Date of Patent: March 30, 2021
    Assignee: MITUTOYO CORPORATION
    Inventors: Masahiro Ishikawa, Yoshitaka Kayaba, Go Fukino, Hirotaka Muramatsu
  • Patent number: 10964152
    Abstract: A mobile service providing apparatus includes a moving unit, a specifying unit, and a recovery unit. The moving unit moves the mobile service providing apparatus. The specifying unit specifies a user to whom an article is provided. If a preset time elapses from a time when the article is provided to the user, the recovery unit recovers a portion of the provided article from the user by moving, by the moving unit, to a place where the user specified by the specifying unit is present.
    Type: Grant
    Filed: November 1, 2017
    Date of Patent: March 30, 2021
    Assignee: FUJI XEROX CO., LTD.
    Inventor: Xiongfan Jin
  • Patent number: 10954081
    Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data including image data associated with a workspace is received. The sensor data is used to generate a three dimensional view of at least a portion of the workspace, the three dimensional view including boundaries of a plurality of items present in the workspace. A grasp strategy is determined for each of at least a subset of items, and for each grasp strategy a corresponding probability of grasp success is computed. The grasp strategies and corresponding probabilities of grasp success are used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workplace and place each item singly in a corresponding location in a singulation conveyance structure.
    Type: Grant
    Filed: June 30, 2020
    Date of Patent: March 23, 2021
    Assignee: Dexterity, Inc.
    Inventors: Zhouwen Sun, Kevin Jose Chavez, Samir Menon, Harry Zhe Su, Talbot Morris-Downing, Rohit Arka Pidaparthi, Ayush Sharma, Raphael Georg Wirth
  • Patent number: 10955238
    Abstract: An apparatus and associated method for a frame that is configured to rotate a workpiece around an axis of rotation. The apparatus has a measurement device, and a known fixture that is supported by the frame. A processor is configured to execute stored computer instructions to initially-calibrate the measurement device to the axis of rotation, to employ the initially-calibrated measurement device to obtain an initial-calibration value of the known fixture, to store the initial-calibration value in a digital memory, to subsequently use the initially-calibrated measuring device to obtain an in-process automatic recalibration (IPAR) value of the known fixture, and to compare the IPAR value to the initial-calibration value to calculate a compensation value indicating positional error of the apparatus.
    Type: Grant
    Filed: March 17, 2014
    Date of Patent: March 23, 2021
    Assignee: Kerr Machine Co.
    Inventors: Joshua Philip Jones, Mark Stephen Nowell, Kelcy Jake Foster
  • Patent number: 10945484
    Abstract: Haptic output devices may provide haptic output to a user. The haptic output devices may include foot-shaped structures with cavities configured to receive the feet of users. The haptic output devices may also include foot platforms with planar exterior surfaces on which a user may stand. In hybrid arrangements, haptic output devices include foot-shaped support structures with components such as magnets and a foot platform components with corresponding electromagnets. Haptic output components such as piezoelectric components, electroactive polymer components, electromagnetic actuators, and other haptic output components may be mounted to haptic output device support structures in arrays. Shear forces and forces normal to the inner surfaces of a foot-shaped support surface and/or the exterior surface of a foot platform may be generated. Haptic output may be generated based on sensor signals such as sensor signals associated with foot movement.
    Type: Grant
    Filed: April 25, 2018
    Date of Patent: March 16, 2021
    Assignee: Apple Inc.
    Inventor: Paul X. Wang
  • Patent number: 10941854
    Abstract: An operating device includes a shaft operated to tilt, a contact section on the shaft in a biased state movable and tiltable integrally with the shaft, a first holding section generating a feeling of moderation by sliding against and holding the contact section at tilted positions the shaft, and a second holding section contacting the contact section, guiding the contact section to a predetermined position from the tilted positions, and holding the contact section at the predetermined position. The first holding section is movable between first and second positions. The contact section contacts the first holding section and is separated from the second holding section when the first holding section is at the first position. The contact section is separated from the first holding section and contacts the second holding section when the first holding section is at the second position.
    Type: Grant
    Filed: February 6, 2020
    Date of Patent: March 9, 2021
    Assignee: ALPS ALPINE CO., LTD.
    Inventor: Yu Takeda
  • Patent number: 10919151
    Abstract: Method and apparatus for training a machine learning model for controlling a robotic picking device having a suction device end effector. A robotic control operation and a candidate contact point for holding a first item using a suction device of a robotic picking arm are determined, by processing information describing the first item as an input to a machine learning model. A seal quality metric is estimated for the candidate contact point, based on a predicted deformed n-dimensional shape of the suction device and a n-dimensional shape associated with the first item. One or more weights within the machine learning model are refined based on the estimated seal quality metric.
    Type: Grant
    Filed: March 23, 2018
    Date of Patent: February 16, 2021
    Assignee: Amazon Technologies, Inc.
    Inventors: Andrew D. Marchese, William Clay Flannigan, Parris S. Wellman
  • Patent number: 10919160
    Abstract: An electrodynamic apparatus includes a first arm extending in a first direction, a second arm supported by the first arm, a linear actuator that moves the second arm along the first direction with respect to the first arm, a support extending in a second direction that is different from the first direction and supporting the first arm, and a rotating mechanism that rotates the support about an axis of rotation parallel to the second direction. The first arm includes a power transmission antenna. The second arm includes a power reception antenna. The power transmission antenna supplies electric power to the power reception antenna wirelessly. In rotating the support, the linear actuator moves the center of gravity of the second arm to the axis of rotation first, and then the rotating mechanism rotates the support.
    Type: Grant
    Filed: January 4, 2017
    Date of Patent: February 16, 2021
    Assignee: Panasonic Intellectual Property Management Co., Ltd
    Inventors: Tsutomu Sakata, Eiji Takahashi, Hiroshi Kanno, Satoru Kikuchi
  • Patent number: 10894322
    Abstract: A method for motion planning for at least one robot includes providing a start configuration comprising at least one start position and a destination configuration comprising at least one destination position for the robot, providing a motion of at least one obstacle in the workspace of the robot, the obstacle motion defining a position of the obstacle that varies over time, and determining a motion of the robot from its start configuration to its destination configuration. The robot motion definies a position of the robot over a time period from a start time to a destination time. The robot motion is determined such that at each point in time between the start and destination times a distance between the robot and the obstacle does not fall below a predetermined threshold.
    Type: Grant
    Filed: May 17, 2018
    Date of Patent: January 19, 2021
    Assignee: KUKA Hungária Korlátolt Felelösségû Társaság
    Inventor: István Komlósi
  • Patent number: 10875189
    Abstract: A method for manipulating a deformable object includes determining respective 3D position of one or more markers on the deformable object held by a robotic manipulator; determining a deformation model of the deformable object by mapping movement of the robotic manipulator and movement of one or more markers; and controlling the robotic manipulator based on the determined deformation model to manipulate the deformable object so as to move the one or more markers into respective target position.
    Type: Grant
    Filed: February 6, 2018
    Date of Patent: December 29, 2020
    Assignee: City University of Hong Kong
    Inventors: Jia Pan, Zhe Hu
  • Patent number: 10852738
    Abstract: A method of navigating a self-propelled robotic tool comprises transmitting a wireless signal (66) along a first signal path between the robotic tool (14) and a first wireless interface of a base station (16) remote from the robotic tool (14); transmitting a wireless signal (66) along a second signal path between the robotic tool (14) and a second wireless interface of the base station (16), said second wireless interface being spatially separated from the first wireless interface by a separation distance; upon receipt, comparing the signal transmitted along the first signal path with the signal transmitted along the second signal path to obtain a propagation time difference between the signal transmitted along the first signal path and the signal transmitted along the second signal path, said propagation time difference defining a path length difference between said first and second signal paths; and calculating, based on the separation distance and the path length difference, a value representative of a bea
    Type: Grant
    Filed: January 4, 2017
    Date of Patent: December 1, 2020
    Assignee: HUSQVARNA AB
    Inventors: Björn Mannefred, Stefan Grufman
  • Patent number: 10836040
    Abstract: The control device 41 includes a desired variable value determining unit (52a) which determines desired values of unknown variables composed of coefficients in respective terms of a polynomial function expressing a desired ZMP trajectory and a landing position correction amount for correcting a desired landing position of a leg from a reference desired landing position. The desired variable value determining unit (52a) uses an evaluation function having the coefficients in the polynomial function and the landing position correction amount as unknown variables, and a plurality of constraint conditions each configured by a linear equality or linear inequality regarding the unknown variables, to determine desired values of the unknown variables, by a solution method for a quadratic programming problem, in such a way as to minimize the value of the evaluation function.
    Type: Grant
    Filed: August 24, 2018
    Date of Patent: November 17, 2020
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Takumi Kamioka
  • Patent number: 10828787
    Abstract: A power transmission unit of a drive mechanism has a link mechanism on both sides of a base portion. The link mechanism has a first link member having a base end portion provided to the base portion to be rotated about a third rotational axis, a second link member having a base end portion connecting the first link member's distal end portion to be rotated about a fourth rotational axis, and a third link member which is provided to a driven body to be rotated about a fifth rotational axis and to which the second link member's distal end portion is provided to be rotated about a sixth rotational axis orthogonal to the fifth rotational axis. A desired operation angle range of two degrees of freedom in a driven body can be ensured with a compact configuration while suppressing deflection of a structure to which the driven body is mounted.
    Type: Grant
    Filed: December 5, 2016
    Date of Patent: November 10, 2020
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventor: Masayuki Kamon
  • Patent number: 10824186
    Abstract: A user interface device for controlling a robot manipulator having an end effector comprising at least one movable element, the user interface device comprising: a body for being held by a user, the body comprising an elongate grip portion configured to be gripped by one or more of a user's second to fourth fingers; a trigger extending transversely to the direction of elongation of the grip portion, the trigger being supported by the body so as to be capable of rotating relative to the body about a rotation axis passing through the grip portion; and a drive mechanism at least partially housed in the grip portion, the drive mechanism being coupled to the trigger for applying a torque to the trigger.
    Type: Grant
    Filed: September 19, 2017
    Date of Patent: November 3, 2020
    Assignee: CMR SURGICAL LIMITED
    Inventor: Rebecca Anne Cuthbertson
  • Patent number: 10800048
    Abstract: A robot includes a robot housing containing a robot control apparatus that controls the robot having a motor, a brake that brakes the motor by short-circuiting between power lines for supplying electric power to the motor, and a conversion element that converts a current generated by braking of the motor by the brake into heat, wherein the conversion element is attached to the robot housing.
    Type: Grant
    Filed: November 19, 2018
    Date of Patent: October 13, 2020
    Assignee: Seiko Epson Corporation
    Inventors: Kotaro Sekine, Ryosuke Teranaka