With Program Recording Or Composing Means Patents (Class 318/568.1)
  • Patent number: 10445074
    Abstract: Disclosed embodiments include a system and a method of compiling a PLC (Programmable Logic Controller) command. In some embodiments, the method includes: determining one compile processing scheme chosen from a plurality of compile processing schemes for a command included in a program to be executed in a PLC; and executing a command compile or compiler optimized for a rate or a size based on the chosen compile processing scheme.
    Type: Grant
    Filed: October 21, 2016
    Date of Patent: October 15, 2019
    Assignee: LSIS CO., LTD.
    Inventor: Chang-Woo Park
  • Patent number: 10437229
    Abstract: A numerical controller includes a machining program creation unit for receiving an input of a machining program including a cycle command, a tool path creation unit for creating a plurality of tool paths based on the machining program, a display unit for displaying the machining program and the plurality of tool paths, and a correspondence relation management unit for recording a relation between an argument of the cycle command and the plurality of tool paths in an information table, wherein the correspondence relation management unit receives a selection of a selected tool path corresponding to one of the plurality of tool paths, and specifies an argument of the cycle command corresponding to the selected tool path with reference to the information table, and the display unit displays the specified argument in a different form from a form of another argument in the machining program.
    Type: Grant
    Filed: December 1, 2016
    Date of Patent: October 8, 2019
    Assignee: Fanuc Corporation
    Inventors: Susumu Nagayama, Akira Egashira, Hideaki Maeda
  • Patent number: 10434655
    Abstract: A robot system includes a fixed camera that obtains first measurement data by detecting a plurality of features positioned within a detection range, the detection range including at least part of a range in which a robot arm is movable, a hand camera movable with the robot arm, and a control apparatus that controls the robot arm. A calibration function that relates a value obtained as part of the first measurement data to a command value provided to the robot arm at each of a plurality of positions and orientations at which the hand camera obtains second measurement data by detecting each mark.
    Type: Grant
    Filed: September 1, 2015
    Date of Patent: October 8, 2019
    Assignee: Canon Kabushiki Kaisha
    Inventor: Hideaki Suzuki
  • Patent number: 10433119
    Abstract: A position determining device is equipped with a matching unit. The matching unit matches a random pattern in a photographed image of a portion of a ceiling or floor photographed by a portable terminal against a random pattern in a photographed image of a larger area of the ceiling or floor than the aforementioned portion so as to determine the position of the photographed image of the aforementioned portion on the photographed image of the larger area. The matching unit determines the position of the ceiling located above the portable terminal or the position of the floor located therebelow on the basis of the identified position on the photographed image of the larger area.
    Type: Grant
    Filed: April 8, 2016
    Date of Patent: October 1, 2019
    Assignee: NEC CORPORATION
    Inventor: Rui Ishiyama
  • Patent number: 10429814
    Abstract: A numerical control apparatus includes a command argument determination unit which determines whether a vector is included in an argument of a circular arc interpolation command which is included in command data and a circular arc shape forming unit which forms a circular arc shape based on a machining program, and a start point, an end point, and the vector, which are specified by the argument of the circular arc interpolation command, when the command argument determination unit determines that the vector is included in the argument of the circular arc interpolation command.
    Type: Grant
    Filed: October 21, 2015
    Date of Patent: October 1, 2019
    Assignee: FANUC Corporation
    Inventors: Kouichi Noda, Soichiro Ide
  • Patent number: 10421198
    Abstract: A counterbalancing linkage mechanism includes a base link including a first joint; a second link forming a second joint to be rotatably connected to the base link; and a counter balancer having one portion disposed at the second joint and another portion movably disposed at the base link along a length direction of the second link. The counter balancer compensates a gravitational torque generated due to a weight of the second link when the second link rotates on the second joint. A third link is connected to the second link. The counter balancer comprises a counter balancer delivery portion connected to the second link and rotating by the rotation of the second link. A counter balancer driving portion is in contact with the counter balancer delivery portion, linearly moves by the rotation of the counter balancer delivery portion, and compensates the gravitational torque and a load capacity due to interaction with the counter balancer delivery portion.
    Type: Grant
    Filed: February 11, 2016
    Date of Patent: September 24, 2019
    Assignees: KOREA UNIVERSITY RESEARCH AND BUSINESS FOUNDATION, HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Jae-Bok Song, Hyun Soo Lee, Hwi-su Kim, Seung Woo Song
  • Patent number: 10399621
    Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.
    Type: Grant
    Filed: March 18, 2019
    Date of Patent: September 3, 2019
    Assignee: Boston Dynamics, Inc.
    Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
  • Patent number: 10379523
    Abstract: A machining program editing assist apparatus includes a display controller. While the display objects are being displayed in either one of the program data display area and the process list display area, the display controller decides that a designated display object of the one of the display areas is the display object designated by the display objects of the one of the display areas and a specific point, differentiates the designated display object from the other display objects in the one of the display areas, decides that a designated display object of the other of the display areas is the display candidate of the other of the display areas, includes the designated display object in the display objects of the other of the display areas, and differentiates the designated display object from the other display objects in the other of the display areas.
    Type: Grant
    Filed: February 22, 2017
    Date of Patent: August 13, 2019
    Assignee: YAMAZAKI MAZAK CORPORATION
    Inventors: Kazuhiro Kikata, Morikuni Kimura, Takuro Katayama, Shunsuke Koike, Takayuki Ota
  • Patent number: 10357322
    Abstract: A system for enabling a user to remotely control a robotic medical device system includes a motion capture apparatus to capture motion of a user in a sensing volume and generate indicative output data. The system includes a control unit configured to execute gesture recognition logic that recognizes a user gesture based on analysis of the indicative output data. The control unit executes interpreter logic that is configured to translate the recognized user gesture into a corresponding robotic medical device control command configured to control an aspect of the operation of the robotic medical device system.
    Type: Grant
    Filed: August 31, 2016
    Date of Patent: July 23, 2019
    Assignee: ST. JUDE MEDICAL, ATRIAL FIBRILLATION DIVISION, INC.
    Inventor: Eric S. Olson
  • Patent number: 10350755
    Abstract: A processing system is disclosed for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments.
    Type: Grant
    Filed: February 8, 2017
    Date of Patent: July 16, 2019
    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: 10316492
    Abstract: A movable machine including a chassis, a tool coupled to the chassis, an operator control carried by the chassis and a controller. The controller is communicatively coupled to the operator control. The controller being configured to send a force feedback and/or a vibration feedback to the operator control thereby conveying information to the operator. The information is not related to a load encountered by the tool.
    Type: Grant
    Filed: July 30, 2015
    Date of Patent: June 11, 2019
    Assignee: CNH Industrial America LLC
    Inventors: Gary R. Kassen, Duqiang Wu, Aditya Singh, Uli Melchinger, Navneet Gulati, Patrick T. Dean
  • Patent number: 10311360
    Abstract: In one embodiment, the present invention may be implemented as a software platform, data model and method to build robotic managers (RM). A robotic manager is, in one embodiment, a computer system that automates tasks performed by a human manager. A MAP RM has a skillset which may be divided into two categories: 1) basic skills such as visual recognition, voice command processing, data visualization, unstructured search, and 2) expert skills such as finance, risk management, cyber security, and information technology. Expert skills may be categorized by domain.
    Type: Grant
    Filed: March 20, 2018
    Date of Patent: June 4, 2019
    Inventor: Jean-Michel Raymond Ares
  • Patent number: 10300605
    Abstract: A robot is controlled by a control unit. The robot includes: a first sensor; a second sensor; a third sensor; a fourth sensor; a first circuit capable of transmitting and receiving signals to and from the first sensor and the second sensor; and a second circuit capable of transmitting and receiving signals to and from the third sensor and the fourth sensor. The control unit and the first circuit are connected through a first serial wire, and the first circuit and the second circuit are connected through a second serial wire.
    Type: Grant
    Filed: December 8, 2016
    Date of Patent: May 28, 2019
    Assignee: Seiko Epson Corporation
    Inventor: Daisuke Sato
  • Patent number: 10303135
    Abstract: A method and an apparatus are provided for controlling a smart home device. In the method, the apparatus acquires a target state of the smart home device, where the target state is a state determined according to visitor information within a predetermined range. The smart home device performs an operation corresponding to the target state. The smart home device flexibly performs different operations according to the actual visit situation so that working efficiency is improved. Especially when there are a large number of visitors within the predetermined range, the smart home device may automatically enter an unconventional working state, such that inconvenience caused by movement and noise to the visitors may be prevented, thereby improving overall performance of the smart home device.
    Type: Grant
    Filed: October 13, 2015
    Date of Patent: May 28, 2019
    Assignee: Xiaomi Inc.
    Inventors: Pengfei Zhang, Yongfeng Xia, Yidong Wang, Tiejun Liu
  • Patent number: 10266220
    Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.
    Type: Grant
    Filed: October 22, 2018
    Date of Patent: April 23, 2019
    Assignee: Boston Dynamics, Inc.
    Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
  • Patent number: 10262655
    Abstract: Examples for augmenting user recognition via speech are provided. One example method comprises, on a computing device, monitoring a use environment via one or more sensors including an acoustic sensor, detecting utterance of a key phrase via data from the acoustic sensor, and based upon the selected data from the acoustic sensor and also on other environmental sensor data collected at different times than the selected data from the acoustic sensor, determining a probability that the key phrase was spoken by an identified user. The method further includes, if the probability meets or exceeds a threshold probability, then performing an action on the computing device.
    Type: Grant
    Filed: August 14, 2015
    Date of Patent: April 16, 2019
    Assignee: MICROSOFT TECHNOLOGY LICENSING, LLC
    Inventor: Andrew William Lovitt
  • Patent number: 10251719
    Abstract: System and method of virtual feedback with haptic devices for use with computer-assisted medical devices includes one or more processors and an input device coupled to a control unit configured to determine a reference point for the input device, select a virtual feedback model (VFM) for the input device from among a plurality of VFMs configure parameters of the VFM, determine a position of the input device based on information from one or more sensors associated with the input device, determine a feedback level for the input device based on the reference point, the position, and the VFM, and send one or more feedback commands to one or more actuators associated with the input device based on the feedback level. In some embodiments, the VFM includes a transfer function that has one or more characteristics selected from unidirectional, bidirectional, linear, non-linear, asymmetric, symmetric, isotropic, non-isotropic, and hysteresis.
    Type: Grant
    Filed: March 20, 2015
    Date of Patent: April 9, 2019
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventor: Azizian Mahdi
  • Patent number: 10252420
    Abstract: A collaborative robot employs low ratio drives for three or more axes of movement, such as three primary axes. An arm assembly may be mounted to a support for movement along a vertical linear axis, and the arm assembly may include first and second arm links that are each rotatable about vertical axes, e.g., such that the arm links move in a horizontal plane. Low ratio drives may be used for movement along the vertical linear axis and the rotary axes for the first and second arm links. Feedforward and feedback control may be employed to control the movement of the arm assembly and arm links, and feedback torque components may be limited to 25% or less of the maximum drive torque.
    Type: Grant
    Filed: June 9, 2017
    Date of Patent: April 9, 2019
    Assignee: Precise Automation, Inc.
    Inventors: Brian Carlisle, Bruce Shimano
  • Patent number: 10239205
    Abstract: A corpus curation method, system, and non-transitory computer readable medium, include mapping a kinematic motion of a robot to a granular feature of an item in the corpus and answering a user question using the mapped kinematic motion embedded in an answer by the robot.
    Type: Grant
    Filed: June 29, 2016
    Date of Patent: March 26, 2019
    Assignee: INTERNATIONAL BUSINESS MACHINES CORPORATION
    Inventors: Laura Irina Rusu, Guy Sharon, Gandhi Sivakumar
  • Patent number: 10220949
    Abstract: The invention relates to an aircraft seat comprising an adjusting device, the aircraft seat comprising at least one adjustable seat element. The seat element has an adjustable state and a locked state, the seat element being adjustable by means of manual force application and/or force application by a spring element and/or force application due to the weight of parts of the aircraft seat only in the adjustable state. The adjusting device comprises at least one control element and at least one locking element, the locking element being movable by means of the control element between a locking position in which the seat element is locked, and a neutral position in which the seat element is adjustable. The control element is an electronic and/or electric switch, and the locking element can be moved between the locking position and the neutral position by means of an electrically operated actuator which can be actuated by means of signals from the switch.
    Type: Grant
    Filed: June 26, 2014
    Date of Patent: March 5, 2019
    Assignee: LUFTHANSA TECHNIK AG
    Inventor: Oliver Thomaschewski
  • Patent number: 10220525
    Abstract: In an approach to non-functional requirement testing of a robot, a computer determines one or more kinematic actions included in a received command. The computer determines at least one component of the robot included in an operation of the one or more kinematic actions. The computer determines at least one agent associated with the at least one component of the robot included in the one or more kinematic actions. The computer sends the one or more kinematic actions to the robot. In response to the robot performing the one or more kinematic actions, the computer receives, from the at least one agent, at least one characteristic of the performed one or more kinematic actions associated with the at least one component of the robot included in the one or more kinematic actions. The computer, based on the received at least one characteristic, generates one or more test results.
    Type: Grant
    Filed: March 1, 2017
    Date of Patent: March 5, 2019
    Assignee: International Business Machines Corporation
    Inventors: Kristina Y. Choo, Krishnan K. Ramachandran, Gandhi Sivakumar
  • Patent number: 10206751
    Abstract: A robotic system comprises a joint position controller and a manipulator having coupled together housings. The manipulator is adapted to hold and manipulate a device. Motors for actuating corresponding degrees of freedom of the device and sensor processing units for sensing and converting states of the motors into digitally transmittable information are housed in one or more of the housings. A remote current controller is housed in a different housing than the one or more housings for space and/or heat considerations. The remote current controller generates drive signals provided over individual signal lines to the motors by using motor commands provided by the joint position controller and by using the digitally transmittable information received from the sensor processing units.
    Type: Grant
    Filed: January 1, 2018
    Date of Patent: February 19, 2019
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Gerard J. Labonville, Alan S. Bradley
  • Patent number: 10191488
    Abstract: An autonomous vehicle comprises an environment sensing means for sensing an environment of the autonomous vehicle, and a computing unit configured to perform a mapping function and a localization function. The mapping function is based upon signals supplied from the environment sensing means to build a map. The localization function localizes the autonomous vehicle within the map and generates localization information. The autonomous vehicle further comprises boundary distance sensing means configured to generate a distance signal correlated to a distance between the autonomous vehicle and boundary indication means. The computing unit is configured to receive the distance signal and to perform the mapping function or the localization function based upon a signal from the environment sensing means and the distance signal from the boundary distance sensing means. The system also comprises a boundary wire indicating a border of an area in which autonomous driving of the vehicle can be performed.
    Type: Grant
    Filed: September 19, 2016
    Date of Patent: January 29, 2019
    Assignee: NOKIA RESEARCH INSTITUTE EUROPE GMBH
    Inventors: Mathias Franzius, Nils Einecke
  • Patent number: 10188491
    Abstract: A dental restoration producing system of producing a dental restoration from a dental mill blank with one or more through-holes according to one embodiment, when the dental restoration includes no through-hole of the dental restoration, the superposed data generating section generates a superposed data in which at least one through-hole of the dental mill blank is not superposed with the dental restoration, when the dental restoration includes a through-hole of the dental restoration, the superposed data generating section generates a superposed data in which at least one through-hole of the dental mill blank is not superposed with the dental restoration and the through-hole of the dental restoration, or a superposed data in which at least one through-hole of the dental mill blank is included in the through-hole of the dental restoration which is larger than the at least one through-hole of the dental mill blank.
    Type: Grant
    Filed: August 29, 2016
    Date of Patent: January 29, 2019
    Assignee: SHOFU INC.
    Inventors: Norihiro Matsui, Yusei Kadobayashi
  • Patent number: 10150564
    Abstract: An automated warehousing system for use in a warehouse having a storage racks includes drawers partitioned into multiple compartments to contain different parcels, the drawers being at designated locations of individual cells in the storage racks and adapted to be opened and closed. The system also has a plurality of drones configured to identify a designated one of the drawers at a designated location and a designated one compartment of the designated one drawer. The drones have gripper heads translatable relative to opened drawers to retrieve parcels therefrom. The system further has a communication subsystem communicating with the drones to control their flying and also to control their gripper heads relative to opened drawers and communicating with individual cells for opening and closing drawers as drones approach and depart the selected individual cells.
    Type: Grant
    Filed: February 27, 2018
    Date of Patent: December 11, 2018
    Inventor: Joseph Porat
  • Patent number: 10152057
    Abstract: An acquirer of an autonomous mobile device acquires a value of level difference between a datum level and the device. A determiner determines whether the value of level difference acquired by the acquirer is equal to or higher than a given value. A movement restrictor restricts parallel shift of the device when the determiner determines that the value is equal to or higher than the given value.
    Type: Grant
    Filed: October 24, 2016
    Date of Patent: December 11, 2018
    Assignee: CASIO COMPUTER CO., LTD.
    Inventors: Yoshihiro Kawamura, Hiroki Atsumi
  • Patent number: 10133244
    Abstract: Apparatus for producing finished dental restorations at the dentist's chair side from 3D CAD data. These restorations may be manufactured from ceramics, metals and polymers via subtractive means i.e. milling and grinding. A polar compact mechanism has been employed with the implementation of an inverse kinematic transform in the machine control to allow Cartesian programming. The margin following tool path is very computationally intensive and requires many minutes of calculation time and numerical control programs in excess of 10 mb for a typical restoration. Conventionally this would require the user to wait several minutes before running the machine which would increase the wait time for both the patient and the doctor. This problem is solved by allowing the program to be generated in parallel with the machine in the process of actually cutting the restoration.
    Type: Grant
    Filed: June 13, 2012
    Date of Patent: November 20, 2018
    Assignee: James R. Glidewell Dental Ceramics, Inc.
    Inventors: David Leeson, Dean Dohi
  • Patent number: 10131361
    Abstract: A method is presented, which comprises: obtaining or holding available at least one speed profile for at least one selected link of a travel network, wherein said at least one speed profile represents a plurality of speeds for a plurality of subsequent segments of said selected link; smoothing said at least one speed profile for said at least one selected link in a first smoothing step by: determining whether said at least one speed profile represents one or more speeds that are associated with an acceleration above a predetermined acceleration threshold or a deceleration below a predetermined deceleration threshold; for each speed that is determined to be associated with an acceleration above said acceleration threshold or a deceleration below said deceleration threshold, determining a respective adapted speed for replacing said respective speed at least partially based on speeds for one or more adjacent segments of said respective segment.
    Type: Grant
    Filed: May 25, 2016
    Date of Patent: November 20, 2018
    Assignee: HERE Global B.V.
    Inventors: Dongwook Jang, Joshua Thompson, Gavril Giurgiu, Anton Anastassov
  • Patent number: 10132825
    Abstract: A moving speed estimation device which includes a vibration component information estimation unit 4 which estimates the vibration cycle or vibration frequency of the periodic vibration component included in instantaneous moving speed of a mobile body A along with a periodic moving action of the mobile body A. The moving speed estimation device also includes a speed estimated value adjustment processing unit 5 which sequentially generates speed values as estimated values of the moving speed of the mobile body A, where the speed value is obtained by performing at least processing of removing a vibration component corresponding to the estimated value of the vibration cycle or vibration frequency for the time series of the instantaneous moving speed estimated from the time series of the measured value of the position of the mobile body A.
    Type: Grant
    Filed: April 20, 2016
    Date of Patent: November 20, 2018
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Takayuki Kawai, Kaoru Toba
  • Patent number: 10133258
    Abstract: A control apparatus for controlling a machine tool on the basis of a machining program is provided with a program analysis unit which analyzes an input machining program, a process table creation unit which, on the basis of the results of the analysis by the program analysis unit, creates a process table that sequentially lists processes according to the execution flow of the machining program, and a display unit which displays the process table created by the process table creation unit.
    Type: Grant
    Filed: December 27, 2013
    Date of Patent: November 20, 2018
    Assignee: MAKINO MILLING MACHINE CO., LTD.
    Inventors: Rie Kawai, Hideki Heishi, Toshimasa Uetama, Kenichi Ono
  • Patent number: 10108173
    Abstract: A numerical control device that controls servomotors configured to process a workpiece into an arbitrary finishing shape by performing a plurality of processing operations so that the tool moves along a processing locus, the numeral control device includes: an initial locus deriving unit configured to derive the processing locus based on the arbitrary finishing shape; a processed range acquiring unit configured to acquire a processed range in which the tool has performed the processing operation; a receiving unit configured to receive a processing instruction for a changed finishing shape different from the arbitrary finishing shape; and a changed locus deriving unit configured to derive a changed processing locus based on a shape of a changed processed part obtained by excluding the processed range from the changed finishing shape at the time of interruption of the processing.
    Type: Grant
    Filed: March 27, 2017
    Date of Patent: October 23, 2018
    Assignee: FANUC CORPORATION
    Inventors: Hiroshi Matsumura, Makoto Suzuki
  • Patent number: 10099466
    Abstract: A machine tool incorporating two angular axes as an inverted SCARA arm and a vertical, linear Z-axis, is described. A build surface on which a 3D object may be additively built is rotated around a lambda axis and also revolved around a theta axis. Embodiments are described that: (i) are free of belts, pulleys, cables and other soft drive mechanisms; (ii) place all three axis motors below a base plate; (iii) direct drive the build surface from shafts of a lambda and theta motor; (iv) are free of a rectangular box frame; (v) use angle sensors mounted directly on motor drive shafts; (vi) measure and compensate for build surface skew; (vii) incorporate a single element for both Z-axis support and a bearing surface. Both device and method embodiments are claimed.
    Type: Grant
    Filed: November 24, 2017
    Date of Patent: October 16, 2018
    Assignee: Polarworks, AS
    Inventors: Simen Svale Skogsrud, Thomas Boe-Wiegaard, Even Westvang, Alexandre Chappel, Hans Fosker
  • Patent number: 10093020
    Abstract: A robot apparatus includes: a grasping section configured to grasp an object; a recognition section configured to recognize a graspable part and a handing-over area part of the object; a grasp planning section configured to plan a path of the grasping section for handing over the object to a recipient by the handing-over area part; and a grasp control section configured to control grasp operation of the object by the grasping section in accordance with the planned path.
    Type: Grant
    Filed: December 7, 2015
    Date of Patent: October 9, 2018
    Assignee: SONY CORPORATION
    Inventors: Yasunori Kawanami, Toshimitsu Tsuboi, Tsutomu Sawada, Masakuni Nagano, Akinori Kamoda
  • Patent number: 10081107
    Abstract: A monitoring system monitors entry of an object into a surrounding area of a robot. The monitoring system includes visible light irradiation section, a sensor section and a monitoring control unit. The visible light irradiation section irradiates visible light from a level higher than that of the robot toward at least an outer edge portion of at least one of an operating area, which is set up to enclose a movable range of the robot, and a predetermined area which is set up around the operating area. The sensor section monitors entry of a new object, which is not registered in advance, into the operating area. The monitoring control unit issues a request for stopping the robot to a robot control unit that controls the robot, when entry of a new object into the operating area is detected by the sensor section.
    Type: Grant
    Filed: September 19, 2013
    Date of Patent: September 25, 2018
    Assignee: DENSO WAVE INCORPORATED
    Inventor: Kouji Sakabe
  • Patent number: 10082781
    Abstract: A machining program creation apparatus for a wire electrical discharge machine for creating a machining program for cutting a predetermined machining shape in an object to be machined includes a first unit defining the machining shape; a second unit defining a shape of the object to be machined; a third unit designating a reference position to be used when the machining shape is machined; a fourth unit for generating a first machining path for cutting the machining shape based on the machining shape, the shape of the object to be machined, and the machining reference position; a fifth unit for generating the shape of the object to be machined as a second machining path based on the shape of the object to be machined and the machining reference position; and a sixth unit for drawing the first and the second machining paths on the same screen.
    Type: Grant
    Filed: September 2, 2016
    Date of Patent: September 25, 2018
    Assignee: FANUC CORPORATION
    Inventors: Masanobu Takemoto, Kaoru Hiraga
  • Patent number: 10054951
    Abstract: An indoor localization and navigation system for a mobile robot, the system comprising: a projector mounted on the mobile robot and configured to project a temporal projector light signal, wherein the temporal projector light signal is encoded, for each pixel of the projector, with an information segment comprising the pixel coordinates of the each pixel of the projector; a stationary sensor node comprising a light sensor configured to detect the temporal projector light signal and generate a sensor signal and a transmitter configured to transmit a sensor node identifier and a position code generated based on the sensor signal; a receiver mounted on the mobile robot and configured to receive the sensor node identifier and the position code from the transmitter; and an onboard computer mounted on the mobile robot and operatively coupled to the projector and the receiver, wherein the onboard computer is configured to receive the sensor node identifier and the position code from the receiver and to determine a l
    Type: Grant
    Filed: May 25, 2016
    Date of Patent: August 21, 2018
    Assignee: FUJI XEROX CO., LTD.
    Inventors: Qiong Liu, Shang Ma, Sven Kratz
  • Patent number: 10042348
    Abstract: A tool path-generating method for computing a tool path to process a workpiece, wherein the tool path for a designated tool when processing using the designated tool is previously established. The tool path-generating method includes a path-computing process for computing, on the basis of the tool path for the designated tool, the tool path of a substitute tool differing from the designated tool when processing with the substitute tool. The path-computing process computes the portion that ultimately forms the machined surface when the workpiece is processed using the designated tool and sets the tool path for the substitute tool on the basis of the portion that ultimately forms the machined surface.
    Type: Grant
    Filed: October 11, 2012
    Date of Patent: August 7, 2018
    Assignee: MAKINO MILLING MACHINE CO., LTD.
    Inventors: Yasunori Masumiya, Keitaro Suzuki, Kyohei Suzuki
  • Patent number: 10040197
    Abstract: A control device 40 for a mobile robot 1 converts a moment manipulated variable ??_dmd determined in accordance with a deviation between a desired value and an observed value of a predetermined state quantity of the mobile robot 1 to a rotation manipulated variable ??? by which contacting portions 13, 23 of a plurality of movable links 3, 4 to be brought into contact with an external object are to be rotated about a desired ZMP, and corrects a desired position/posture of each contacting portion 13, 23 to a position/posture rotated about the desired ZMP by the rotation manipulated variable ???.
    Type: Grant
    Filed: September 23, 2016
    Date of Patent: August 7, 2018
    Assignee: HONDA MOTOR CO., LTD
    Inventor: Masao Kanazawa
  • Patent number: 10035269
    Abstract: A device for aligning a robotic arm with an end-effector is provided. The device may include a spherical tool and a receiver. The spherical tool may include a spherical end portion and a distal base portion configured to releasably couple to the end-effector. The receiver may include a plurality of arms and a proximal base portion configured to releasably couple to the robotic arm. Furthermore, the arms may be configured to receive the spherical end portion and include one or more indicators configured to track alignment between the robotic arm and the end-effector.
    Type: Grant
    Filed: September 16, 2015
    Date of Patent: July 31, 2018
    Assignee: The Boeing Company
    Inventors: Camille Doristine Carter, Daniel David Bloch
  • Patent number: 10031512
    Abstract: An NC program generating and editing apparatus 2 includes an interactive input module 9, a first memory 10, an NC program generator 11, a second memory 12, a program editor 13, a change checker 14 and a data updater 15. The change checker 14 determines whether a changed portion of an edited NC program consists of only a change related to a preset NC code, and when the changed portion consists of only a change related to the NC code, corresponding basic data is updated by the data updater 15.
    Type: Grant
    Filed: February 20, 2015
    Date of Patent: July 24, 2018
    Assignee: DMG MORI SEIKI CO., LTD.
    Inventors: Kyoichi Tateno, Hironari Sakamoto
  • Patent number: 10017218
    Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.
    Type: Grant
    Filed: June 27, 2016
    Date of Patent: July 10, 2018
    Assignee: Boston Dynamics, Inc.
    Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
  • Patent number: 9999976
    Abstract: A system and method of instructing a device is disclosed. The system includes a signal source for providing at least one visual signal where the at least one visual signal is substantially indicative of at least one activity to be performed by the device. A visual signal capturing element captures the at least one visual signal and communicates the at least one visual signal to the device where the device interprets the at least one visual signal and performs the activity autonomously and without requiring any additional signals or other information from the signal source.
    Type: Grant
    Filed: October 29, 2015
    Date of Patent: June 19, 2018
    Assignee: VECNA TECHNOLOGIES, INC.
    Inventor: Neal Checka
  • Patent number: 9983563
    Abstract: A method for controlling a machine tool in which a main spindle on which a tool is mounted and a table holding a workpiece are moved relative to each other by two or more translation axes that are not perpendicular to each other and at least one rotation axis. In the method, an error in a position of the tool with respect to the workpiece due to a geometric error is corrected to calculate a command value for controlling the translation axis. The method includes a conversion step of converting the error and a correction value for correcting the error by performing a homogeneous coordinate transformation from a workpiece coordinate system to the imaginary Cartesian coordinate system, and a correction value calculation step of calculating a correction value in a command value coordinate system of the translation axis by performing a homogeneous coordinate transformation of the correction value.
    Type: Grant
    Filed: February 24, 2015
    Date of Patent: May 29, 2018
    Assignee: Okuma Corporation
    Inventors: Yasunori Kondo, Tetsuya Matsushita
  • Patent number: 9975245
    Abstract: Example methods and systems for planning a body position for a robotic device are described. An example method includes receiving a reference step path that defines predetermined step locations for end components of a robotic device. The method also includes receiving a set of constraints, receiving a predetermined height and pitch, and assigning a cost to each of a height of the body, a height acceleration of the body, and a pitch acceleration of the body. The method also includes determining a new height and a new pitch of the body that reduces the height acceleration and the pitch acceleration of the body when the end component moves along the reference step path. Further, the method includes instructing the robotic device to actuate the plurality of appendages to achieve the new height and the new pitch of the body when the end component moves along the reference step path.
    Type: Grant
    Filed: December 19, 2017
    Date of Patent: May 22, 2018
    Assignee: Boston Dynamics, Inc.
    Inventor: Eric Whitman
  • Patent number: 9957003
    Abstract: A device for generating a desired ZMP trajectory for a mobile robot includes a polynomial function coefficient group determining section (53a) which determines, by regarding the desired ZMP trajectory as a trajectory expressed by a polynomial function, a desired coefficient group composed of desired values of coefficients in respective terms of the polynomial function. The polynomial function coefficient group determining section uses a quadratic evaluation function including square values of the coefficients included in the desired coefficient group as variables and a plurality of constraint conditions each configured by a linear equality or linear inequality about the coefficients, to determine the desired coefficient group, by a solution method for a quadratic programming problem, in such a way as to minimize a value of the evaluation function while fulfilling the constraint conditions.
    Type: Grant
    Filed: July 11, 2016
    Date of Patent: May 1, 2018
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Takumi Kamioka
  • Patent number: 9939169
    Abstract: In exemplary embodiments, methods for operating driving controls for communicating motors are disclosed. In an exemplary embodiment, a method generally includes controlling a transmit circuit of the driving control to generate an expected transmit signal for sending to the communicating motor, and detecting, using a transmit sense circuit in the driving control, the actual resulting signal generated by the transmit circuit signal before the actual resulting signal leaves the driving control and is transmitted to the communicating motor. The method also includes analyzing the detected signal to verify whether the transmit circuit in the driving control is working properly, by comparing the expected transmit signal to the detected actual resulting signal. Exemplary methods are also disclosed of analyzing receive circuits of driving controls to verify whether the receive circuits are working properly.
    Type: Grant
    Filed: October 27, 2016
    Date of Patent: April 10, 2018
    Assignee: EMERSON ELECTRIC CO.
    Inventor: John F. Broker
  • Patent number: 9931009
    Abstract: Provided is a self-propelled cleaning robot that can efficiently clean a flat surface even if a step is formed. The self-propelled cleaning robot that self-travels on a structure to clean a flat surface of the structure, the structure being installed in an outdoor location, the robot includes: a robot main body (2) in which a self-propelled moving mechanism (4) is provided; a cleaning unit (10) that is provided in a front portion and/or a rear portion of the robot main body (2); and a controller (30) that controls activation of the moving mechanism (4).
    Type: Grant
    Filed: December 25, 2013
    Date of Patent: April 3, 2018
    Assignee: MIRAIKIKAI, INC.
    Inventors: Tohru Miyake, Hideto Matsuuchi, Kazuo Morita
  • Patent number: 9925665
    Abstract: An object of the present invention is to provide a robot system controlling method and robot system which perform link angle control and joint stiffness control through feedback control.
    Type: Grant
    Filed: January 9, 2015
    Date of Patent: March 27, 2018
    Assignee: Canon Kabushiki Kaisha
    Inventor: Kiyoshi Takagi
  • Patent number: 9901192
    Abstract: A robotic mannequin system includes a plurality of articles of clothing. A mannequin is provided. The mannequin has a torso, a pair of arms, a pair of legs and a head. Each of the articles of clothing is worn on the mannequin such that the mannequin displays the articles of clothing. An actuating array is coupled to the mannequin. The actuating array is in mechanical communication with the arms, the legs and the head. The actuating array urges each of the arms, the first legs and the head to move with respect to the torso. Thus, the mannequin may mimic human motion. Each of the arms, the first legs and the head position the articles of clothing in a selected pose. Thus, the mannequin may enhance an appearance of the articles of clothing.
    Type: Grant
    Filed: December 28, 2015
    Date of Patent: February 27, 2018
    Inventor: James Tiggett, Jr.
  • Patent number: 9902067
    Abstract: A robot programming device capable of easily checking interference between a robot and peripheral equipment, by which the interference can be easily avoided automatically or manually. The programming device has: a simulation executing part which executes a simulation of motions of peripheral equipment and a robot hand based on a control signal; a signal setting part which sets the control signal for executing the simulation, with respect to a teaching point or a trajectory between the teaching points included in a predetermined robot operation program or a program template, the control signal being set as attribute data of each teaching point or each trajectory; a moving part which moves the robot to the teaching point or the trajectory; and a display setting part which determines as to whether the workpiece is displayed or hidden, with respect to the teaching point or the trajectory to which the robot is moved.
    Type: Grant
    Filed: October 13, 2016
    Date of Patent: February 27, 2018
    Assignee: FANUC CORPORATION
    Inventor: Kozo Inoue