With Particular Program Teaching Method Patents (Class 318/568.13)
  • Patent number: 11660748
    Abstract: Methods, systems, and devices for managing robot resources are described. A robot receives from an application a request to reserve a particular set of physical resources of the robot. The robot then determines that each of the physical resources in the set are available to the application and, based on the determination, allocates exclusive use of the particular set of resources to the application by (i) generating a token corresponding to the set of resources, (ii) providing the token to the application, and (iii) updating token data that associates the token with the set of resources. The robot then controls access to the particular set of resources such that, while token data indicates that the token is valid, commands from applications that involve the set of resources are only executed when provided with the token corresponding to the allocation of access to the particular set of resources.
    Type: Grant
    Filed: June 14, 2021
    Date of Patent: May 30, 2023
    Assignee: X Development LLC
    Inventors: Sarah Coe, Nathan Pooley
  • Patent number: 11584013
    Abstract: Disclosed herein is a device, system and method for determining error in robotic manipulator-to-camera calibration. The method includes detecting a test object by a camera coupled to a robotic manipulator. One or more test points are identified on the test object based on a CAD model and pre-defined contact points corresponding to the test object. Arm poses are determined for the robotic manipulator to reach the test points on the 3D test object by using current robotic manipulator-to-camera calibration. While driving an end effector of the robotic manipulator based on the arm poses, any contact of the end effector on the 3D test object is recorded upon receiving a feedback from the 3D test object. An error is determined in the current robotic manipulator-to-camera calibration based on current position of the end effector relative to the one or more test points on the 3D test object.
    Type: Grant
    Filed: March 31, 2020
    Date of Patent: February 21, 2023
    Assignee: Wipro Limited
    Inventors: Navya Vepakomma, Yadhunandan Ullam Subbaraya
  • Patent number: 11565418
    Abstract: A robot system includes a robot configured to operate in cooperation with a person, a specifying section configured to specify a person present in a region at a predetermined distance from the robot, and a control section configured to decelerate or stop the operation of the robot when the presence of the person in the region is specified by the specifying section. The control section changes the distance based on a result of specifying the person by the specifying section.
    Type: Grant
    Filed: May 21, 2020
    Date of Patent: January 31, 2023
    Inventor: Isamu Sejimo
  • Patent number: 11514892
    Abstract: A system includes a memory having instructions therein and at least one processor in communication with the memory. The at least one processor is configured to execute the instructions to communicate, into a user device, a deep neural network comprising a predictive audio spectral mask. The at least one processor is also configured to execute the instructions to: generate data corresponding to ambient sound via a multi-microphone device; separate amplitude data and/or phase data from the data via the deep neural network comprising the predictive audio spectral mask; and determine, via the user device and based on the amplitude data and/or phase data, a location of origin of target speech relative to the user device. The at least one processor is configured to execute the instructions to display, via the user device, the location of origin of the target speech relative to the user device.
    Type: Grant
    Filed: March 19, 2020
    Date of Patent: November 29, 2022
    Assignee: INTERNATIONAL BUSINESS MACHINES CORPORATION
    Inventors: Jonathan Samn, Poojitha Bikki, Jeb R. Linton, Minsik Lee
  • Patent number: 11504853
    Abstract: A system includes a first sensor having a fixed location relative to a workspace, a second sensor, at least one robotic manipulator coupled to a manipulation tool, and a control system in communication with the at least one robotic manipulator. The control system is configured to determine a location of a workpiece in the workspace based on first sensor data from the first sensor and a three-dimensional (3D) model corresponding to the workpiece. The control system is configured to map a set of 2D coordinates from a second 2D image from the second sensor to a set of 3D coordinates based on the location, and to generate one or more control signals for the at least one robotic manipulator based on the set of 3D coordinates.
    Type: Grant
    Filed: November 16, 2017
    Date of Patent: November 22, 2022
    Assignee: General Electric Company
    Inventors: Stephane Harel, Steeves Bouchard, John Karigiannis, Antoine Lizotte, MarcAndre Montplaisir, Nicolas Saudrais, David Cantin
  • Patent number: 11433531
    Abstract: A robot system includes a robot including leading end, base, and multi-articular arm, and circuitry that controls the atm to move the end based on motion control program specifying transition over time of target position and posture of the end, the transition including correction target portion starting and ending in the transition; controls the arm to move the end in response to guided manipulation applying external force to the robot while the circuitry controls the arm; obtains relative command information based on the target position and posture at start of the correction portion and specifying the target position and posture at points in the correction portion including start and end in the correction portion; and controls the arm to move the end from the position and posture based on the information, beginning at time when movement of the arm controlled by the circuitry in response to the manipulation has ended.
    Type: Grant
    Filed: March 28, 2019
    Date of Patent: September 6, 2022
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Tetsuro Izumi, Shohei Ohno, Takashi Nishimura, Tamio Nakamura
  • Patent number: 11364630
    Abstract: An industrial robot having a manipulator and a robot controller configured to control the motions of the manipulator. The robot controller is configured during lead-through programming of the robot to compare a robot position or a robot orientation (TCP) with at least one virtual position or virtual orientation defined in space, and to actively control the motions of the robot in relation to the at least one virtual position or virtual orientation when the difference between the robot position or robot orientation and the least one virtual position or virtual orientation is smaller than an offset value.
    Type: Grant
    Filed: February 17, 2017
    Date of Patent: June 21, 2022
    Assignee: ABB Schweiz AG
    Inventors: Adam Henriksson, Alvaro Aranda Munoz, Elina Vartiainen, Jonatan Blom, Maria Ralph
  • Patent number: 11294347
    Abstract: A control device includes a processor that is configured to execute computer-executable instructions so as to control an arm included in a robot. The processor is configured to perform work on a target using a tool that performs work on the target. A distance meter measures a measurement value according to a relative distance between a first position of the target and the tool. The first position includes a portion overlapping with the tool when viewed from a direction toward the target from the tool.
    Type: Grant
    Filed: October 29, 2018
    Date of Patent: April 5, 2022
    Inventors: Yoshito Miyamoto, Tsuguya Kojima
  • Patent number: 11250318
    Abstract: A method of real time magnetic localization comprising: providing an artificial neural network field model that is calibrated and optimized for a predetermined magnet; receiving signals from one or more magnetic sensors; and solving the location of the magnet using the model based on the signals.
    Type: Grant
    Filed: May 7, 2014
    Date of Patent: February 15, 2022
    Assignees: Singapore University of Technology and Design, Massachusetts Institute of Technology (MIT)
    Inventors: Shaohui Foong, Faye Wu
  • Patent number: 11235463
    Abstract: A robot system that can perform cooperative work in accordance with an action of a person. A robot system according to the present disclosure includes a robot, a detection apparatus detecting a work object and detecting a predetermined action of a worker with respect to the work object, and a robot controller causing the robot to execute a predetermined work on the work object detected by the detection apparatus when the detection apparatus detects the predetermined action.
    Type: Grant
    Filed: September 16, 2019
    Date of Patent: February 1, 2022
    Assignee: FANUC CORPORATION
    Inventor: Gou Inaba
  • Patent number: 11175236
    Abstract: An image acquisition system includes a feeding unit supplying a product, a product pickup platform onto which the product is supplied by the feeding unit, and a camera capturing an image of the product on the product pickup platform. The camera identifies a position and an angle of the product based on the image. The image acquisition system includes a robot gripping the product from the product pickup platform based on the position and the angle identified by the camera and an image acquisition platform onto which the product is placed by the robot. An imaging microscope of the image acquisition system captures an image of a surface of the product facing upwards on the image acquisition platform and a computer stores the image of the surface of the product captured by the imaging microscope.
    Type: Grant
    Filed: September 11, 2019
    Date of Patent: November 16, 2021
    Assignees: Tyco Electronics (Shanghai) Co. Ltd., TE Connectivity Corporation
    Inventors: Hongtao Liu, Dandan Zhang, Roberto Francisco-Yi Lu, Changjun Wang, Lei Zhou, Zongjie Tao
  • Patent number: 11161247
    Abstract: An operation instruction list including starting points and ending points of trajectories of a plurality of robot arms is generated (a trajectory definition data generation process). Order of generation of trajectories is determined in accordance with the operation instruction list (a generation order determination process). A trajectory of a specific robot arm included in the operation instruction list is generated in accordance with a starting point and an ending point such that the trajectory avoids obstacle spaces registered in the obstacle memory when trajectories of other robot arms are generated (a trajectory generation process). A sweeping space in which a structure of the arm sweeps when the robot arm is operated along the generated trajectory is added to the obstacle memory as an obstacle space to be avoided by the other robot arm (an obstacle registration process).
    Type: Grant
    Filed: January 9, 2019
    Date of Patent: November 2, 2021
    Assignee: Canon Kabushiki Kaisha
    Inventor: Yasuharu Maeda
  • Patent number: 11092950
    Abstract: To enhance the productivity of an offline teaching work by visualizing the working position, path, and the like of an end effector in offline teaching. A robot teaching device, includes: a teaching point marker display unit configured to display, on a GUI, teaching point markers for marking teaching points in a three-dimensional modeling space in which at least a three-dimensional model of a robot including an end effector and a three-dimensional model of a work piece are arranged, the teaching points serving as target passing points of the end effector; a joined path display unit configured to display, on the GUI, a joined path, which is a path connecting successive points among the teaching points to each other; and a changing point marker display unit configured to display, on the GUI, a changing point marker marking a point at which a working state of the end effector changes.
    Type: Grant
    Filed: April 16, 2018
    Date of Patent: August 17, 2021
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Yoshifumi Onoyama, Koichi Kuwahara
  • Patent number: 11082621
    Abstract: An object inspection device capable of sharing an image or an inspection parameter for surface inspection of an object to be inspected among a plurality of object inspection devices. The object inspection device includes a camera, a robot relatively positioning the object and the camera, an index, and a controller controlling the camera and the robot. The controller is configured to control the robot to position the index and the camera at any relative position, cause the camera to image the index to acquire imaged data of the index, hold the robot at a position where the index is disposed at an index reference point in the image coordinate system based on the imaged data and coordinate data of the index reference point, and adjust an inspection position using the position of the robot at this time.
    Type: Grant
    Filed: July 11, 2019
    Date of Patent: August 3, 2021
    Assignee: Fanuc Corporation
    Inventors: Junichirou Yoshida, Shouta Takizawa
  • Patent number: 11054814
    Abstract: To enhance the productivity of an offline teaching work by visualizing the working position, path, and the like of an end effector in offline teaching. A robot teaching device, includes: a teaching point marker display unit configured to display, on a GUI, teaching point markers for marking teaching points in a three-dimensional modeling space in which at least a three-dimensional model of a robot including an end effector and a three-dimensional model of a work piece are arranged, the teaching points serving as target passing points of the end effector; a joined path display unit configured to display, on the GUI, a joined path, which is a path connecting successive points among the teaching points to each other; and a changing point marker display unit configured to display, on the GUI, a changing point marker marking a point at which a working state of the end effector changes.
    Type: Grant
    Filed: April 16, 2018
    Date of Patent: July 6, 2021
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Yoshifumi Onoyama, Koichi Kuwahara
  • Patent number: 11007649
    Abstract: A three-dimensional information acquiring unit for acquiring three-dimensional information of a target object, a gripping information acquiring unit for acquiring gripping information that defines a method of gripping the target object by using a picking hand, and an information management unit for storing, in a storage apparatus in association with each other, (i) three-dimensional information of the target object acquired by the three-dimensional information acquiring unit and (ii) gripping information acquired by the gripping information acquiring unit are included. The three-dimensional information of the target object may include at least one of origin position information and the coordinate axis information. A two-dimensional information acquiring unit for acquiring two-dimensional information of the target object may be further included.
    Type: Grant
    Filed: October 3, 2019
    Date of Patent: May 18, 2021
    Assignee: MUJIN, Inc.
    Inventor: Rosen Diankov
  • Patent number: 10974383
    Abstract: A method and apparatus are for abnormality detection. The method includes: acquiring an estimated value of a movement parameter of a mobile platform of a parallel robot. The estimated value is calculated based on sensing information about a sensor mounted on the mobile platform. Based on the estimated value and a designated value of the movement parameter, the method includes determining whether an abnormality occurs in the parallel robot. By way of the method and apparatus, abnormality of a parallel robot can be detected reliably.
    Type: Grant
    Filed: October 28, 2015
    Date of Patent: April 13, 2021
    Assignee: Siemens Aktiengesellschaft
    Inventors: Tao Hu, Li Ming Huang, Yue Zhuo
  • Patent number: 10959792
    Abstract: Systems and methods for collision detection and avoidance are provided. In one aspect, a robotic medical system including a first set of links, a second set of links, a console configured to receive input commanding motion of the first set of links and the second set of links, a processor, and at least one computer-readable memory in communication with the processor. The processor is configured to access the model of the first set of links and the second set of links, control movement of the first set of links and the second set of links based on the input received by the console, determine a distance between the first set of links and the second set of links based on the model, and prevent a collision between the first set of links and the second set of links based on the determined distance.
    Type: Grant
    Filed: September 18, 2020
    Date of Patent: March 30, 2021
    Assignee: Auris Health, Inc.
    Inventors: Yanan Huang, Benjamin Robert Fredrickson, Ryan J. Murphy, Ying Mao
  • Patent number: 10919153
    Abstract: A teaching system, includes a computer configured to calculate trajectories of a plurality of robots disposed so as to have a common working area on a virtual space and a display unit. The computer calculates a robot passing area which is a set of trajectories drawn by a point constituting each robot when a driving unit of each robot is operated based on a teaching value on the virtual space for each robot. The computer detects whether the robot passing areas of the robots cross with each other. The computer sets a constraint condition by which none of the plurality of robots is permitted to pass through at least to a partial space within a crossing area in a case where the computer detects that the robot passing areas cross with each other.
    Type: Grant
    Filed: February 20, 2018
    Date of Patent: February 16, 2021
    Assignee: Canon Kabushiki Kaisha
    Inventor: Yasuharu Maeda
  • Patent number: 10882189
    Abstract: A control device that controls driving of a robot, the control device includes a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to: display a posture setting guide for guiding information input for obtaining a posture offset of a tool provided on the robot, on a display; and control the driving of the robot based on the posture offset of the tool.
    Type: Grant
    Filed: April 17, 2018
    Date of Patent: January 5, 2021
    Inventors: Kenji Matsuura, Meguru Yamauchi
  • Patent number: 10877457
    Abstract: A control device, a machine (tool) having the control device, a method for providing a travel profile and a computer program for providing the travel profile, wherein a reference line is generated, e.g., from a CAD drawing, to provide a travel profile for a tool, where approximation curves are created from the reference line using wavelet base functions, transformation curves are formed from the approximation curves via difference generation, and these are each adapted to a desired accuracy of the processing mode via modification, where modification curves are created via the modification of the transformation curves, where the travel profile is the sum of the modification curves, and where drive elements of the machine tool are controlled based on the travel profile such that the travel profile can be optimized via the selection of wavelet base functions, based on a processing mode, e.g. rough milling, fine milling, laser cutting.
    Type: Grant
    Filed: August 24, 2016
    Date of Patent: December 29, 2020
    Assignee: Siemens Aktiengesellschaft
    Inventors: Thomas Pitz, Ralf Spielmann
  • Patent number: 10877445
    Abstract: A predictive controller controls a vehicle subject to equality and inequality constraints on state and control variables of the vehicle and solves a matrix equation of necessary optimality conditions to produce control inputs to control the vehicle. The controller represents the state variables as a function of the control variables using discrete-time dynamics and determines the control inputs iteratively using two levels of iterations. The first level of iterations selects active inequality constraints, updates a constraint Jacobian matrix with a low-rank update for a change in the set of active inequality constraints to include the active inequality constraints, and updates a preconditioning matrix with a low-rank factorization update, in response to the low-rank update of the constraint Jacobian matrix. The second level of iterations, nested in the first level, solves the matrix equation with the updated constraint Jacobian matrix using the updated preconditioning matrix to produce the control inputs.
    Type: Grant
    Filed: August 14, 2019
    Date of Patent: December 29, 2020
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Rien Quirynen, Andrei Kniazev, Stefano Di Cairano
  • Patent number: 10837944
    Abstract: One embodiment of the present disclosure set forth a resonator device for generating a resonance map of a surface. The resonator device includes an actuator mechanism that vibrates the surface. The resonator device further includes one or more sensors that detect a deflection of the surface responsive to the actuator mechanism vibrating the surface. The resonator device further includes a processor. The processor is configured to generate the resonance map based on the detected deflection.
    Type: Grant
    Filed: February 6, 2018
    Date of Patent: November 17, 2020
    Assignee: Harman International Industries, Incorporated
    Inventors: Adam Boulanger, Sven Kratz, Stefan Marti, Joseph Verbeke
  • Patent number: 10799937
    Abstract: A component mounting system for mounting a component to a frame member by a fastener, and includes: a machining apparatus configured to machine a hole in each of the frame member and the component along a machining axis and fasten the frame member and the component together by the fastener; a positioning unit configured to perform positioning of a mounting position present on the frame member relative to the machining axis; a robot configured to transfer the component to the mounting position present on the frame member; and a detector including a camera and a sensor, the camera being provided on the machining axis and configured to capture an image of the component transferred to the mounting position, the sensor being configured to detect a tilt of the component transferred to the mounting position.
    Type: Grant
    Filed: April 20, 2017
    Date of Patent: October 13, 2020
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Kenji Kasahara, Shuhei Segawa, Kazunori Hara, Yuki Takayama
  • Patent number: 10710236
    Abstract: A flexible continuum structure capable of realizing a posture feedback is provided. The flexible continuum structure can comprise a flexible continuum structure body and a posture feedback mechanism. The flexible continuum structure body can comprise a distal structural body, a proximal structural body and a middle connecting body. The distal structural body can comprise distal spacing disks, a distal fixation disk and distal structural backbones. The proximal structural body can comprise proximal spacing disks, a proximal fixation disk and proximal structural backbones. The middle connecting body can comprise a proximal guide channel fixing plate, a distal guide channel fixing plate and a structural backbone guide channel. One end of the structural backbone is connected to the proximal fixation disk, and the other end passes through the proximal spacing disks, the structural backbone guide channel and the distal spacing disks and is then securely connected to the distal fixation disk.
    Type: Grant
    Filed: February 28, 2019
    Date of Patent: July 14, 2020
    Assignee: Beijing Surgerii Technology Co., Ltd.
    Inventors: Kai Xu, Jiangran Zhao, Zhengchen Dai, Huan Liu, Zhixiong Yang
  • Patent number: 10710241
    Abstract: A controller includes a stop command unit for stopping the motion of the robot when a person comes into contact with the robot, and a speed limiting unit for limiting the operation speed of the component driven on the drive axis. A variable calculated from the position of the component on the drive axis and the range of the variable in a state where the person is caught by the robot are determined in advance. The speed limiting unit acquires the variable from the output of a position detector and controls the operation speed of the component to a predetermined speed limit or lower if the variable is within the range.
    Type: Grant
    Filed: September 18, 2018
    Date of Patent: July 14, 2020
    Assignee: FANUC CORPORATION
    Inventors: Takumi Oyama, Tomoyuki Yamamoto
  • Patent number: 10627825
    Abstract: Aspects of the disclosure relate to controlling a first vehicle in an autonomous driving mode. While doing so, a second vehicle may be identified. Geometry for a future trajectory of the first vehicle may be identified, and an initial allowable discomfort value may be identified. Determining a speed profile for the geometry that meets the value may be attempted by determining a discomfort value for the speed profile based on a set of factors relating to at least discomfort of a passenger of the first vehicle and discomfort of a passenger of the second vehicle. When a speed profile that meets the value cannot be determined, the value may be adjusted until a speed profile that meets the value is determined. The speed profile that meets an adjusted value is used to control the first vehicle in the autonomous driving mode.
    Type: Grant
    Filed: November 22, 2017
    Date of Patent: April 21, 2020
    Assignee: WAYMO LLC
    Inventors: Jens-Steffen Ralf Gutmann, Tobias Kunz, Vadim Furman
  • Patent number: 10613490
    Abstract: A predictive controller for controlling a system subject to constraints including equality and inequality constraints on state and control variables of the system, includes an estimator to estimate a current state of the system using measurements of outputs of the system and a controller to solve, at each control step, a matrix equation of necessary optimality conditions to produce a control solution and to control the system using the control solution to change a state of the system. The matrix equation includes a block-structured matrix having a constraint Jacobian matrix of the equality constraints of the system.
    Type: Grant
    Filed: February 5, 2018
    Date of Patent: April 7, 2020
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Rien Quirynen, Andrei Kniazev, Stefano Di Cairano
  • Patent number: 10575454
    Abstract: An agricultural vehicle (10) includes at least one geospatial sensor (44) for locating the vehicle (1) within a geographic area (14); at least one event trigger; at least one actuator for actuating a component onboard the vehicle (10); and a headland management system (HMS) (30) for carrying out a headland turn sequence (HTS) at a predetermined location within the geographic area (14). The HMS (30) includes a memory (34) for storing at least a portion of an HTS, and a visual display (46) for displaying at least a portion of an HTS. The vehicle (10) is characterized in that the HMS (30) is configured to display a real-time map on the visual display (46), including a position of the vehicle (10) on the map, and at least one future HTS event forming at least part of an HTS. The HMS (30) is configured to allow an operator to modify at least one HTS event on the real-time map.
    Type: Grant
    Filed: February 10, 2016
    Date of Patent: March 3, 2020
    Assignee: CNH Industrial America LLC
    Inventors: Saverio De Nale, Marco Pradelli, Simone Garagnani
  • Patent number: 10576526
    Abstract: A workpiece conveying system includes a disposition component, a first imaging component, a first position sensor, a conveyor, a first removal component, and a position adjuster. A plurality of workpieces are disposable on the disposition component. The first imaging captures an image of workpieces on the disposition component. The first position sensor senses a position of a workpiece to be removed from the disposition component based on the captured image. The conveyor conveys the workpiece removed from the disposition component. The first removal component removes from the disposition component a workpiece whose position has been sensed and places the workpiece on the conveyor. The position adjuster adjusts a position of the workpiece placed on the conveyor.
    Type: Grant
    Filed: July 3, 2018
    Date of Patent: March 3, 2020
    Assignees: KOMATSU INDUSTRIES CORPORATION, YOROZU CORPORATION
    Inventors: Kazuki Asada, Naoki Yamashiro, Yoshitaka Tani, Kazuyuki Sakemoto
  • Patent number: 10532461
    Abstract: A robot includes an arm, and a force detector that is disposed on the arm and detects a force, in which a first object is held from both of a gravity direction and a direction opposite to the gravity direction, and the first object is inserted into an insertion portion provided in a second object.
    Type: Grant
    Filed: April 24, 2017
    Date of Patent: January 14, 2020
    Assignee: Seiko Epson Corporation
    Inventors: Masakazu Kobayashi, Yudai Takeuchi
  • Patent number: 10506751
    Abstract: A board work management device includes a board work quantity reset switch; a board work quantity counting section that counts each board on which, from among the multiple board work machines, at least one board work machine has performed work, for each of the at least one board work machines; a board work quantity memory section that memorizes the board work quantity of the board work machine counted by the board work quantity counting section; and a board work quantity resetting section that, when the board work quantity reset switch is operated, resets the board work quantity of a specified board work machine among the at least one board work machines memorized by the board work quantity memory section while the multiple board work machines are operating.
    Type: Grant
    Filed: December 22, 2014
    Date of Patent: December 10, 2019
    Assignee: FUJI CORPORATION
    Inventor: Masahiro Takeda
  • Patent number: 10486309
    Abstract: Feedback control is carried out on respective servomotors so that detection angles detected by respective input-side encoders become target angles to be obtained when a leading end of a robot has moved to a positioning completion position of a first motion. Subsequently, the position of the leading end of the robot is obtained on the basis of the detection angles detected by the respective output-side encoders. The time from a time point at which the detection angles detected by the input-side encoders are brought to the target angles through the feedback control to a time point at which a vibration width of the calculated position of the leading end of the robot relative to the positioning completion position converges within a convergence range is obtained. The obtained time is set in the stopping duration of the robot.
    Type: Grant
    Filed: July 31, 2017
    Date of Patent: November 26, 2019
    Assignee: Canon Kabushiki Kaisha
    Inventors: Takahiro Ishikawa, Tsutomu Osaka, Shunsuke Kawamura
  • Patent number: 10477750
    Abstract: A component mounting method for using a component mounting tool which includes a plurality of claw sections that pinch and pick up a component at a component supply position, and release the component on a board to mount the component onto a predetermined position of the board, and which is mounted to be capable of moving between the component supply position and the board, includes determining pinching locations of the component to be pinched by the plurality of claw sections such that positions and a release operation of the plurality of claw sections do not interfere with mounted components which are already mounted on the board when the plurality of claw sections release the component.
    Type: Grant
    Filed: August 1, 2014
    Date of Patent: November 12, 2019
    Assignee: FUJI CORPORATION
    Inventors: Tomokatsu Kubota, Yasushi Kato
  • Patent number: 10434653
    Abstract: Movement of a user in a user space is mapped to a first portion of a command action stream sent to a telerobot in a telerobot space. An immersive feedback stream is provided by the telerobot to the user. Upon movement of user into or proximate to a margin of user space, the first portion of the command action stream may be suspended. The user may re-orient in the user space, and may then continue to move, with movement mapping re-engaged and resumption of transmission of a second portion of command action stream. In this way, user may control a telerobot via movement mapping, even though user space and telerobot space may not be the same size.
    Type: Grant
    Filed: May 11, 2016
    Date of Patent: October 8, 2019
    Assignee: Intel Corporation
    Inventors: Sirui Yang, Yimin Zhang
  • Patent number: 10406691
    Abstract: Provided is an offline programming device that generates, while being offline, a program for operating a robot, wherein, when a coordinate system that serves as a reference for the robot is changed, a position parameter generated on the basis of a coordinate system before the change is automatically corrected on the basis of the coordinate system before the change and a coordinate system after the change so that absolute positions of the position parameter become equal to each other before and after the change.
    Type: Grant
    Filed: December 28, 2017
    Date of Patent: September 10, 2019
    Assignee: FANUC CORPORATION
    Inventor: Tatsuya Oumi
  • Patent number: 10406688
    Abstract: An offline programming apparatus includes a first part which causes an operator to designate contact points at which a contact sensor arranged at a distal end of a robot contacts a workpiece on a 3D model of the workpiece, a second part which automatically adds detection starting points in operations of the robot which approaches each of the contact points in directions of movement along coordinate axes of a reference coordinate system with reference to which the operation of the robot to detect the position of the workpiece is performed, at positions where no interference occurs between the robot and the workpiece in a virtual space, and a third part which automatically adds an interference avoidance point in the virtual space in order to avoid the interference if the robot and workpiece interfere with each other on a movement path of the robot which moves between the detection starting points.
    Type: Grant
    Filed: April 6, 2018
    Date of Patent: September 10, 2019
    Assignee: FANUC CORPORATION
    Inventor: Kouzou Inoue
  • Patent number: 10402959
    Abstract: A welding system includes one or more cameras and a controller coupled to the one or more cameras. The one or more cameras are configured to detect a plurality of sets of visual markers of a welding device, where each set is oriented in a respective marker direction. The controller is configured to determine one or more marker directions of one or more respective sets of visual markers based on a detected set of visual markers, to select one of the sets of visual markers as a tracked set of visual markers based at least in part on a determined marker direction of the tracked set of visual markers, to associate a rigid body model to the tracked set of visual markers, and to determine a position and an orientation of the welding device based on the associated rigid body model of the tracked set of visual markers.
    Type: Grant
    Filed: October 30, 2015
    Date of Patent: September 3, 2019
    Assignee: Illinois Tool Works Inc.
    Inventors: William Joshua Becker, Jeffrey Dale Weber
  • Patent number: 10357880
    Abstract: Provided is an offline programming device that generates, while being offline, a program for operating a robot, wherein, when a coordinate system that serves as a reference for the robot is changed, a position parameter generated on the basis of a coordinate system before the change is automatically corrected on the basis of the coordinate system before the change and a coordinate system after the change so that absolute positions of the position parameter become equal to each other before and after the change.
    Type: Grant
    Filed: December 28, 2017
    Date of Patent: July 23, 2019
    Assignee: FANUC CORPORATION
    Inventor: Tatsuya Oumi
  • Patent number: 10324450
    Abstract: An emergency stop system includes: an emergency stop switch including an operation button, a state output unit which outputs a state different in accordance with whether or not the operation button is pushed down, and an attachment unit which attaches the operation button and the state output unit to the mobile device in a detachable manner in such a manner that the state of the state output unit is positioned at a side facing a camera of the mobile device at the time of attachment to the mobile device; and an information processing unit determines in accordance with an image related to the state of the state output unit as imaged by the camera whether to output an emergency stop signal indicating an emergency stop of the machine operated by the mobile device or to output an emergency stop signal indicating no emergency stop of the machine.
    Type: Grant
    Filed: October 20, 2017
    Date of Patent: June 18, 2019
    Assignee: FANUC CORPORATION
    Inventors: Yuuya Tateoka, Syuntarou Toda
  • Patent number: 10300608
    Abstract: A robot operating apparatus includes a force sensor mounted on the distal end part of an arm unit and a handle supporting unit mounted on the distal end part of the arm unit via the force sensor. The handle supporting unit supports two handles, and a handle structure including the two handles has two force points where forces are applied while being gripped with both hands. The force sensor detects a resultant force of forces acting on the two force points, and transmits the same to a robot control apparatus, so that the distal end part of the arm unit moves in accordance with a direction and a magnitude of the resultant force detected by the force sensor.
    Type: Grant
    Filed: September 30, 2016
    Date of Patent: May 28, 2019
    Assignee: FANUC CORPORATION
    Inventor: Wataru Murakami
  • Patent number: 10279475
    Abstract: Methods and systems for selecting a velocity profile for controlling a robotic device are provided. An example method includes receiving via an interface a selection of a robotic device to control, and receiving via the interface a request to modify a velocity profile of the robotic device. The velocity profile may include information associated with changes in velocity of the robotic device over time. The method may further include receiving a selected velocity profile, receiving an input via the interface, and determining a velocity command based on the selected velocity profile and the input. In this manner, changes in velocity of the robotic device may be filtered according to a velocity profile selected via the interface.
    Type: Grant
    Filed: December 23, 2016
    Date of Patent: May 7, 2019
    Assignee: X Development LLC
    Inventors: Munjal Desai, Ryan Michael Hickman, Thor Lewis, Damon Kohler
  • Patent number: 10265834
    Abstract: The present invention provides a system and method for wirelessly controlling an operating device by way of a wireless connection between the operating device and a computing device. The computing device provides an interface for controlling the operating device via a control unit which is removably connected to the operating device. The control unit and the computing device communicate wirelessly allowing a user to move about freely while still controlling operating device. Control unit may include at least one valve for use in controlling the operating device.
    Type: Grant
    Filed: March 11, 2014
    Date of Patent: April 23, 2019
    Assignee: Terydon, Inc.
    Inventors: Terry D. Gromes, Sr., Terry D. Gromes, Jr., Jon M. Shockey, Jr., William C. Jackson
  • Patent number: 10261491
    Abstract: An improved system and method for coordinating motion between an external device and independent movers traveling along a linear drive system includes a motion controller generating motion commands for both the external device and for each of the independent movers. Coordinate systems are defined in the motion controller that correspond to a track along which each of the independent movers travels and to the external device. An offset between the coordinate systems is also defined. The motion controller receives a command for coordinated motion and generates motion commands for the independent mover and the external device in one coordinate system to achieve the commanded coordinated motion. The motion command that corresponds to the coordinate system in which the motion commands are generated are transmitted directly, and the motion command associated with the second coordinate system is first transformed to the second coordinate system using the offset.
    Type: Grant
    Filed: March 5, 2018
    Date of Patent: April 16, 2019
    Assignee: Rockwell Automation Technologies, Inc.
    Inventors: Jesse R. Dunham, Jatin P. Bhatt, Bhanu K. Gouda
  • Patent number: 10259649
    Abstract: The invention is an automatic system for picking and placing boxes on shelves in a warehouse. The system comprises a set of autonomous mobile robots; a network of vertical and horizontal rails that are parallel to the vertical support posts and horizontal shelves of the shelving system in the warehouse; and a Real Time Traffic Management (RTTM) server, which is a central processing server configured to communicate with the robots and other processors and servers in the warehouse. The system is characterized in that the robots comprise a set of on-board sensors, a processor, software, and other electronics configured to provide them with three-dimensional navigation and travel capabilities that enable them to navigate and travel autonomously both along the floor and up the vertical rails and along the horizontal rails of the network of rails to reach an exact location on the floor or shelving system of the warehouse.
    Type: Grant
    Filed: July 9, 2015
    Date of Patent: April 16, 2019
    Assignee: BIONICHIVE LTD
    Inventor: Liran Raizer
  • Patent number: 10152034
    Abstract: A robot control method includes a teaching step, first processing step, modifying step, second processing step, and third processing step. In the modifying step, a third teaching point is changed to a second modified point, a fourth teaching point to a third modified point, and a fifth teaching point to a fourth modified point, based on a difference between a second teaching point and a first modified point. A profile modifying control to change the position of a work tool is applied, using a sensor mounted on the processing advancing direction side of the work tool, in the first processing step and the third processing step. An attitude of the work tool is changed during the second processing step.
    Type: Grant
    Filed: March 26, 2015
    Date of Patent: December 11, 2018
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Takamichi Komatsu, Kazumasa Yoshima, Tatsuya Ikeda
  • Patent number: 10139423
    Abstract: A medical analysis method uses a medical analysis machine provided with a poly-articulated robot (70) comprising joints defining at least six axes of rotation (A1, A2, A3, A4, A5, A6) and adapted for spacing and/or orienting a terminal member (66) according to six degrees of freedom, the terminal member bearing a grasping member (78) adapted for grasping a container (16). The medical analysis method comprises at least the succession of steps consisting of providing a container (16) containing a sample to be treated stemming from a human being or an animal, transferring said container (16) towards at least one treatment station of the medical analysis machine (100) by means of the poly-articulated robot, treating the sample in a treatment station, transferring the container towards a station for capturing images, and displaying the treatment results through a user interface.
    Type: Grant
    Filed: March 8, 2013
    Date of Patent: November 27, 2018
    Assignees: BIO-RAD INNOVATIONS, DiaMed GmbH
    Inventors: Jean-Michel Brisebat, Sébastien Bernay, Cédric Gagnepain, Daniel Seydoux
  • Patent number: 10133603
    Abstract: A system for verifying resource transfers in real-time typically includes a classical computer apparatus and a quantum optimizer in communication with the classical computer apparatus. The quantum optimizer is configured to analyze resource transfer information related to previous resource transfers to generate a model for verifying resource transfers. Subsequently, when the classical computer apparatus receives a resource transfer request, the classical computer apparatus source transfer request information to the quantum optimizer. The quantum optimizer analyzes the resource transfer request information using the model to determine whether the resource transfer is verified. Based on receiving an indication from the quantum optimizer of whether the resource transfer is verified, the classical computer apparatus processes the resource transfer request.
    Type: Grant
    Filed: February 14, 2017
    Date of Patent: November 20, 2018
    Assignee: Bank of America Corporation
    Inventor: Charles Russell Kendall
  • Patent number: 10130436
    Abstract: A teleoperational medical system for performing a medical procedure in a surgical field includes a teleoperational assembly having a plurlity of motorized surgical arms configured to assist in a surgical procedure. It also includes an input device configured to receive an input to move all the arms of the plurality of motorized surgical arms to a pre-established position. A processing system is configured to receive the input form the input device and output control signals to each arm of the plurality of motorized surgical arms to move each arm to the pre-established position.
    Type: Grant
    Filed: March 17, 2015
    Date of Patent: November 20, 2018
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Paul G Griffiths, Brandon D Itkowitz, Thomas R Nixon
  • Patent number: RE47553
    Abstract: Provided is a robot including a hand and a control unit that operates the hand. The control unit rotates a first object around a predetermined position of the first object with the hand and moves the first object with respect to a second object, based on a captured image including the hand and the first object.
    Type: Grant
    Filed: April 20, 2018
    Date of Patent: August 6, 2019
    Assignees: Seiko Epson Corporation, Tohoku University
    Inventors: Takashi Nammoto, Kazuhiro Kosuge, Koichi Hashimoto