Manual Lead Through Patents (Class 318/568.14)
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Patent number: 7812560Abstract: The present invention relates to a rehabilitation robot and a tutorial learning method for the rehabilitation robot. The rehabilitation robot comprises a robotic device, a rehabilitation mode control unit, and a driving unit. The robotic device comprises at least a motor capable of controlling the joints of the robotic device. The rehabilitation mode control unit further comprises a tutorial learning module capable of enabling the rehabilitation robot to learn a rehabilitation operation of a physiotherapist in a tutorial manner as he/she is operating the rehabilitation robot while registering the rehabilitation operation as an operation mode of the same.Type: GrantFiled: March 18, 2008Date of Patent: October 12, 2010Assignee: Industrial Technology Research InstituteInventors: Wan-Kun Chang, Yung-Ming Kao, Shih-Chang Liang, Chin-Chu Sun, Hsin-Chuan Su
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Patent number: 7778729Abstract: A robot system capable of checking the status of all robot controllers connected to the same network by using at least one robot controller, among the robot controllers, having a function for checking the status. The robot system includes a plurality of robots and a plurality of robot controllers for controlling the robots. The robot controllers are connected to each other via a control network and also connected to an information network. The at least one robot controller, having the function of checking the status, transmits and receives data to and from the other robot controllers and, further, indicates information, concerning the statuses of the networks and the robots, on a display of a teaching operation panel of the at least one robot controller.Type: GrantFiled: July 19, 2006Date of Patent: August 17, 2010Assignee: Fanuc LtdInventors: Hirohiko Kobayashi, Yoshiharu Nagatsuka
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Publication number: 20100188034Abstract: The robot comprises a movable member; a motor operable to change a position of the movable member relative to a gravitationally-loaded axis; and a servo operable to control the motor. The servo has a normal operational mode in which it controls the motor to define the position of the movable member relative to the gravitationally-loaded axis. The servo additionally has a training mode in which it controls the motor to set the movable member to a weightless state. In its weightless state, a user can easily and accurately move the movable member to train the robot.Type: ApplicationFiled: January 23, 2009Publication date: July 29, 2010Inventors: Derek Young, Jon Wagner
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Patent number: 7751938Abstract: There is provided a control device for a robot arm which includes an operation procedure information acquisition means for acquiring information on the procedure of a domestic operation, a progress management means for managing information on the progress of the operation, and a control parameter setting means for setting a control parameter for the robot arm based on the operation procedure information and the progress information, whereby the control device controls an operation of the robot arm based on the control parameter from the control parameter setting means.Type: GrantFiled: June 26, 2008Date of Patent: July 6, 2010Assignee: Panasonic CorporationInventors: Yuko Tsusaka, Yasunao Okazaki
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Patent number: 7747351Abstract: A control device for a robot arm is designed such that, based on information on a transportation state database in which information on a transportation state of a person operating the arm is recorded, an impedance setting unit sets a mechanical impedance set value of the arm, and an impedance control unit controls a mechanical impedance value of the arm to the mechanical impedance set value thus set.Type: GrantFiled: June 24, 2008Date of Patent: June 29, 2010Assignee: Panasonic CorporationInventors: Yuko Tsusaka, Yasunao Okazaki
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Patent number: 7571025Abstract: A method for controlling a plurality of manipulators, such as multiaxial or multiaxle industrial robots. At least one manipulator functions as the reference manipulator and is moved in a plurality of preset poses within its working area at which internal position values are determined as first desired poses. For each desired pose, subsequently a first actual pose of the reference manipulator is determined by an external measuring system. Subsequently at least one further manipulator moves up to specific poses of the reference manipulator as second desired poses and for each of these poses an actual pose of the further manipulator is determined by an external measuring system. On the basis of actual-desired deviations between the thus determined desired and actual poses of the two manipulators, subsequently a parameter model for the further manipulator is established and with it it is possible to compensate simultaneously both its own errors and those of the reference manipulator.Type: GrantFiled: June 1, 2005Date of Patent: August 4, 2009Assignee: KUKA Roboter GmbHInventor: Rainer Bischoff
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Patent number: 7558647Abstract: In a robot arm controlling device, a mechanical impedance set value of the arm is set by an object property-concordant impedance setting device based on information of an object property database in which information associated with properties of an object being gripped by the arm is recorded, and a mechanical impedance value of the arm is controlled to the set mechanical impedance set value by an impedance controlling device.Type: GrantFiled: December 12, 2006Date of Patent: July 7, 2009Assignee: Panasonic CorporationInventor: Yasunao Okazaki
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Patent number: 7515990Abstract: The system includes a sensor for detecting a state of a space; a robot for executing a handling job for an article; an article identifying part for identifying, when an article is handled by a movable body, the article in response to a detection result obtained by the sensor; and an article handling subject identifying part for identifying an article handling subject that handles the article. When the movable body that handles the article is the robot, the article handling subject identifying part identifies a subject having issued a job instruction to the robot as the article handling subject.Type: GrantFiled: May 21, 2004Date of Patent: April 7, 2009Assignee: Panasonic CorporationInventors: Satoshi Sato, Shusaku Okamoto, Masamichi Nakagawa, Kunio Nobori, Osamu Yamada, Tomonobu Naruoka, Yoshihiko Matsukawa, Yasuhiro Morinaka, Katsuji Aoki, Mikiya Nakata
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Patent number: 7466099Abstract: The present invention relates to a manipulator arm and drive system that can be operated in multiple modes, including an on or off mode, referred to herein as a “rate mode” or a spatially correspondent (“SC”) mode. The multi-mode manipulator arm and drive system of the present invention can be hydraulically operated subsea.Type: GrantFiled: February 16, 2007Date of Patent: December 16, 2008Assignee: Oceaneering International, Inc.Inventor: Richard W. McCoy, Jr.
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Patent number: 7424342Abstract: A computer in a transport system includes: a shooting part for shooting a first calibration tray by controlling a camera; a tray position computing part for computing a tray position of the first calibration tray within a captured image which the shooting part shot; a hand position acquisition part for acquiring a hand position indicative of a position of the hand robot of when the hand robot installs onto the first calibration tray a first transported article used for calibration; a calibration part for computing a calibration data based on the tray position and the hand position; and a transported article installing part which, when the mobile robot reached a predetermined arrival area, controls, based on the calibration data, the hand robot so as to install a second transported article onto a second tray, the second tray which the mobile robot being provided with.Type: GrantFiled: December 28, 2006Date of Patent: September 9, 2008Assignee: Hitachi, Ltd.Inventors: Fumiko Beniyama, Toshio Moriya, Nobutaka Kimura, Kosei Matsumoto
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Patent number: 7424341Abstract: A robot system efficiently performing an operation of moving a robot to close to and/or separate from a target point, such as teaching operation. A camera of a visual sensor is mounted to the robot such that a distal end of an end effector is seen within the field of view of the camera, and the end effector's distal end and a target position on an object are specified on a monitor screen. When an approach key is depressed, a target position is detected on an image, and a difference from a position of the end effector's distal end is calculated. Whether the difference is within an allowable range is checked. Depending on the result, an amount of robot motion is calculated, and the robot is operated. The processing is repeated until the depressed approach key is released. When a retreat key is depressed, the robot moves away from the object. The robot may be caused to stop using a distance sensor.Type: GrantFiled: May 26, 2004Date of Patent: September 9, 2008Assignee: Fanuc LtdInventors: Atsushi Watanabe, Jun Mizuno
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Patent number: 7421314Abstract: A method for controlling a robot during an interpolation of a trajectory or motion to any prescribed position, comprises the steps of a) ignoring at least one of the three originally prescribed or interpolated tool center point orientation values; b) finding new tool center point orientation values that place the wrist center point of the robot closest to its base while c) maintaining the originally prescribed or interpolated tool center point location values and d) maintaining the original prescribed or interpolated tool center point orientation values not ignored. Said method can preferably be used for carrying a load with a plurality of robots. Its main advantage is an increase of the available working volume.Type: GrantFiled: November 4, 2004Date of Patent: September 2, 2008Assignee: KUKA Roboter GmbHInventors: Kenneth A. Stoddard, David Martin
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Patent number: 7330774Abstract: An operation control unit of a reception system includes a visitor ID information DB for storing therein visitor comparison information and visitor ID information including a phone number of a receiver of a visitor; an identifying unit for identifying the visitor when visitor information obtained by a camera or the like of the robot is identical to the visitor comparison information; a phone calling module for calling the phone number of a mobile terminal of the receiver via a phone network, when the visitor is identified; an informing content determining unit for determining an informing content to the receiver based on the visitor ID information, when the visitor is identified; and a speech generating part for converting the received information into a voice. The informing content is sent to the mobile terminal of the receiver via the phone network.Type: GrantFiled: December 11, 2006Date of Patent: February 12, 2008Assignee: Honda Motor Co., Ltd.Inventors: Sachie Hashimoto, Kimio Takahashi
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Patent number: 7330775Abstract: A legged mobile robot, a legged mobile robot controller and a legged mobile robot control method are provided to perform a loading operation to load a gripped object in parallel on a target place having a height where a stretchable range of arm portions of the legged mobile robot is enhanced with no operator's handling. The legged mobile robot includes the arm portions having links for gripping an object, and leg portions having links for moving, and the arm and the leg portions are joined to a body thereof. The legged mobile robot controller includes a data acquisition unit, a whole-body cooperative motion control unit and a loading detection unit, and controls motions of the legged mobile robot based on posture/position data regarding a posture/position of each link of the legged mobile robot and on an external force data regarding an external force affecting the arm portions.Type: GrantFiled: December 11, 2006Date of Patent: February 12, 2008Assignee: Honda Motor Co., Ltd.Inventors: Atsuo Orita, Tadaaki Hasegawa, Kenichiro Sugiyama
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Patent number: 7321808Abstract: When braking of a motion of a part of a first robot is assumed to be started at points in time, a first stop position of the first robot part is estimated at each point in time. When braking of a motion of a part of a second robot is assumed to be started at the points in time, an estimated second stop position of the second robot part is obtained at each point in time. When it is determined that the first stop position of the first robot part at one of the points in time and either the actual position or the second stop position of the second robot part for each interval at the one of the points in time are contained in the shared workspace, the first robot part is braked.Type: GrantFiled: November 22, 2006Date of Patent: January 22, 2008Assignee: Denso Wave IncorporatedInventor: Kenji Nagamatsu
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Patent number: 7313464Abstract: A method for picking up objects randomly arranged in a bin using a robot having a gripper for grasping the objects using prehension feature(s) on the object. The method includes a shaking scheme for rearranging the objects in the bin when no objects are recognized, when no objects are prehensible by the gripper or when the object to be picked up is not reachable by the gripper because, for example, its prehension feature is substantially facing a wall of the bin. The method also includes a criterion for determining that a bin is free of objects to be picked up and a criterion for selecting the object to be picked up first in the bin. The method also provides for a protection mechanism against damage of the objects and the robot when a recognition technique has failed in properly recognizing the object or the prehension feature on the object.Type: GrantFiled: September 5, 2006Date of Patent: December 25, 2007Assignee: Adept Technology Inc.Inventors: Louis Perreault, Pierre Olivier
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Patent number: 7295891Abstract: In a method for controlling the movement of a manipulator associated with an interpretation of a given point sequence of poses (positions and orientations) by splines, the motion components are separately parameterized. Thus, marked, subsequent changes to the orientation of robot axes have no undesired effects on the Cartesian movement path of the robot. Suitable algorithms are provided for orientation control by using quaternions or Euler angles.Type: GrantFiled: November 5, 2003Date of Patent: November 13, 2007Assignee: KUKA Roboter GmbHInventors: Manfred Hüttenhofer, Günther Wiedemann, Stefan Burkhart
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Patent number: 7292913Abstract: In the articulated robot, types of teaching a moving track of the robot can be optionally selected. The articulated robot comprises: a switch for manually selecting a moving axis to move an arm section along the selected axis; a manual pulse generator generating pulses; first controller for controlling motors to linearly move a front end of the arm section a prescribed distance, which corresponds to number of pulses; an operating board including a selecting switch, which is used to move the arm section along the selected axis; second controller for automatically controlling the motors so as to move the arm section while the selecting switch is turned on; third controller for stopping the motors to freely move the arm section while the arm section is manually moved; and a switch for selecting a type of teaching action.Type: GrantFiled: July 14, 2004Date of Patent: November 6, 2007Assignee: Kabushiki Kaisha KoyamaInventors: Hideo Tokutake, Tatsuo Niimura
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Patent number: 7245990Abstract: A robot control unit for controlling a robot mechanism unit constantly detects the status of a robot and stores it as robot status data. An operation command input by voice from a head set is converted into character data by a voice/character data conversion device, and input to a control device. The control device searches a command corresponding to an operation command input in operation commands stored in management data. An executing program group is specified for link and storage with the corresponding operation command.Type: GrantFiled: November 25, 2003Date of Patent: July 17, 2007Assignee: Fanuc LtdInventors: Atsushi Watanabe, Hiroji Nishi
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Patent number: 7190141Abstract: A modular exoskeletal device adapted to fit the lower extremities of a patient during rehabilitation. The device has only two actuators during the standing stage of rehabilitation. Two additional actuators can be added, as modules, during the walking stage of rehabilitation. The actuators are affixed to the patient and provide controlled motion to at least one of the joints of the patient. A stationary control unit is separated from the patient. The control unit communicates with and directs the actuators, and has a hybrid control algorithm, such that the actuator forces are adjusted as the patient regains control of some joint motions, which is based upon the sliding-mode control theory. A back brace is affixed to the patient and helps to keep the torso of the patient in a stable, substantially vertical position.Type: GrantFiled: January 27, 2006Date of Patent: March 13, 2007Assignee: Villanova UniversityInventors: Hashem Ashrafiuon, Mehdi Nikkhah
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Patent number: 7148646Abstract: A method for controlling a parallel kinematic mechanism machine and control device therefor, which includes the steps of (1) obtaining each actuator command based on kinematic parameters; (2) calculating loads exerted by the weight of each component of a machine; (3) obtaining loads in the direction of axis of each actuator; (4) decomposing loads in the direction of axis of each strut into directions of axes of the first and second universal joints; (5) obtaining the amounts of elastic deformation of each element; (6) converting approximately the amounts of elastic deformation of each universal joint to displacement in the direction of axis of each actuator; (7) subtracting displacement in the direction of axis of each actuator obtained at steps (5) and (6) from each actuator command to renew each actuator command, and controlling the machine according to each renewed actuator command.Type: GrantFiled: December 9, 2004Date of Patent: December 12, 2006Assignee: Okuma CorporationInventor: Tetsuya Matsushita
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Patent number: 7136723Abstract: A robot controller for teaching a robot with high efficiency. The robot controller including command storage unit (21) where a movement command and a work command are stored, command identifying unit (24) for discriminating between the movement and work commands, unit (22) for making/editing a series of work programs or discrete work programs by a combination of the commands, work program storage units (23) where the work programs are stored so as to control the robot according to the stored program, further including a work section identifying unit (25) for identifying a work section of the work program by way of the command identification unit (24) and work section automatic stopping unit (27) for automatically stopping or suspending the execution of the work program at the work section in a standby state when the work section identifying unit (25) identifies the work section during the execution of the work program.Type: GrantFiled: November 16, 2004Date of Patent: November 14, 2006Assignee: Kabushiki Kaisha Yaskawa DenkiInventors: Takahide Hirayama, Shinji Okumura, Hiyoyuki Handa, Takeshi Okamoto
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Patent number: 6999851Abstract: A robot apparatus and a motion controlling method for the robot apparatus wherein a reflex motion or the like can be performed at a high speed while decreasing the calculation amount of and the concentrated calculation load to a control apparatus. The robot has a control configuration having a hierarchical structure including a higher order central calculation section corresponding to the brain, reflex system control sections corresponding to the vertebra, and servo control systems and actuators corresponding to the muscles. From restrictions to the power consumption and so forth, there is a limitation to increase of the speed of a control cycle of the higher order central calculation section. External force acting upon the machine body is a disturbance input of a high frequency band, and a very high speed control system is required.Type: GrantFiled: August 28, 2003Date of Patent: February 14, 2006Assignee: Sony CorporationInventors: Keisuke Kato, Shinji Ishii
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Patent number: 6853878Abstract: A robot controller for teaching a robot with high efficiency. The robot controller including command storage unit (21) where a movement command and a work command are stored, command identifying unit (24) for discriminating between the movement and work commands, unit (22) for making/editing a series of work programs or discrete work programs by a combination of the commands, work program storage units (23) where the work programs are stored so as to control the robot according to the stored program, further including a work section identifying unit (25) for identifying a work section of the work program by way of the command identification unit (24) and work section automatic stopping unit (27) for automatically stopping or suspending the execution of the work program at the work section in a standby state when the work section identifying unit (25) identifies the work section during the execution of the work program.Type: GrantFiled: February 8, 2001Date of Patent: February 8, 2005Assignee: Kabushiki Kaisha Yaskawa DenkiInventors: Takahide Hirayama, Shinji Okumura, Hiyoyuki Handa, Takeshi Okamoto
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Patent number: 6845295Abstract: A method of controlling a robot (32) includes the steps of selecting an initial configuration from at least one of a first, second, and third sets to position a TCP at a starting point (44) along a path (33) and selecting a final configuration different than the initial configuration to position the TCP at an ending point (46). Next, the TCP moves from the starting point (44) while maintaining the initial configuration, approaches the singularity between a first point (48) and a second point (50), and selects one of the axes in response to reaching the first point (48). The angle for the selected axis is interpolated from the first point (48) to the second point (50). After the interpolation, the angles about the remaining axes are determined and positions the arms in the final configuration when the TCP reaches the second point (50) and moves to the ending point (46) while maintaining the final configuration.Type: GrantFiled: March 6, 2003Date of Patent: January 18, 2005Assignee: FANUC Robotics America, Inc.Inventors: Sai-Kai Cheng, Di Xiao, Chi-Keng Tsai, H. Dean McGee, Min-Ren Jean
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Patent number: 6831437Abstract: A walking platform that achieves automatic self-stabilization includes a motor within the mid-region of the platform that is in communication with a crankshaft. The crankshaft has a connecting rod that is rotatably attached to it. The connecting rod, in turn, has a pole that is rotatably attached to it. There is a foot attached that is capable of supporting the weight of the platform. The motor is powered by a battery that causes the components of the platform to simulate a walking motion. This battery is attached to the lower portion of the platform in order to lower the center of gravity of the platform. The platform also includes at least one levered component that is rotatably attached to the platform, allowing it to pivot freely and dampen oscillations produced by the walking platform.Type: GrantFiled: April 29, 2002Date of Patent: December 14, 2004Inventor: Andrew S. Filo
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Patent number: 6763284Abstract: An image of a reference object is captured using a camera and displayed. A measurement starting point is pointed by an image position pointing device. A corresponding view line is obtained using a position on the image and a position and a direction of the camera, a robot approaches to the reference object such that it does not deviate from a projecting direction to move to a position suitable for measurement. A light is projected on the reference object and measurement of an inclination of a face of the object in the vicinity of a measuring point is started. An image including a bright line image on the reference object is photographed and 3-dimensional positions of points sequentially measured along a working line. A movement path of a robot is created using these positions as teaching points for a working robot.Type: GrantFiled: December 5, 2001Date of Patent: July 13, 2004Assignee: Fanuc Ltd.Inventors: Atsushi Watanabe, Tetsuya Kosaka, Katsutoshi Takizawa, Fumikazu Warashina, Kazunori Ban, Makoto Yamada, Akihiro Terada, Mitsuhiro Okuda
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Patent number: 6704619Abstract: A system for universal guidance and control of automated machines incorporates with an IMU (Initial Measuring Unit) installed at an end effector of a motion element of an automated machine, fast-response feedback control for both position and angle servo-loops (for the end effector) greatly decreases the operational time needed to complete a preplanned trajectory. In addition, the closed-control loop design provides stabilization and isolation of the end effector from external disturbances. This unique navigation solution is based upon the uses of a set of equations performing an open loop computation with the inertial data as its input. This formulation of equations requires a periodic update of the open loop solution in order to bind the growth of system errors. The source of this update is the automated machine position measurement derived from the mechanical sensors in the system.Type: GrantFiled: June 3, 2003Date of Patent: March 9, 2004Assignee: American GNC CorporationInventors: Norm Coleman, Ching-Fang Lin
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Patent number: 6684128Abstract: A robot capable of being operated at a high-speed by the full use of a power of a servo-motor, including a motor and a speed reducer, wherein the motor drives the robot through the speed reducer, and the speed reducer is a variable speed reducer capable of varying a reduction ration thereof while the robot is operating reproducibly.Type: GrantFiled: April 29, 2002Date of Patent: January 27, 2004Assignee: Kabushiki Kaisha Yaskawa DenkiInventors: Shuichi Tounai, Hiroyuki Hamamoto, Koichi Yamaguchi
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Patent number: 6642686Abstract: A swivel arm includes a fixing device for an instrument and at least one pivot, such that the swivel arm can be moved. At least one sensor on at least one pivot detects the position and/or movement of the at least one pivot. A controllable, passive actuator for the at least one pivot can brake and/or prevent a movement of the pivot. A control device guides the controllable, passive actuator on the basis of the position data and/or movement data transmitted from the at least one sensor and based on data of the target object. The passive actuator can be guided in such a way that an instrument connected to the swivel arm can perform only one or a number of predetermined movements.Type: GrantFiled: March 8, 2002Date of Patent: November 4, 2003Assignee: BrianLAB AGInventor: Christof Ruch
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Patent number: 6603281Abstract: A controllable ratcheting apparatus having robotic modules rigidly attached for operation near a mechanical singularity includes a plurality of modular joints and ratcheting means. Each one of the modular joints is capable of locking and unlocking to effect performance of a ratcheting motion as the ratcheting apparatus approaches a mechanical singularity. A plurality of links is connected to the modular joints in such a way as to permit movement of the links while under large external forces as the joint approaches a point of mechanical singularity. A control system directs movement of the modular joints and links.Type: GrantFiled: August 31, 2001Date of Patent: August 5, 2003Assignee: Xerox CorporationInventors: Mark H. Yim, David G. Duff
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Patent number: 6594550Abstract: A method for controlling movement of an automated machine. The movement is defined by a plurality of steps. First, a buffer of a predetermined size is defined. The buffer stores a current step and one or more previous steps in the movement of the automated machine. Then a current step in the movement of the automated machine is executed. Next, the buffer is checked to see if the current step executed in the movement of the automated machine movement is the same as a predetermined step of interest. If the current step is a predetermined step of interest, the buffer is checked to determine what at least one previous step was. If the current step was the step of interest, a new step is executed in the movement of the automated machine, the new step executed depending on what the at least one previous step was.Type: GrantFiled: March 29, 2002Date of Patent: July 15, 2003Assignee: ASM America, Inc.Inventor: Angel Y. Okrah
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Patent number: 6584378Abstract: When determining coordinates of a point of an object (2) in a reference system of coordinates and the orientation of the object in the space in a measuring position assumed by the object, the object is moved from a start position having known coordinates and a known orientation to a measuring position while detecting this movement. Said coordinates and the orientation of the object in the measuring position are calculated from information from this detection and about the start position. Furthermore, the acceleration and retardation of the object are measured during the movement, and the coordinates and the orientation of the object in the measuring position are calculated from information from this measurement.Type: GrantFiled: April 22, 2002Date of Patent: June 24, 2003Assignee: ABB Flexible AutomationInventor: Ole Arnt Anfindsen
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Patent number: 6580245Abstract: A critical resonant frequency (fres) of the axes of a moving machine element is damped as effectively as possible with the aid of a jerk limitation. Good damping in the case of a desired frequency is achieved when the longest possible time (TrLim) which can be traveled with a maximum permissible jerk (rLim) is selected such that 1/TrLim coincides with the lowest natural frequency (fres) of the participating axes. This finding is implemented by adapting the path dynamics such that the TrLim=aMax/rLim yielded by the prescribed dynamics limiting values is varied by reducing the maximum jerk (rLim) to achieve good damping results for the lowest natural frequency (fres) of the participating axes.Type: GrantFiled: August 14, 2001Date of Patent: June 17, 2003Assignee: Siemens AktiengesellschaftInventors: Bernd Quaschner, Theo Reichel, Elmar Schaefers, Wilhelm Westermeyer, Georg Wiegaertner
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Patent number: 6567723Abstract: A method, system and program processing unit for a robot, by which the safety during execution of a program is improved. The program processing unit comprises a program interpreter, a command rejection device and a command execution device. When the program interpreter sends a command in a program to the command rejection device, the command rejection device searches a command rejection rule storage section for a command rejection rule corresponding to the command, and if the rule is detected, retlieves input values from one or more sensors and the source information of the program from a source information storage section, judges command rejection conditions included in the rule based on the sensor information, source information, the command and its parameters, dismisses the command when the conditions are met, and sends the command to the command execution device when the conditions are not met.Type: GrantFiled: January 30, 2002Date of Patent: May 20, 2003Assignee: NEC CorporationInventor: Tomoyoshi Sugawara
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Patent number: 6532401Abstract: In an automated interface program designed to interact and communicate with users, said program executing actions when a category among a predefined set of categories is activated, a method is disclosed for automatically verifying the performance of said program, the steps of said method comprising: specifying inputs under which the program should be tested; associating said inputs with conditions within categories in the program, each said condition comprising at least one response which could be given if said condition is satisfied; executing said program under at least one said input; determining whether the associated condition is satisfied upon said input; and determining whether the response associated with said condition is given upon said input. In another aspect of the present invention, the test inputs are embedded within the script itself, and specifically, within categories that can be automatically listed upon compilation of the script.Type: GrantFiled: June 14, 2001Date of Patent: March 11, 2003Assignee: Nativeminds, Inc.Inventors: Walter A. Tackett, Scott S. Benson
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Patent number: 6532403Abstract: A robot alignment system (10) includes a sensor system (12). The sensor system (12) is designed to attach to an end effector of a robot arm (14). A rough alignment target (16) is attached to a work station. A fine alignment target (22) is placed on a work surface of the work station. The sensor system (12) first determines the rough alignment target (16). The robot arm (14) is then moved to detect the fine alignment target (22).Type: GrantFiled: April 18, 2001Date of Patent: March 11, 2003Assignee: MicroTool, IncInventors: Gordon Haggott Beckhart, Patrick Rooney Conarro, Kevin James Harrell, Michael Charles Krause, Kamran Michael Farivar-Sadri
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Patent number: 6489741Abstract: Motion of a substrate-transporting robot arm is controlled in order to compensate for inaccuracies and deflections encountered during operation. The compensation is effected by synchronizing elevational and planar motions of the robot arm such that the trajectory of the substrate is made coincident with the object axis of the substrate. The substrate may be a semiconductor wafer, an LCD panel or an end effector of the robot arm. The synchronized motion is achieved using a controller issuing control signals to arm actuating means based on synchronization algorithms developed during analytical or experimental robot learning sessions.Type: GrantFiled: August 9, 2000Date of Patent: December 3, 2002Assignee: Genmark Automation, Inc.Inventors: Genco Genov, Zlatko M. Sotirov, Eugene Bonev
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Patent number: 6466844Abstract: A robot for synchronizing with other robots without raising costs, a robot system, and a robot control method. The robot includes a storage portion (11) in which an operating program for the robot is stored, a main arithmetic portion (12) for analyzing the operating program stored in the storage portion, a sequencer portion (13) from which a signal from the main arithmetic portion is output, a driving portion (14) for driving the robot to which the signal from the main arithmetic portion (12) is input, and a communications portion (15) for communicating with apparatuses connected to a network. In the robot, a signal input from an apparatus connected to the sequencer portion (13) and a signal input to the communications portion (15) are input to the main arithmetic portion (12) so as to perform a calculation, and, based on the calculation, a signal is output from the main arithmetic portion (12) to the sequencer portion (13) or to the driving portion (14).Type: GrantFiled: December 26, 2001Date of Patent: October 15, 2002Assignee: Matsushita Electric Industrial Co., Ltd.Inventors: Tatsuya Ikeda, Hisatomi Fujiki, Akio Shindo
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Patent number: 6459958Abstract: An operation data display device for a robot allowing an operator to recognize operation data on a plurality of operations performed by the robot at a time. When an arc start command is read out from a taught operation program by the robot controller, a welding start command is issued to an arc welding power supply. The arc welding power supply starts supply of a welding current to a welding torch mounted on a robot. Values of the welding current in a welding operation is outputted to a robot controller and sampled at every predetermined period and recorded. When an arc end command is read out from the operation program, the arc welding power supply terminates the welding operation and output of the values of the welding current. The robot controller transfers a file containing the data of the actual welding current to a personal computer.Type: GrantFiled: December 5, 2001Date of Patent: October 1, 2002Assignee: Fanuc Ltd.Inventors: Atsushi Watanabe, Tetsuya Kosaka
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Patent number: 6453213Abstract: A robot control system and method for controlling a robot that performs working on a working path between a specified working start point and a working end point. The robot control system includes an interrupt request signal generating section for generating a signal for requesting change of the working path of the robot, an upper controller for generating an interrupt signal including a specified changed value for changing in real time the working path of the robot in accordance with the interrupt request signal generating section, and a robot controller for controlling in real time the operation of the robot in accordance with the interrupt signal from the upper controller. Thus, the motion of the robot that is working can be changed in real time.Type: GrantFiled: May 9, 2001Date of Patent: September 17, 2002Assignee: Samsung Electronics Co., Ltd.Inventor: Sung-jin Hong
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Patent number: 6434449Abstract: A system and a method for re-calibrating a robot, an end-effectuator of the robot and a fixture for holding a production part based upon measurements recorded by a sensor after contact or interception with random points along the three-dimensional contour of the end-effectuator of the robot.Type: GrantFiled: August 3, 2000Date of Patent: August 13, 2002Inventor: Pierre De Smet
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Patent number: 6430474Abstract: A system for manipulating a workpiece in an industrial robot system having a manipulator device for manipulating the workpiece, a tooling adapter coupled to the manipulator device for manipulating the workpiece, and an image referencing system for acquiring image data corresponding to the workpiece without interference from the manipulator device.Type: GrantFiled: April 3, 2001Date of Patent: August 6, 2002Assignee: Xerox CorporationInventors: Christopher C. DiStasio, Nathaniel W. Haslam
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Patent number: 6385508Abstract: A method of teaching a robot a desired operating path and a lead-through teach handle assembly are disclosed. A mounting mechanism mounts the entire handle assembly to an arm of the robot. The handle assembly also includes a handle that is supported by the mounting mechanism. A robot operator utilizes the handle assembly and grasps the handle to apply an external force to move the robot arm, or the operator, without the handle assembly, directly holds a tool connected to the robot arm to apply the external force at the tool. The handle assembly is characterized by a universal joint that interconnects the handle and the mounting mechanism and that accommodates orientation changes of the handle relative to the mounting mechanism that result from translational and rotational movement of the robot arm as the user is teaching the robot. The external force applied at the tool is estimated with either a force sensor disposed on the handle assembly or by monitoring the torque of motors used to move the robot.Type: GrantFiled: October 31, 2000Date of Patent: May 7, 2002Assignee: Fanuc Robotics North America, Inc.Inventors: H. Dean McGee, Eric C. Lee, Robert V. Bauer, Peter J. Swanson, Sai-Kai Cheng, Chi-Keng Tsai, Yi Sun
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Patent number: 6377869Abstract: A robot controller having a function of monitoring abnormality of a robot operation to prevent an accident by stopping supply of energy or operational substance to an operational tool when the operational tool is abnormally stopped. Motion command pulses for a robot motion are obtained by computing operations when a motion statement of the operation program is read out and stored in a shared memory. Motors for driving respective robot axes are driven based on the motion command pulses. When an I/O output command is issued on a signal line to actuate an arc welder, the operation control software demands to set a predetermined waiting time period to a timer. The managing software demands to start a countdown of the timer and informs the operation control software of an elapse of the set waiting time period.Type: GrantFiled: June 29, 2000Date of Patent: April 23, 2002Assignee: Fanuc Ltd.Inventors: Atsushi Watanabe, Tetsuya Kosaka, Hiromitsu Takahashi
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Patent number: 6374158Abstract: A robotic machine includes a machine tool removably supported in a mount for following a programmable path over a workpiece. A calibration pointer includes a housing configured like the tool for being supported in the mount, and a laser is affixed in the housing for emitting a laser beam at the workpiece. In a method of operation, the laser beam is projected from the laser in a focused spot at the workpiece at an offset therefrom. The spot permits accurate programming of the machine without contacting the workpiece.Type: GrantFiled: February 15, 2000Date of Patent: April 16, 2002Assignee: General Electric CompanyInventor: Robert Anthony Fusaro, Jr.
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Patent number: 6363300Abstract: Process for the automatic determination of an optimal movement program of a robot comprising at least one moving member, a motor associated with the moving member and a control unit capable of activating the motor according to a movement program to move the moving member along a trajectory with a predetermined movement parameter. The process comprises the steps of: acquiring data indicating the load state of the motor and the precision of movement of the robot during the execution of a movement program, comparing the information on the load state and on the precision of movement with predetermined limit values, repeatedly executing the movement program while progressively varying the movement parameter until a measured value of the load state and/or of the precision of movement exceeds a corresponding limit value, and storing as the optimal movement program the last movement program which has been executed without exceeding the limit values.Type: GrantFiled: March 28, 2000Date of Patent: March 26, 2002Assignee: Comau S.p.A.Inventor: Marco-Severo Inga
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Patent number: 6339733Abstract: It is provided an automatic MDF control system comprising: a plurality of matrix boards provided with openings in locations where a plurality of first wires and second wires cross without electrical connections; a robot which inserts electrically conductive connecting pins into the openings and connects the first wires with the second wires where the pins are inserted; a path data conversion unit converting connection requests from an operating terminal into path data having a plurality of addresses of the openings; a robot command conversion unit receiving the path data and converting the path data into robot commands for controlling activity of the robot as a distance moved by the robot moving between the plurality of addresses being reduced by a selected sequence of the converted path data; and a robot control unit controlling the activity of the robot based on the robot commands.Type: GrantFiled: October 13, 1998Date of Patent: January 15, 2002Assignee: Fujitsu LimitedInventors: Takashi Mizutani, Masaaki Muraai, Hitoshi Isobe, Atsuhiro Makino, Masahiro Ito
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Patent number: 6327516Abstract: Parameters of a robot is displayed on a display device of an operation terminal in a manner that parameters having been changed and parameters having not been changed of all the parameters are displayed in a distinguished manner such that the background color of the parameters having been changed differs from that of other data.Type: GrantFiled: April 12, 2000Date of Patent: December 4, 2001Assignee: Mitsubishi Denki Kabushiki KaishaInventor: Hideo Zenke
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Patent number: 6295483Abstract: One matrix board aggregate accommodating two matrix boards is made one unit of a switch. Three of the matrix board aggregates are vertically located, groups of such three vertically-located matrix board aggregates are laterally located and robots are provided between the matrix board aggregates. By providing a number of robots, the switch operation speeds up. The robots are controlled by a control circuit/power supply RMC/POW. I/O cables for connecting an MDF apparatus to an exchange or to lines are provided at the back. In a three-stage switching configuration, by devising the location of primary, secondary and tertiary switches, interconnection between matrix board aggregates can be made using BWBs made of a printed wiring board.Type: GrantFiled: February 5, 1999Date of Patent: September 25, 2001Assignee: Fujitsu LimitedInventors: Hitoshi Isobe, Masahiro Ito, Takashi Murakami