Including Velocity Control Patents (Class 318/568.18)
  • Patent number: 10391644
    Abstract: A robot includes a robot controller that is designed and configured to execute a robot program, and a robot arm having at least three joints connected by links and a number of drives corresponding to the at least three joints. Each drive is designed to adjust one of the at least three joints allocated to the drive. The joints can be actuated in an automated manner in accordance with the robot program or in a manual drive mode by the robot controller to automatically adjust the associated joint, wherein at least one of the links includes a force measuring device designed to measure a force on the link in a predetermined direction.
    Type: Grant
    Filed: July 19, 2016
    Date of Patent: August 27, 2019
    Assignee: KUKA Deutschland GmbH
    Inventor: Sven Brudniok
  • Patent number: 10353467
    Abstract: Disclosed herein are methods and systems for providing haptic output and audio output on computing devices using the same haptic device and methods for calibrating the same. To produce the haptic and audio output, the computing device receives a profile of a desired output waveform that is to be provided by the haptic device. Using the desired output waveform, an input waveform is generated. Once the input waveform that will produce the desired output waveform is generated, the input waveform may be calibrated to account for various structural components of the haptic device and may also be combined with an audio waveform. The input waveform is then provided to the haptic device.
    Type: Grant
    Filed: February 18, 2016
    Date of Patent: July 16, 2019
    Assignee: Apple Inc.
    Inventors: Peteris K. Augenbergs, Marc J. Piche, Vinay Chawda, Nicole M. Wells, Scott J. McEuen, Curtis P. Wiederhold, Jonah A. Harley, Wayne C. Westerman, Jeffrey T. Bernstein, Brett W. Degner, Paul Briant, Thomas Wedlick
  • Patent number: 9815196
    Abstract: An apparatus for recording positions in a control program of a manipulator, which includes a manipulator, a controller having a control program, and a manual control device, wherein the controller can actuate the manipulator 10 in a compliance control, in which the manipulator is allowed to occupy an actual position different to the nominal position, wherein the controller, when recording the current position of the manipulator in the control program, carries over into the control program in a situation-based manner the nominal position, the actual position or a hybrid position comprising nominal and actual components of the current position. In addition, a corresponding method is also disclosed.
    Type: Grant
    Filed: December 7, 2015
    Date of Patent: November 14, 2017
    Assignee: KUKA Roboter GmbH
    Inventors: Uwe Zimmermann, Günter Schreiber
  • Patent number: 9785138
    Abstract: A robot has an operation mode setting unit that sets an operation mode of the robot. The operation mode setting unit changes a correction factor multiplied by the maximum acceleration and the maximum deceleration of an arm and the servo gain of a servo circuit, and thereby selectively sets the operation mode to one of a first operation mode, a second operation mode in which the arm operates faster than in the first operation mode, and a third operation mode in which the arm vibrates less than in the first operation mode.
    Type: Grant
    Filed: February 16, 2016
    Date of Patent: October 10, 2017
    Assignee: Seiko Epson Corporation
    Inventors: Shunsuke Toshimitsu, Hiroaki Fujimori, Katsuji Igarashi, Masatoshi Ono, Atsushi Asada
  • Patent number: 9298179
    Abstract: A robot has an operation mode setting unit that sets an operation mode of the robot. The operation mode setting unit changes a correction factor multiplied by the maximum acceleration and the maximum deceleration of an arm and the servo gain of a servo circuit, and thereby selectively sets the operation mode to one of a first operation mode, a second operation mode in which the arm operates faster than in the first operation mode, and a third operation mode in which the arm vibrates less than in the first operation mode.
    Type: Grant
    Filed: January 27, 2014
    Date of Patent: March 29, 2016
    Assignee: Seiko Epson Corporation
    Inventors: Shunsuke Toshimitsu, Hiroaki Fujimori, Katsuji Igarashi, Masatoshi Ono, Atsushi Asada
  • Patent number: 9044861
    Abstract: A robot includes respective arms, respective drive sources, respective angle sensors, respective inertia sensors, a posture detection unit that detects the posture of a third arm, and a second drive source control unit that selects, on the basis of a detection result of the posture detection unit, any one of a second (A) correction component, which is derived from an angular velocity ?A3 of a second axis of a third arm obtained from a third inertia sensor, an angular velocity ?A2m of a second axis of a second arm obtained from a second angle sensor, and an angular velocity ?A3m obtained from a third angle sensor, and a second (B) correction component, which is derived from an angular velocity ?A2 obtained from a second inertia sensor and the angular velocity ?A2m, and feeds back the selected correction component to control the second drive source.
    Type: Grant
    Filed: August 29, 2013
    Date of Patent: June 2, 2015
    Assignee: Seiko Epson Corporation
    Inventors: Akihiro Gomi, Masaki Motoyoshi
  • Patent number: 9037292
    Abstract: A robot and a method of controlling the same are disclosed. The robot derives a maximum dynamic performance capability using a specification of an actuator of the robot. The control method includes forming a first bell-shaped velocity profile in response to a start time and an end time of a motion of the robot, calculating a value of an objective function having a limited condition according to the bell-shaped velocity profile, and driving a joint in response to a second bell-shaped velocity profile that minimizes the objective function having the limited condition.
    Type: Grant
    Filed: October 25, 2010
    Date of Patent: May 19, 2015
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Bok Man Lim, Kyung Shik Roh, San Lim, Myung Hee Kim
  • Patent number: 8972055
    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: August 19, 2011
    Date of Patent: March 3, 2015
    Assignee: Google Inc.
    Inventors: Munjal Desai, Ryan Hickman, Thor Lewis, Damon Kohler
  • Patent number: 8961695
    Abstract: A robotic cleaner includes a cleaning assembly for cleaning a surface and a main robot body. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and a width of the cleaning assembly is greater than a width of the main robot body. A robotic cleaning system includes a main robot body and a plurality of cleaning assemblies for cleaning a surface. The main robot body houses a drive system to cause movement of the robotic cleaner and a microcontroller to control the movement of the robotic cleaner. The cleaning assembly is located in front of the drive system and each of the cleaning assemblies is detachable from the main robot body and each of the cleaning assemblies has a unique cleaning function.
    Type: Grant
    Filed: December 30, 2010
    Date of Patent: February 24, 2015
    Assignee: iRobot Corporation
    Inventors: Nikolai Romanov, Collin Eugene Johnson, James Philip Case, Dhiraj Goel, Steffen Gutmann, Michael Dooley
  • Patent number: 8914139
    Abstract: A Robot includes a main body, a Portable device and a supporting structure. The supporting structure is disposed at the main body for detachably connecting the Portable device. The Portable device reads digital media data from the main body or the Portable device itself, and plays the digital media data as video. After the Portable device is detached from the supporting structure, the main body and the Portable device operate independently.
    Type: Grant
    Filed: May 7, 2012
    Date of Patent: December 16, 2014
    Assignee: Asustek Computer Inc.
    Inventors: Nilay C Badavne, Ming-Lu Lai, Tai-Ming Parng
  • Patent number: 8886360
    Abstract: A motor velocity control apparatus and method in which the velocity of a motor to drive a joint of a robot is controlled.
    Type: Grant
    Filed: September 29, 2011
    Date of Patent: November 11, 2014
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Ki Moon Lee, Chi Gun An, Duke Kimm
  • Patent number: 8825209
    Abstract: If a manipulator of a robot falls in local minima when expanding a node to generate a path, the manipulator may efficiently escape from local minima by any one of a random escaping method and a goal function changing method or a combination thereof to generate the path. When the solution of inverse kinematics is not obtained due to local minima or when the solution of inverse kinematics is not obtained due to an inaccurate goal function, an optimal motion path to avoid an obstacle may be efficiently searched for. The speed to obtain the solution may be increased and thus the time consumed to search for the optimal motion path may be shortened.
    Type: Grant
    Filed: July 21, 2010
    Date of Patent: September 2, 2014
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Myung Hee Kim, Kyung Shik Roh, San Lim, Bok Man Lim, Guo Chunxu
  • Patent number: 8812159
    Abstract: A process includes defining, in a memory, arm-occupied regions including robot arms and a workpiece and tool attached to a robot wrist, a virtual safety protection barrier with which the arms are not allowed to come into contact, and movable ranges of robot axes; estimating the coasting angle of each robot axis for which the axis will coast when the robot is stopped due to an emergency stop while moving to a next target position, from an actually measured amount of coasting and the like; determining a post-coasting predicted position of the robot by adding the estimated coasting angles to the next target position; checking whether or not the arm-occupied regions at the post-coasting predicted position will come into contact with the virtual safety protection barrier, or whether or not the robot axes are within the movable ranges; and performing control to stop the robot immediately upon detection of abnormality.
    Type: Grant
    Filed: March 15, 2011
    Date of Patent: August 19, 2014
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Shinichi Maehara, Hirokazu Kariyazaki, Takahiro Maeda
  • Patent number: 8786241
    Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
    Type: Grant
    Filed: July 1, 2011
    Date of Patent: July 22, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 8744612
    Abstract: A numerical controller for machine tools that has function of controlling the speed of arc operation calculates a first operable feedrate based on the arc radius of a machining path and the allowable frequency (or allowable angular speed) to which servo position control is capable of responding. The numerical controller also calculates a second operable feedrate based on the arc radius of the machining path and the allowable acceleration to which servo position control can respond, and selects the minimum feedrate from the commanded feedrate and the calculated first and second feedrate to perform speed control.
    Type: Grant
    Filed: April 29, 2011
    Date of Patent: June 3, 2014
    Assignee: FANUC Corporation
    Inventors: Soichiro Ide, Michiharu Kawahara, Takenori Ono
  • Patent number: 8736211
    Abstract: Provided is a motor control device which realizes automatic adjustment of control of a motor for driving a mechanical load through a simple operation. The motor control device includes: a follow-up control unit (6) for receiving detection information of a detector (3) to output a torque command signal and output a status of motor control of a motor (1) as a control status amount signal, when a command signal regarding the motor control to be output from an upper-level controller is absent; an oscillation detection unit (9) for receiving the control status amount signal and detecting oscillation of a control status amount to output an oscillation detection signal; and an automatic adjustment unit (10) for receiving the oscillation detection signal to monitor a control status of the motor (1) and adjust a control parameter of the follow-up control unit (6) only when abnormality is detected.
    Type: Grant
    Filed: March 8, 2010
    Date of Patent: May 27, 2014
    Assignee: Mitsubishi Electric Corporation
    Inventors: Akira Tanabe, Yoshihiro Marushita, Hidetoshi Ikeda, Kei Terada, Tetsuya Tanabe, Masahiko Yoshida, Masanori Ozaki
  • Patent number: 8620536
    Abstract: Controlling a digging operation of an industrial machine that includes a dipper, a crowd motor drive, and a controller. The crowd motor drive is configured to provide one or more control signals to a crowd motor, and the crowd motor is operable to provide a force to the dipper to move the dipper toward or away from a bank. The controller is connected to the crowd motor drive and is configured to monitor a characteristic of the industrial machine, identify an impact event associated with the dipper based on the monitored characteristic of the industrial machine, and set a crowd motoring torque limit for the crowd motor drive when the impact event is identified.
    Type: Grant
    Filed: March 14, 2013
    Date of Patent: December 31, 2013
    Assignee: Harnischfeger Technologies, Inc.
    Inventors: Joseph Colwell, William Hren, David Wendt, Michael Linstroth
  • Patent number: 8620474
    Abstract: In a method for controlling a manipulator, in particular a robot, a reference path is stored and reference increments are automatically determined while following the path the reference increments are determined based on the dynamics of the manipulator while following the path.
    Type: Grant
    Filed: January 28, 2010
    Date of Patent: December 31, 2013
    Assignee: Kuka Laboratories GmbH
    Inventors: Christian Sonner, Uwe Zimmermann
  • Patent number: 8614558
    Abstract: Disclosed herein are a motor control apparatus and a motor control method thereof. The motor control method includes estimating a current torque of a motor based on dynamics of a body driven by the motor, judging whether the estimated torque is higher than a predetermined torque value, compensating for a velocity profile to drive the motor from the predetermined torque value, upon judging that the estimated torque is higher than the predetermined torque value, and driving the motor using the compensated velocity profile. Thereby, the velocity profile is compensated for in real time, and thus the velocity of the motor is raised while preventing the motor from stepping out.
    Type: Grant
    Filed: January 20, 2011
    Date of Patent: December 24, 2013
    Assignee: Samsung Electonics Co., Ltd.
    Inventors: Ki Moon Lee, Yong Joon Hong, Chi Gun An, Dae Hyung Park
  • Patent number: 8598832
    Abstract: A control system of multi-shaft servo motor comprises a position loop module (400) for receiving a position loop given value and a position feedback value of respective shelves and figuring out a velocity loop given value; a velocity loop module (500) for receiving the velocity loop given value and a velocity feedback value of respective shelves and figuring out a current loop given value; a current loop module (200) for receiving the current loop given value and a current feedback value of respective shelves and outputting a current loop output value; a PWM signal generation module (300) for receiving the current loop output value from the current loop module (200) and generating a PWM signal for controlling respective shelves of the servo motor; and a multi-shaft time sequence control module (700).
    Type: Grant
    Filed: November 11, 2008
    Date of Patent: December 3, 2013
    Assignee: Shenzhen Academy of Aerospace Technology
    Inventors: Zhaoyong Zhou, Yajing Liu, Tiecai Li, Yan Zhang, Guijie Yang, Hongpeng Wang
  • Patent number: 8571766
    Abstract: Systems, methods, devices, and computer readable media for controlling a digging operation of an industrial machine that includes a dipper and a crowd drive. A method includes determining an acceleration associated with the industrial machine, determining a crowd retract factor based on the acceleration, comparing the crowd retract factor to a threshold crowd retract factor, setting a crowd speed reference and a crowd retract torque for the crowd drive for a period of time based on the comparison of the crowd retract factor to the threshold crowd retract factor.
    Type: Grant
    Filed: January 15, 2013
    Date of Patent: October 29, 2013
    Assignee: Harnischfeger Technologies, Inc.
    Inventors: Joseph Colwell, William Hren, David Wendt, Michael Linstroth
  • Patent number: 8536822
    Abstract: A stepper motor driver system includes: a digital signal controller configured to digitally synthesize synthesized analog voltage signals that will induce a desired velocity of a stepper motor when applied to a pair of stepper motor windings; and voltage amplifiers, communicatively coupled to the digital signal controller, configured to amplify the synthesized analog voltage signals to produce amplified analog voltage signals and to output the amplified analog voltage signals; where the digital signal controller is configured to synthesize the analog voltage signals by affecting at least one of a phase or an amplitude of each of the analog voltage signals as a function of the desired velocity of the stepper motor.
    Type: Grant
    Filed: March 23, 2011
    Date of Patent: September 17, 2013
    Assignee: Pelco, Inc.
    Inventors: Clifford W. T. Webb, Brian F. Reilly
  • Patent number: 8463440
    Abstract: A robot includes: an arm; a driving source that pivots the arm; an angle sensor that detects a pivot angle and outputs pivot angle information; an inertia sensor that is attached to the arm and outputs inertial force information; a control command generating unit that outputs a control command defining rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used when the driving source is controlled; and an arm operation control unit that performs a first control based on the control command, the pivot angle information, and the inertial force information, if the control conversion determining unit determines that the inertial force information should be used, and performs a second control based on the control command and the pivot angle information, if the control conversion determining unit determines that the inertial force information should not be used.
    Type: Grant
    Filed: June 14, 2010
    Date of Patent: June 11, 2013
    Assignee: Seiko Epson Corporation
    Inventors: Masaki Motoyoshi, Izumi Iida
  • Patent number: 8452447
    Abstract: Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.
    Type: Grant
    Filed: September 27, 2011
    Date of Patent: May 28, 2013
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Tom Nixon
  • Patent number: 8436565
    Abstract: In position tandem control in which one movable member is driven by two motors, an output of the integral element of the velocity control unit in the control system for one motor is copied to the integral element of the velocity control unit in the control system for the other motor. A preload is added to a torque command output from each of the velocity control units in the motor control systems for two motors so that torques in mutually opposite directions are generated to suppress backlash between gears.
    Type: Grant
    Filed: September 25, 2009
    Date of Patent: May 7, 2013
    Assignee: FANUC Ltd
    Inventors: Kazuomi Maeda, Yukio Toyozawa, Yasusuke Iwashita
  • Patent number: 8392023
    Abstract: A robotic system includes a robot for moving a payload in response to a calculated input force. Sensors in respective sensor housings are connected to a handle, each sensor including a light emitter and receiver. The sensors measure a light beam received by a respective receiver. A controller calculates the calculated input force using received light. Each sensor housing modifies an interruption of the light beam in a sensor when the actual input force is applied, and the controller controls the robot using the calculated input force. A method of controlling the robot includes emitting the light beam, flexing a portion of the sensor housing(s) using the actual input force to interrupt the light beam, and using a host machine to calculate the calculated input force as a function of the portion of the light beam received by the light receiver. The robot is controlled using the calculated input force.
    Type: Grant
    Filed: November 30, 2009
    Date of Patent: March 5, 2013
    Assignees: GM Global Technology Operations LLC, Universite Laval
    Inventors: Vincent Duchaine, Noemie Paradis, Thierry Laliberte, Boris Mayer-St-Onge, Clement Gosselin, Dalong Gao
  • Patent number: 8386069
    Abstract: A method of synchronizing a pickup of a handling device, a computer readable medium and a control device are disclosed. During movement, a pickup of a multi-axis handling device is synchronized with an object to be picked up which is carried along by a conveyor device. Furthermore, the pickup is synchronized with a moving conveyor device in order to put the object down onto the conveyor device. The pickup is synchronized along a computationally-determined polynomial path of at least the 3rd order between a starting point and a destination point.
    Type: Grant
    Filed: July 7, 2009
    Date of Patent: February 26, 2013
    Assignee: Siemens Aktiengesellschaft
    Inventors: Guido Hartmann, Tino Heber, Andre Heydenreich, Holger Hüfner, Raimund Kram
  • Patent number: 8355847
    Abstract: Systems, methods, devices, and computer readable media for controlling a digging operation of an industrial machine that includes a dipper and a crowd drive. A method includes determining an acceleration associated with the industrial machine, determining a crowd retract factor based on the acceleration, comparing the crowd retract factor to a threshold crowd retract factor, setting a crowd speed reference and a crowd retract torque for the crowd drive for a period of time based on the comparison of the crowd retract factor to the threshold crowd retract factor.
    Type: Grant
    Filed: August 31, 2011
    Date of Patent: January 15, 2013
    Assignee: Harnischfeger Technologies, Inc.
    Inventors: Joseph Colwell, William Hren, David Wendt, Michael Linstroth
  • Patent number: 8315735
    Abstract: A production system in which a human and a robot may simultaneously perform a cooperative task in the same area while ensuring human's safety. A robot is positioned at one side of a working table, and an operator is positioned at the other side of the working table. The reachable area of the operator is limited by the working table. An area of the working table is divided into an area where only the operator may perform a task, an area where only the robot may perform a task, and an area where both the operator and the robot may enter. In a cooperation mode, the maximum movement speed of a component of the robot is limited lower than when the component of the robot is outside the cooperative task area, and, the motion of the robot is limited so that the robot does not enter a robot entry-prohibited area.
    Type: Grant
    Filed: January 26, 2010
    Date of Patent: November 20, 2012
    Assignee: Fanuc Ltd
    Inventors: Ryo Nihei, Shinsuke Sakakibara, Kazunori Ban, Masahiro Morioka, Satoshi Adachi, Shouta Takizawa
  • Patent number: 8305023
    Abstract: A system and method for driving a drawer of a refrigerator is provided. This system and method allows a drawer to be withdrawn from or inserted into a main body of a refrigerator at a preset speed regardless of the weight of items stored within the drawer, thus increasing reliability of the driving system and enhancing utility of the drawer.
    Type: Grant
    Filed: February 23, 2009
    Date of Patent: November 6, 2012
    Assignee: LG Electronics Inc.
    Inventors: Yong Hwan Eom, Ok Sun Yu, Hyoun Jeong Shin
  • Patent number: 8294405
    Abstract: The invention relates to a method and a device for guiding the movement of a moving machine element on a numerically controlled machine, whereby maximum possible track speed, maximum possible track acceleration, and maximum possible track jerk are defined by means of given restrictions on track axes. The local minima for the maximum possible track speed are determined, whereby for each local minimum a corresponding left-sided and right-sided track speed segment is determined, whereby, for track values for the displacement track to the left and right of a given minimum, the resulting track speed is determined by using the maximum possible track jerk and the maximum possible track acceleration until the track speed exceeds the maximum possible track speed to the left and right of the minimum, a track jerk curve for the movement guidance is hence determined.
    Type: Grant
    Filed: December 5, 2005
    Date of Patent: October 23, 2012
    Assignee: Siemens Aktiengesellschaft
    Inventors: Walter Hoffmann, Wolfgang Papiernik, Tomas Sauer
  • Patent number: 8260453
    Abstract: A numerical controller for controlling a five-axis machining apparatus, in which a tool orientation command is corrected to thereby attain a smooth machined surface and a shortened machining time. The numerical controller includes command reading device that successively reads a tool orientation command, tool orientation command correcting device that corrects the tool orientation command so that a ratio between each rotary axis motion amount and a linear axis motion amount is constant in each block, interpolation device that determines respective axis positions at every interpolation period based on the tool orientation command corrected by the tool orientation command correcting device, a motion path command, and a relative motion velocity command such that a tool end point moves along a commanded motion path at a commanded relative motion velocity, and device that drives respective axis motors such that respective axis positions determined by the interpolation device are reached.
    Type: Grant
    Filed: December 1, 2008
    Date of Patent: September 4, 2012
    Assignee: Fanuc Ltd
    Inventors: Toshiaki Otsuki, Soichiro Ide, Osamu Hanaoka, Daijirou Koga
  • Patent number: 8145354
    Abstract: Systems and methods are presented that enable a legged robot to maintain its balance when subjected to an unexpected force. In the reflex phase, the robot withstands the immediate effect of the force by yielding to it. In one embodiment, during the reflex phase, the control system determines an instruction that will cause the robot to perform a movement that generates a negative rate of change of the robot's angular momentum at its centroid in a magnitude large enough to compensate for the destabilizing effect of the force. In the recovery phase, the robot recovers its posture after having moved during the reflex phase. In one embodiment, the robot returns to a statically stable upright posture that maximizes the robot's potential energy. In one embodiment, during the recovery phase, the control system determines an instruction that will cause the robot to perform a movement that increases its potential energy.
    Type: Grant
    Filed: October 14, 2010
    Date of Patent: March 27, 2012
    Assignee: Honda Motor Co., Ltd.
    Inventors: Ambarish Goswami, Muhammad E. Abdallah
  • Patent number: 8093855
    Abstract: A low speed control method and an apparatus for a servo motor. The control apparatus comprises: an encoder capable of acquiring a speed signal from a servo motor and encoding the speed signal to output a low-resolution encoded signal; an insertion calculation unit capable of receiving the low-resolution encoded signal from the encoder to be processed by an interpolation operation for converting the low-resolution encoded signal into a high-resolution encoded signal to be outputted therefrom; a servo control chip capable of setting internal parameters and receiving the high-resolution encoded signal from the insertion calculation unit to be processed by a calculation process so as to output a switch control instruction; and a power module capable of receiving the switch control instruction from the servo control chip and then transmitting the same to the servo motor for adjusting the operation speed of the servo motor.
    Type: Grant
    Filed: August 5, 2009
    Date of Patent: January 10, 2012
    Assignee: Industrial Technology Research Institute
    Inventors: Chia-Min Ting, Hsin-Hung Chou, Chiu-Pao Tien, Cheng-Min Chang, Ya-Ling Chang
  • Patent number: 8005572
    Abstract: An apparatus provides selective communication between multiple programmable robot controllers and one or more teaching devices connected by a network. The network controls communication between the teaching devices and the controllers including active tasks and passive tasks for preventing communication of active tasks between any of the controllers and more than one of any of the teaching devices. The network permits communication of the passive tasks between any of the controllers and one of the teaching devices communicating active tasks with another one of the controllers.
    Type: Grant
    Filed: March 3, 2006
    Date of Patent: August 23, 2011
    Assignee: Fanuc Robotics America, Inc.
    Inventors: Judy A. Evans, Kenneth W. Krause, Glenn F Nowak
  • Patent number: 7977906
    Abstract: Described is a fault-tolerant electro-mechanical system that is able to saccade to a target by training and using a signal processing technique. The invention enables tracking systems, such as next generational cameras, to be developed for autonomous platforms and surveillance systems where environment conditions are unpredictable. The invention includes at least one sensor configured to relay a signal containing positional information of a stimulus. At least one actuator is configured to manipulate the sensor to enable the sensor to track the stimulus. A processing device is configured to receive positional information from each sensor and each actuator. The processing device sends a positional changing signal to at least one actuator and adjusts at least one positional changing signal according to the information from each sensor and each actuator to enable the actuator to cause the sensor to track the stimulus.
    Type: Grant
    Filed: August 14, 2008
    Date of Patent: July 12, 2011
    Assignee: HRL Laboratories, LLC
    Inventors: Narayan Srinivasa, Youngkwan Cho
  • Patent number: 7974738
    Abstract: A virtual track or rail system and method is described for execution by a robot. A user, through a user interface, generates a desired path comprised of at least one segment representative of the virtual track for the robot. Start and end points are assigned to the desired path and velocities are also associated with each of the at least one segment of the desired path. A waypoint file is generated including positions along the virtual track representing the desired path with the positions beginning from the start point to the end point including the velocities of each of the at least one segment. The waypoint file is sent to the robot for traversing along the virtual track.
    Type: Grant
    Filed: July 5, 2006
    Date of Patent: July 5, 2011
    Assignee: Battelle Energy Alliance, LLC
    Inventors: David J. Bruemmer, Douglas A. Few, Miles C. Walton
  • Patent number: 7965055
    Abstract: A control device of a work positioning apparatus includes an operating limit line storage unit for storing position coordinates of an operating limit line, a speed reduction zone storage unit for storing a width of a speed reduction zone ranging from a reduction start position to the operating limit line, a check point storage unit for storing position coordinates of check points set in the work, a check point updating unit for determining position coordinates of the check points moved in accordance with an operation of the work positioning apparatus by calculation, an in-speed-reduction-zone determining unit for determining whether the check points enter the speed reduction zone in accordance with the updated position coordinates of the check points, and a work positioning apparatus control unit for instructing a work positioning apparatus motor to reduce a speed if the check points are determined to enter the speed reduction zone.
    Type: Grant
    Filed: February 13, 2008
    Date of Patent: June 21, 2011
    Assignee: Kobe Steel, Ltd.
    Inventors: Takeshi Koike, Masayuki Shigeyoshi, Masaki Shibaike
  • Patent number: 7848849
    Abstract: A controller of a leg type moving robot determines an action force to be input to an object dynamic model 2 such that a motion state amount (object model velocity) of the object dynamic model 2 follows a desired motion state amount based on a moving plan of an object, and also determines a manipulated variable of the motion state amount (object model velocity) of the object dynamic model 2 such that the difference between an actual object position and a desired object position approximates zero, and then inputs the determined action force and manipulated variable to the object dynamic model 2 to sequentially determine the desired object position. Further, a desired object reaction force to a robot from the object is determined from the determined reaction force.
    Type: Grant
    Filed: July 28, 2005
    Date of Patent: December 7, 2010
    Assignee: Honda Motor Co., Ltd.
    Inventor: Tadaaki Hasegawa
  • Patent number: 7835822
    Abstract: Systems and methods are presented that enable a legged robot to maintain its balance when subjected to an unexpected force. In the reflex phase, the robot withstands the immediate effect of the force by yielding to it. In one embodiment, during the reflex phase, the control system determines an instruction that will cause the robot to perform a movement that generates a negative rate of change of the robot's angular momentum at its centroid in a magnitude large enough to compensate for the destabilizing effect of the force. In the recovery phase, the robot recovers its posture after having moved during the reflex phase. In one embodiment, the robot returns to a statically stable upright posture that maximizes the robot's potential energy. In one embodiment, during the recovery phase, the control system determines an instruction that will cause the robot to perform a movement that increases its potential energy.
    Type: Grant
    Filed: March 28, 2006
    Date of Patent: November 16, 2010
    Assignee: Honda Motor Co., Ltd.
    Inventors: Ambarish Goswami, Muhammad E. Abdallah
  • Patent number: 7812558
    Abstract: There is provided a driving apparatus of an electric motor for a reduction roll that can improve maximization of rolling performance and a speed decrease amount by making maximal use of torque that various electric motors can generate during material entry.
    Type: Grant
    Filed: August 3, 2006
    Date of Patent: October 12, 2010
    Assignee: Toshiba Mitsubishi-Electric Industrial Systgems Corporation
    Inventors: Ryuzo Mori, Wataru Fukushima, Katsuhiko Fukuma, Takashi Ishida
  • Patent number: 7795834
    Abstract: A controller includes a rotating direction detecting unit 34 to detect the rotating direction of a servo motor 6, a reversing distance computing unit 31 to compute a rotating angle of the servo motor 6, a rotation resistance computing unit 35 to compute rotation resistance on the servo motor side 6, and an elastic deformation error amount computing unit 21 to compute a deformation error amount of a ball screw 3. In the controller, when the rotating direction detecting unit 34 detects reverse of the servo motor 6, the rotation resistance computing unit 35 computes rotation resistance based on a rotating angle ?? of the servo motor 6 after the servo motor is reversed. The elastic deformation error amount computing unit 21 computes the elastic deformation error amount ? based on the computed rotation resistance. Thereby, a position command value inputted into the position control unit 14 can be corrected.
    Type: Grant
    Filed: February 21, 2008
    Date of Patent: September 14, 2010
    Assignee: Okuma Corporation
    Inventor: Takashi Norihisa
  • Patent number: 7756602
    Abstract: An entertainment system is for a vehicle and includes a vehicle environment sensor apparatus that captures data indicative of the vehicle's environment and that generates a vehicle environment data feed. A video game console is electronically coupled to the vehicle environment sensor apparatus and has an application program interface. The video game console receives the vehicle environment data feed, operates a game medium, and generates a video output signal based on both the game medium and the vehicle environment data feed. At least one controller is communicatively coupled to the video game console and directs the operation of the game medium. A display unit communicatively coupled with the application program interface receives the video output signal and displays images dependent upon the video output signal.
    Type: Grant
    Filed: June 14, 2007
    Date of Patent: July 13, 2010
    Assignee: Panasonic Automotive Systems Company of America division of Panasonic Corporation of North America
    Inventors: Jeremy Koempel, Seung Chan Lim, Michael McManus
  • Patent number: 7751935
    Abstract: A method of controlling vibration of a moving system having driving and driven units includes measuring an acceleration of the driven unit, generating a nominal acceleration by subtracting gravity from the measured acceleration, generating a control driving force according to the nominal acceleration, the driving force having a direction opposite to that of the measured acceleration, and applying the control driving force to the driven unit.
    Type: Grant
    Filed: December 1, 2004
    Date of Patent: July 6, 2010
    Assignee: Samsung Electronic Co., Ltd.
    Inventors: Joo-young Kwak, Yong-kwun Lee, Young Son, Chang-hyun Roh
  • Patent number: 7741802
    Abstract: A medical robotic system has a robot arm holding an instrument for performing a medical procedure, and a control system for controlling movement of the arm and its instrument according to user manipulation of a master manipulator. The control system includes at least one joint controller that includes a controller having programmable parameters for setting a steady-state velocity error and a maximum acceleration error for the joint's movement relative to a set point in response to an externally applied and released force.
    Type: Grant
    Filed: December 20, 2006
    Date of Patent: June 22, 2010
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Giuseppe M. Prisco, David J. Rosa, David. Q Larkin
  • Patent number: 7729821
    Abstract: When dot-sequential data indicating a temporal variation in position, speed, or acceleration is stored in a memory in an automated guided vehicle as it is, the capacity of the memory is insufficient and thus needs to be increased. A pattern is mounted in a stacker crane 1; the pattern is drawn by dot-sequential data indicating a temporal variation in acceleration (FIG. 2C), and corresponds to an instruction value provided to an actuator installed in the stacker crane 1. In this case, a curve function corresponding to an approximate expression for the dot-sequential data is derived in a form of a Fourier series having a finite number of terms and using time as an independent variable and the position, speed, or acceleration as a dependent variable. Data identifying the Fourier series, having a finite number of terms, is stored in a memory 5 mounted in the stacker crane 1.
    Type: Grant
    Filed: August 7, 2006
    Date of Patent: June 1, 2010
    Assignee: Murata Kikai Kabushiki Kaisha
    Inventors: Toshiki Moriguchi, Takeshi Murakami
  • Patent number: 7729805
    Abstract: There is provided a travel time display device for an industrial robot which can display travel time on the screen such that time taken for moving a work from any designated starting point to any other point can be seen at a glance. The travel time display device includes: a display for displaying on the screen the location of the industrial robot and an area in which the industrial robot can transport the work; a position designator for designating a travel starting point of the industrial robot at an arbitrary position on the display screen; a calculator for setting a plurality of time intervals with respect to necessary travel time from the travel starting point and calculating a travelable area, to be displayed on the display screen; and a display for depicting the travelable areas with a visual discrimination between the travelable areas.
    Type: Grant
    Filed: July 29, 2005
    Date of Patent: June 1, 2010
    Assignee: Toshiba Kikai Kabushiki Kaisha
    Inventor: Kazuhiro Katsumata
  • Patent number: 7664570
    Abstract: The safety in robotic operations is enhanced and the floor space in a factory or the like is effectively utilized. A virtual safety barrier 50 including the trajectory of movement of a work or tool 7 mounted on a wrist 5 of a robot 1 in operation is defined in a memory. At least two three-dimensional spatial regions S (S1 to S3) including a part of the robot including the work or tool are defined. Predicted positions of the defined three-dimensional spatial regions obtained by trajectory calculations are matched with the virtual safety barrier 50, and if the predicted position of any one of the defined three-dimensional spatial regions based on trajectory calculations is included in the virtual safety barrier 50, a control is effected to stop the movement of the robot arms 3 and 4.
    Type: Grant
    Filed: April 22, 2004
    Date of Patent: February 16, 2010
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventors: Kazutsugu Suita, Morihiko Okura
  • Patent number: 7660650
    Abstract: The present invention relates to a self-propelled working robot, including a first distance sensor 4a and a second distance sensor 4b (4c) for measuring the distance to an obstacle W in front of the robot. The robot includes first determination means for comparing a first measured distance Dc to the obstacle obtained by the first distance sensor 4a with a predetermined first threshold value to determine the proximity to the obstacle W, second determination means for comparing a second measured distance Dr (DL) to the obstacle W obtained by the second distance sensor 4b (4c) with a predetermined second threshold value to determine the proximity to the obstacle, and changing means for changing the first or second threshold value based on information regarding an inclination angle of the obstacle W obtained from the first and second measured distances.
    Type: Grant
    Filed: October 5, 2004
    Date of Patent: February 9, 2010
    Assignee: Figla Co., Ltd.
    Inventors: Nobukazu Kawagoe, Shiegeru Oyokota
  • Patent number: 7659997
    Abstract: Linear sensors are provided in two rows along a moving route of a moving body. A relative position of a magnet provided in the moving body relative to the linear sensor is determined, and an origin coordinate of the linear sensor is added to the determined relative position to determine an absolute position of the moving body.
    Type: Grant
    Filed: November 27, 2007
    Date of Patent: February 9, 2010
    Assignee: Murata Machinery, Ltd.
    Inventor: Kikuo Hori