With Plural Control Systems (e.g., The Interaction Of Plural Processors To Control The Plural Joints Of A Single Robot): Patents (Class 318/568.2)
  • Patent number: 10345827
    Abstract: A motor control device may include a position command output means, a first subtraction means that calculates and outputs a position deviation, a position control means, a second subtraction means that calculates and outputs a position deviation, a speed control means that outputs a torque command, a limiter limits the level of the torque command, a motor drive means, and a voltage fluctuation detection means. When the voltage fluctuation detection means detects that the voltage of said power source has dropped below a predetermined reference level, either the position command output means varies the position command so as to reduce the rotational speed of the motor and/or said position control means limits said speed command to be output.
    Type: Grant
    Filed: August 6, 2011
    Date of Patent: July 9, 2019
    Assignee: NIDEC SANKYO CORPORATION
    Inventors: Jun Otsuji, Akihiro Ito, Hirokazu Watanabe, Hideyuki Odagiri
  • Patent number: 10207407
    Abstract: Example implementations relate to robotic operations libraries. An example library may include sets of operation instructions and other information for robotic devices to use to complete desired tasks. For instance, a respective set of operation instructions is determined based on successive simulations in which a virtual robotic device comprising an adjustable configuration initially based on the given configuration of a robotic device performs operations related to a task in an adjustable virtual environment until one or more simulations result in the virtual robotic device performing respective operations that complete the task at a success level that satisfies a predefined threshold. The library may provide a set of instructions for performing operations to a robotic device based on a query received from the robotic device that includes information indicative of a configuration and an environment of the robotic device.
    Type: Grant
    Filed: November 7, 2017
    Date of Patent: February 19, 2019
    Assignee: X Development LLC
    Inventor: James Joseph Kuffner
  • Patent number: 10144135
    Abstract: A method of handling humanoid robot interaction with human is disclosed. The method allows systematically storing all events detected within a humanoid robot environment, and classifying as temporary stimuli. When the robot is set to analyze the events, a process allows selecting one preferred stimulus among the stored stimuli and depending on the current activity of the robot, one or more actions are generated for the robot.
    Type: Grant
    Filed: April 17, 2015
    Date of Patent: December 4, 2018
    Assignee: SOFTBANK ROBOTICS EUROPE
    Inventors: Mathias Le Borgne, Bruno Maisonnier, Jérôme Monceaux, Taylor Veltrop, Thibault Hervier, Guillaume Jacob, Gwennaël Gate
  • Patent number: 10139041
    Abstract: The invention relates to a telescopic arm (1), in particular, for a current collector system for a vehicle which can be driven along a power rail arrangement, wherein the telescopic arm (1) can be extended and/or retracted by means of an adjustment drive (7, 8, 9, 10) and the telescopic arm (1) has a base unit (2) which can be attached to the vehicle, on which a first telescopic stage (3) is arranged displaceably in a direction (RT), in particular, horizontally, and a second telescopic stage (4) is arranged displaceably on the first telescopic stage (3) in the same direction (RT), wherein the adjustment drive (7, 8, 9, 10) is arranged on the first telescopic stage (3), characterized in that the adjustment drive (7, 8, 9, 10) interacts with a rigid chain (S), which is connected with its one end (Sa) to the base unit (2) and with its other end (Sb) to the second telescopic stage (4).
    Type: Grant
    Filed: March 17, 2015
    Date of Patent: November 27, 2018
    Assignee: Paul Vahle GmbH & Co. KG
    Inventors: Michael Raabe, Werner Vahle, Thomas Muller, Steffen Woyczechowski, Michael Heitmann, Micro Husarek
  • Patent number: 10073043
    Abstract: A multi-axis positioning system that may be used in conjunction with an inspection system includes multiple position sensors corresponding to multiple axes in conjunction with multiple motors also corresponding to multiple axes to provide high accuracy, high load and extended travel for controllable movement of an object in up to 6 degrees of freedom. Some embodiments of the multi-axis positioning system may include an x-y stage assembly, a bottom plate assembly coupled to the x-y stage assembly, a top plate assembly coupled to the bottom plate assembly, and a chuck secured to the top plate assembly with multiple position sensors configured to measure displacement between the x-y stage assembly and top plate assembly.
    Type: Grant
    Filed: July 3, 2014
    Date of Patent: September 11, 2018
    Assignee: NEWPORT CORPORATION
    Inventors: Alain Jeanne, Stéphane Bailloux, Laurent Courtemanche
  • Patent number: 9979327
    Abstract: The system has a converter for converting an AC current into a DC current, an inverter for inverting the DC power supplied from the converter into an AC power, a servo control device for controlling a drive of a servo motor, and a resistance regenerating circuit for consuming a regenerative energy. The servo control device has a plurality of motor control portions for enabling a plurality of servo motors to be controlled and a plurality of control port portions corresponding to a plurality of motor control portions. At least one of the plurality of motor control portions is configured so that a power supply regenerating control function portion and a control function portion for the servo motor can be switched. The robot control system capable of suppressing the increase of the development cost and adding the power supply regenerating function can be provided.
    Type: Grant
    Filed: December 19, 2014
    Date of Patent: May 22, 2018
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Tsuyoshi Tagashira, Koji Muneto
  • Patent number: 9969085
    Abstract: A control device for a robot, includes a speed calculator that calculates the speed of at least one target point of the robot operating according to an operation program, on the basis of a speed command value written in the operation program; a limitation direction specifier that specifies a direction in which the speed of the at least one target point is limited; a speed limit component calculator that calculates, out of the speed of the at least one target point calculated by the speed calculator, a speed component in the direction specified by the limitation direction specifier; and a speed limiter that limits, only upon motion exceeding a prespecified speed limit, a motion speed of the robot such that the speed component calculated by the speed limit component calculator is equal to or less than the prespecified speed limit.
    Type: Grant
    Filed: July 20, 2017
    Date of Patent: May 15, 2018
    Assignee: FANUC CORPORATION
    Inventor: Kenji Sugio
  • Patent number: 9921569
    Abstract: A field device commissioning system includes a commissioning tool configured to communicate with a repository and an input-output (IO) device, the IO device is configured to communicate with a field device. The commissioning tool includes a first processor configured to retrieve engineering data for the IO device or the field device from the repository, retrieve a first configuration parameter value for the IO device or the field device from the IO device, determine a second configuration parameter value for the IO device or the field device from the retrieved engineering data, the second configuration parameter corresponds to the first configuration parameter, determine if the first configuration parameter value is the same as the second configuration parameter value; and generate alert on a user interface with when the first configuration parameter value is not the same as the second configuration parameter value, wherein the IO device comprises a second processor.
    Type: Grant
    Filed: March 6, 2015
    Date of Patent: March 20, 2018
    Assignee: Yokogawa Electric Corporation
    Inventors: Bobby Varghese Alexander, Senthilkumar Chockalingam
  • Patent number: 9904271
    Abstract: A manufacturing method for joining first and second members to create a joined piece using a robot with pre-inputted instruction data. The method includes operating the robot to hold the second member for joining to the first member and photographing the second member to obtain an image of the second member at the holding position; comparing the image to a reference image of a joining position of a reference second member joined to a reference first member; determining a deviation amount by which the holding position of the second member deviates from the joining position in the reference image; determining a correction amount for correcting the holding position of the second member is to be corrected in order to reduce the deviation amount of the holding position of the second member; correcting the holding position of the second member according to the correction amount, and then subsequently joining the first and second members.
    Type: Grant
    Filed: November 16, 2012
    Date of Patent: February 27, 2018
    Assignee: Nissan Motor Co., Ltd.
    Inventors: Junji Hayata, Satoru Takizawa
  • Patent number: 9744678
    Abstract: Examples are provided that describe a motion based light display for a robotic arm. In one example, a robotic device comprising one or more components configured to be actuated for movement. The robotic device also includes one or more processors are configured to determine a motion per path metric of the one or more components based on a motion plan associated with the robotic device. The one or more processors are configured to determine one or more feedback characteristics based on the motion per path metric. The one or more feedback characteristics include information indicative of an effect of motion associated with the one or more components. The robotic device also includes an indicator coupled to the one or more components and configured to provide feedback about the one or more components based on the feedback characteristics indicative of the effect of motion.
    Type: Grant
    Filed: May 26, 2016
    Date of Patent: August 29, 2017
    Assignee: X DEVELOPMENT LLC
    Inventor: Aaron Edsinger
  • Patent number: 9748882
    Abstract: A motor controller configured to control different types of electronically commutated motors (ECMs) includes a range of different rotor orientation signal inputs to accommodate differences between ECM motor types. The motor controller includes a control unit that receives motor operation commands and controls operation of the ECM in accordance with the motor operation commands. The control unit receives and stores data designating ECM type and estimates rotor position based on the designated ECM type.
    Type: Grant
    Filed: March 28, 2016
    Date of Patent: August 29, 2017
    Assignee: Amazon Technologies, Inc.
    Inventors: Sean Hugh Breheny, Shaun Steven Hayward, Kevin John Trenholme, Sean Garcen, William Joseph Sullivan
  • Patent number: 9703283
    Abstract: A first robot and at least one further second robot are provided to run through a plurality of positioning ranges during operation. A dynamic behavior and/or a load characteristic value of the robot in at least one first positioning range can be adapted to a dynamic behavior and/or a load characteristic value in at least one second positioning range of the robot and/or a dynamic behavior and/or a load characteristic value of the first robot in at least one first positioning range is adapted to a dynamic behavior and/or a load characteristic value of the second robot in at least one second positioning range.
    Type: Grant
    Filed: February 6, 2012
    Date of Patent: July 11, 2017
    Assignee: Durr Systems GmbH
    Inventor: Frank Herre
  • Patent number: 9694456
    Abstract: The motor control system of the present invention includes a signal receiving unit for receiving a signal for operating a mechanical brake, a position monitoring unit for obtaining the history of the rotational position of the servo motor from the receipt of the signal to when the rotation of the servo motor stops using a position detector, a displacement amount calculation unit which calculates the rotational displacement of the servo motor from the receipt of the signal to when the rotation of the servo motor stops from the history, and an abnormality determining unit which determines that an abnormality exists in the mechanical brake when the calculated rotational displacement exceeds a predetermined first threshold value.
    Type: Grant
    Filed: March 30, 2016
    Date of Patent: July 4, 2017
    Assignee: FANUC CORPORATION
    Inventors: Satoshi Ikai, Tomoyuki Aizawa
  • Patent number: 9521768
    Abstract: Position indicator of the movements of bodies or elements of a tool machine, of the type comprising a numerator body (1), enclosed above and laterally in a carter (2) and below by a base (7), said body (1) providing a central bush (3) for the housing of a shaft, a position viewing screen (4), an electronic printed circuit (9) to which a magnetic ring (11) is connected, provided on said shaft and associated with a pair of reading sensors of the movement of said ring (11), a compartment (10) for the housing of a battery (6) powering said electronic printed circuit (9) and a frame (12) protecting the elements within said body (1), on the top of which an upturned-base bush (13) is kept in engagement, characterized in that there are provided means for the perfect sealing from dust and from temporary immersion in water.
    Type: Grant
    Filed: June 1, 2015
    Date of Patent: December 13, 2016
    Assignee: ELESA S.P.A.
    Inventor: Alberto Bertani
  • Patent number: 9486918
    Abstract: Described is a system for a system for autonomous robotic manipulation. The system is configured to receiving a selected task from a task file library. The task is associated with causing a robot end effector to perform an action with a particular item, such as picking up an item. The selected task is transformed into a state machine. Thereafter, the system executes the state machine and, in doing so, causes the robot end effector to perform the selected task.
    Type: Grant
    Filed: March 12, 2014
    Date of Patent: November 8, 2016
    Assignee: HRL Laboratories, LLC
    Inventors: Darren J. Earl, Derek W. Mitchell, Heiko Hoffmann
  • Patent number: 9346162
    Abstract: A robot system includes a robot arm, one or more actuators that are provided in the robot arm to drive the robot arm, a sensor unit that detects an external force applied to at least one of the robot arm and the actuators, and a controller that controls an operation of each of the actuators and limits a torque instruction value for each of the actuators on the basis of a detection result of the sensor unit.
    Type: Grant
    Filed: January 8, 2014
    Date of Patent: May 24, 2016
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Yukio Hashiguchi, Shingo Ando, Takuya Fukuda, Takenori Oka, Shinji Murai, Takeomi Hidaka, Manabu Okahisa
  • Patent number: 9311608
    Abstract: A teaching system includes an image generating unit, a projecting unit, a work line generating unit, an arithmetic unit, and a job generating unit. The image generating unit generates a virtual image including a robot and a workpiece having a processed surface to be processed by the robot. The projecting unit generates a projection plane orthogonal to a normal direction of a desired point on the processed surface selected on the virtual image and projects the processed surface onto the projection plane. The work line generating unit generates a work line for the robot based on setting contents received via the projection plane. The arithmetic unit calculates a teaching value including the position and the posture of the robot at each point of the target points. The job generating unit generates a job program for operating the robot in an actual configuration based on the teaching value.
    Type: Grant
    Filed: September 12, 2014
    Date of Patent: April 12, 2016
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Koichi Kuwahara
  • Patent number: 9301722
    Abstract: In an example, a computer-implemented method receives one or more user inputs and captures a sound associated with a sound source via one or more capturing devices using sound source localization. The method then estimates one or more first posterior likelihoods of one or more positions of the sound source based on the one or more user inputs and a second posterior likelihood of a position of the sound source based on the sound. The method then estimates an overall posterior likelihood of an actual position of the sound source based on 1) the one or more first posterior likelihoods of the one or more positions of the sound source estimated based on the one or more user inputs and 2) the second posterior likelihood of the position of the sound source estimated based on the sound.
    Type: Grant
    Filed: February 3, 2014
    Date of Patent: April 5, 2016
    Inventor: Eric Martinson
  • Patent number: 9254569
    Abstract: In a trajectory control device (10) for an articulated robot, a first dynamic characteristic calculation unit (300) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than the natural oscillation frequency of the robot, performs filtering processing with respect to a joint-angle command value (?c), and outputs a processed joint-angle target value (?d). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from a coupling-torque compensation command value calculation unit (200), and outputs a processed coupling-torque compensation value (cd).
    Type: Grant
    Filed: May 30, 2013
    Date of Patent: February 9, 2016
    Assignee: Kobe Steel, Ltd.
    Inventors: Yoshiharu Nishida, Takashi Wada, Yoshihide Inoue, Shuichi Inada
  • Patent number: 9102054
    Abstract: Provided are a multi-joint robot arm, a manipulation force acquiring unit that acquires a manipulation force from a person, the manipulation force acquiring unit disposed on the multi-joint robot arm, an external force acquiring unit that acquires an external force to be applied to a gripped object, the external force acquiring unit disposed on the multi-joint robot arm, an impedance controller that performs impedance control on the multi-joint robot arm based on the manipulation force acquired by the manipulation force acquiring unit and a set impedance parameter, and an assist force correcting unit that corrects a force component vertical to the resistance force of an assist force generated by the impedance controller according to the resistance force generated by friction caused by contact between the gripped object and an external environment.
    Type: Grant
    Filed: December 19, 2013
    Date of Patent: August 11, 2015
    Assignee: Panasonic Intellectual Property Management Co., Ltd.
    Inventor: Yasunao Okazaki
  • Patent number: 9089968
    Abstract: A single track legged vehicle having a body and at least three in-line legs aligned one behind the other is operated by controlling each in-line leg to develop a desired ballistic flight trajectory, by controlling foot force and torque during a first phase that produces thrust; controlling foot movement during a second phase that transitions from thrusting to flight, controlling in-line leg movement during a third phase characterized by flight; controlling foot positioning during a fourth phase characterized by a transition from flight to landing; and controlling foot force and torque during a fifth phase characterized by landing of the foot of the corresponding in-line leg. Each in-line leg is transitioned through the first phase, the second phase the third phase, the fourth phase and the fifth phase to propel and torque the body along three axes according to the desired ballistic flight trajectory.
    Type: Grant
    Filed: December 5, 2013
    Date of Patent: July 28, 2015
    Inventor: John R. Goulding
  • Patent number: 9048776
    Abstract: A motor drive system includes a power sub-assembly that comprises power electronic components and driver circuitry for controlling gate drive signals to the power electronic components. A control sub-assembly is removably mounted to the power sub-assembly and comprises control circuitry for implementing a motor control routine for control of an electric motor. In operation, all control signals originate in the control-subassembly, and are transmitted via mating connectors to the power sub-assembly for driving the motor.
    Type: Grant
    Filed: December 26, 2012
    Date of Patent: June 2, 2015
    Assignee: Rockwell Automation Asia Pacific Business Center Pte. Ltd.
    Inventors: Donald Yuen Leong Tio, Jimmy See Yong Koh, Scott Miles
  • 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: 9026247
    Abstract: The present technology is directed to motion and video capture for tracking and evaluating robotic surgery. In one embodiment, the system includes at least one tracking device coupled to a remote surgical tool. The tracking device is configured to use one or more sensors to sense one or more physical variables such as movement and electrical contact. In some embodiments, the data from multiple individual sensors is synchronized, received, and stored by a digital information system. The digital information system is configured to analyze the data to objectively assess surgical skill.
    Type: Grant
    Filed: March 29, 2012
    Date of Patent: May 5, 2015
    Assignee: University of Washington through its Center for Communication
    Inventors: Lee Woodruff White, Timothy Mariusz Kowalewski, Thomas S. Lendvay, Blake Hannaford
  • Patent number: 8958907
    Abstract: A robot arm apparatus includes an arm mechanism including a base member and a link pivotally connected to the base member for pivotal motion in a horizontal plane through a rotational shaft. The link holds a regular circular transport object at its distal end. The apparatus also includes an edge detector, provided on the base member, that detects two edges of the regular circular transport object as the link pivotally rotates with respect to the base member, a pivotal angle detector that detects a pivotal angle of the link with respect to the base member, and a center position calculator that calculates a center position of the regular circular transport object with respect to the link. The calculation is based on two pivotal angles detected by the pivotal angle detector when the edge detector detects the two edges of the regular circular transport object.
    Type: Grant
    Filed: March 21, 2012
    Date of Patent: February 17, 2015
    Assignee: Sinfonia Technology Co., Ltd.
    Inventors: Toru Saeki, Yasumichi Mieno, Yuji Urabe, Toshio Kamigaki, Yoji Masui
  • Patent number: 8952645
    Abstract: In the case of speed-regulated high-power drives and with simultaneously high demands on accuracy or dynamics, the object of the invention is to reduce a very high level of complexity of the power electronics (high clock frequency), the motor (high precision) and mechanical transmission (low-play transmission elements). For this purpose, the invention proposes a drive device for rotational and/or t translational movements. The drive has a plurality of drives for the joint, mechanically coupled driving of a working machine or for moving a mass. It also has a control device. At least one drive is intended to provide the power (as a power drive). At least one further drive is provided and mechanically coupled as a servo-drive for controlling or regulating the accuracy and/or dynamics of the overall drive. The control device controls and regulates the at least two mechanically coupled drives.
    Type: Grant
    Filed: December 27, 2007
    Date of Patent: February 10, 2015
    Assignee: Lenze Automation GmbH
    Inventor: Carsten Fraeger
  • Patent number: 8924017
    Abstract: An embodiment of the present invention discloses an apparatus for recyclable absorption of electric retardation energy from a multiple axis industrial robotics system, including a robot control unit and at least one drive unit, which generates the electrical retardation energy at retardation. By an apparatus according to the present invention, the electric retardation energy, which occurs when a drive unit is retarded and is transferred into generator mode, may be recycled by the brake unit of the apparatus, which accelerates a mechanical device connected to the brake unit. The electric retardation energy is thus transferred into kinetic energy that may be stored in mechanical devices. An embodiment of the present invention also refers to a corresponding method for recyclable absorption of electric retardation energy from a multiple axis industrial robotics system.
    Type: Grant
    Filed: May 19, 2006
    Date of Patent: December 30, 2014
    Assignee: Aros Electronics AB
    Inventors: Jerker Hellström, Magnus Wide
  • Patent number: 8903546
    Abstract: An articulated instrument is controllably movable between areas of different work space limits, such as when it is extendable out of and retractable into a guide tube. To avoid abrupt transitions in joint actuations as the joint moves between areas of different work space limits, a controller limits error feedback used to control its movement. To provide smooth joint control as the instrument moves between areas of different work space limits, the controller imposes barrier and ratcheting constraints on each directly actuatable joint of the instrument when the joint is commanded to cross between areas of different work space limits.
    Type: Grant
    Filed: August 15, 2009
    Date of Patent: December 2, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Nicola Diolaiti, Paul E. Lilagan
  • Patent number: 8892250
    Abstract: Disclosed herein are a robot capable of recovering from a failure of one of a plurality of symmetrically structured modules, and a recovery method thereof. When a hardware or software failure occurs, the robot recovers by itself by replacing the failed module with another corresponding module. Accordingly, resources of the robot can be more efficiently utilized.
    Type: Grant
    Filed: November 2, 2009
    Date of Patent: November 18, 2014
    Assignee: Samsung Electronics Co., Ltd.
    Inventor: Tae Sin Ha
  • Patent number: 8886357
    Abstract: It is possible to perform robot motor learning in a quick and stable manner using a reinforcement learning apparatus including: a first-type environment parameter obtaining unit that obtains a value of one or more first-type environment parameters; a control parameter value calculation unit that calculates a value of one or more control parameters maximizing a reward by using the value of the one or more first-type environment parameters; a control parameter value output unit that outputs the value of the one or more control parameters to the control object; a second-type environment parameter obtaining unit that obtains a value of one or more second-type environment parameters; a virtual external force calculation unit that calculates the virtual external force by using the value of the one or more second-type environment parameters; and a virtual external force output unit that outputs the virtual external force to the control object.
    Type: Grant
    Filed: March 28, 2012
    Date of Patent: November 11, 2014
    Assignees: Advanced Telecommunications Research Institute International, Honda Motor Co., Ltd.
    Inventors: Norikazu Sugimoto, Yugo Ueda, Tadaaki Hasegawa, Soshi Iba, Koji Akatsuka
  • Patent number: 8855815
    Abstract: A motion path search device which searches for a motion path of a movable part of a robot capable of being taught a motion by direct teaching in which the robot is directly moved by an operator includes: a first space identification unit which identifies a space swept through by the movable part of the robot in the direct teaching; a second space identification unit which identifies a space swept through by at least a portion of a body of the operator in the direct teaching; a space combining unit which calculates, as an accessible space, a union of the space identified by the first space identification unit and the space identified by the second space identification unit; and a path search unit which searches for a motion path of the movable part within the accessible space calculated by the space combining unit.
    Type: Grant
    Filed: April 23, 2012
    Date of Patent: October 7, 2014
    Assignee: Panasonic Corporation
    Inventor: Kenji Mizutani
  • Patent number: 8832236
    Abstract: Example methods, apparatus and articles of manufacture to replace field devices in process control systems are disclosed. A disclosed example method includes recording, at a first process controller of a process control system, configuration data sent from a configuration subsystem of the process control system to a first field device to commission the first field device, detecting, at a second process controller of the process control system, replacement of the first field device with a second field device, and sending the recorded configuration data from the second process controller to the second field device when the replacement is detected to commission the second field device.
    Type: Grant
    Filed: June 21, 2010
    Date of Patent: September 9, 2014
    Assignee: Fisher-Rosemount Systems, Inc.
    Inventors: Cheyenne Hernandez, David R. Denison, Brandon Hieb, Gary Law
  • Patent number: 8823308
    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: September 2, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 8816628
    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: August 26, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • 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: 8798790
    Abstract: An apparatus for detecting a contact position where a robot makes contact with an object includes a probe, a probe-position calculating unit, a contact detecting unit, and a contact-position calculating unit. The probe is attached to the robot and is configured to make a displacement in a direction of making contact with the object in an elastic manner. The probe-position calculating unit calculates a position of the probe of the robot in operation. The contact detecting unit detects a contact state of the probe with the object. When the contact state of the probe is detected, the contact-position calculating unit derives the contact position based on a calculated position of the probe.
    Type: Grant
    Filed: March 9, 2011
    Date of Patent: August 5, 2014
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Yosuke Kamiya, Yasuyuki Inoue, Hideo Nagata
  • Patent number: 8793016
    Abstract: A hexapod robot device includes a main body and six legs coupled thereto. Each leg has a first connecting rod pivotally connected with the main body, a first driver electrically pivotally connected between the main body and the first connecting rod, with the first driver controllably driving the first connecting rod to move forward and backward along a longitudinal direction, a second connecting rod pivotally connected with the first connecting rod, and a second driver pivotally connected between the first connecting rod and the second connecting rod, with the second driver controllably driving the second connecting rod to move upward and downward along a vertical direction. The second connecting rod further has an end to engage with the ground.
    Type: Grant
    Filed: August 26, 2011
    Date of Patent: July 29, 2014
    Assignee: National Kaohsiung University of Applied Science
    Inventor: Chih-Hsiung Yang
  • 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: 8779715
    Abstract: A programmable robot system includes a robot provided with a number of individual arm sections, where adjacent sections are interconnected by a joint. The system furthermore includes a controllable drive mechanism provided in at least some of the joints and a control system for controlling the drive mechanism. The robot system is furthermore provided with user a interface mechanism including a mechanism for programming the robot system, the user interface mechanism being either provided externally to the robot, as an integral part of the robot or as a combination hereof, and a storage mechanism co-operating with the user interface mechanism and the control system for storing information related to the movement and further operations of the robot and optionally for storing information relating to the surroundings.
    Type: Grant
    Filed: March 2, 2007
    Date of Patent: July 15, 2014
    Assignee: Universal Robots ApS
    Inventors: Kristian Kassow, Esben Hallundbæk Østergaard, Kasper Støy
  • Patent number: 8749189
    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: June 10, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 8749190
    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: June 10, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 8731714
    Abstract: A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.
    Type: Grant
    Filed: September 22, 2010
    Date of Patent: May 20, 2014
    Assignee: GM Global Technology Operations LLC
    Inventors: Adam M. Sanders, Matthew J. Reiland
  • Patent number: 8630763
    Abstract: A single track in-line legged vehicle is controlled to coordinate movement along a desired single-track trajectory by causing each in-line leg to selectively perform a stance-to-flight phase, a flight phase, a flight-to-stance phase, and a stance phase. During the stance-to-flight phase, reaction forces and torques between a foot and the ground are unloaded to lift the foot off the ground. During the flight phase, a foot moves in the same general direction and at a generally faster rate as a major direction of motion of the vehicle body. During the flight-to-stance phase, foot positioning is controlled to place a foot on the ground according to the desired single-track trajectory. During the stance phase, foot-to-ground interaction develops reaction forces and torques that are transferred from the foot through the corresponding in-line leg to propel, torque, and stabilize the body in the x, y, z, pitch, roll, and yaw axes.
    Type: Grant
    Filed: May 1, 2013
    Date of Patent: January 14, 2014
    Inventor: John R. Goulding
  • Patent number: 8624537
    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: January 7, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 8618762
    Abstract: A tendon tensioning system includes a tendon having a proximal end and a distal end, an actuator, and a motor controller. The actuator may include a drive screw and a motor, and may be coupled with the proximal end of the tendon and configured to apply a tension through the tendon in response to an electrical current. The motor controller may be electrically coupled with the actuator, and configured to provide an electrical current having a first amplitude to the actuator until a stall tension is achieved through the tendon; provide a pulse current to the actuator following the achievement of the stall tension, where the amplitude of the pulse current is greater than the first amplitude, and return the motor to a steady state holding current following the conclusion of the pulse current.
    Type: Grant
    Filed: January 27, 2011
    Date of Patent: December 31, 2013
    Assignees: GM Global Technology Operations LLC, The United States of America as Represented by the Administrator of the National Aeronautics and Space Administration
    Inventors: Matthew J. Reiland, Myron A. Diftler
  • Patent number: 8614559
    Abstract: A programmable robot system includes a robot provided with a number of individual arm sections, where adjacent sections are interconnected by a joint. The system furthermore includes a controllable drive mechanism provided in at least some of the joints and a control system for controlling the drive. The robot system is furthermore provided with user a interface mechanism including a mechanism for programming the robot system, the user interface mechanism being either provided externally to the robot, as an integral part of the robot or as a combination hereof, and a storage mechanism co-operating with the user interface mechanism and the control system for storing information related to the movement and further operations of the robot and optionally for storing information relating to the surroundings.
    Type: Grant
    Filed: March 14, 2013
    Date of Patent: December 24, 2013
    Assignee: Universal Robots ApS
    Inventors: Kristian Kassow, Esben Hallundbæk Østergaard, Kasper Støy
  • Patent number: 8575892
    Abstract: Provided is a charging apparatus for a moving robot including a charging terminal that is connected to a terminal for charging a battery of the moving robot; a power supply unit that supplies a charging voltage for charging the battery of the moving robot; a power switching unit that outputs a detection signal, depending on whether a voltage is applied from the charging terminal or not, and switches a current flow between the power supply unit and the charging terminal in accordance with an input control signal; and a control unit that responds to the detection signal so as to output the control signal.
    Type: Grant
    Filed: October 25, 2007
    Date of Patent: November 5, 2013
    Assignee: LG Electronics Inc.
    Inventor: Young Gie Kim
  • Patent number: 8571708
    Abstract: An Automated Pharmacy Admixture System (APAS) may include a manipulator that transports medical containers such as bags, vials, or syringes about a substantially aseptic admixing chamber. In a preferred implementation, a gripper assembly is configured to substantially universally grasp and retain syringes, IV bags, and vials of varying shapes and sizes. In an illustrative embodiment, a gripping device may include claws configured to grasp a plurality of different types of IV bags, each type having a different fill port configuration. Embodiments may include a controller adapted to actuate a transport assembly to place a fill port of the bag, vial or syringe into register with a filling port such as a cannula located at a filling station, or be equipped with carousel transport systems that are adapted to convey bags, vials, and syringes to the admixture system and deliver constituted medications in bags, vials or syringes to an egress area.
    Type: Grant
    Filed: September 24, 2009
    Date of Patent: October 29, 2013
    Assignee: Intelligent Hospital Systems Ltd.
    Inventors: Ronald H. Rob, Walter W. Eliuk, Lance R. Mlodzinski
  • Patent number: 8541970
    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: September 24, 2013
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: William C. Nowlin, Paul W. Mohr, Bruce M. Schena, David Q. Larkin, Gary S. Guthart
  • Patent number: 8463434
    Abstract: A system is capable of controlling the movements of a hand so as to ensure a further stable grasp of an object. In a state wherein an object is in contact with a plurality of finger mechanisms and a palm portion by being grasped by the hand, the load to be applied to the object from each of the plurality of finger mechanisms can be adjusted. Thus, the position of the load center on the palm portion can be displaced so as to be included in a target palm area. Further, the load to be applied to the palm portion can be adjusted so as to fall within a target load range.
    Type: Grant
    Filed: May 13, 2010
    Date of Patent: June 11, 2013
    Assignee: Honda Motor Co., Ltd.
    Inventor: Kazuyuki Takahashi