With Reliability Enhancement Means (e.g., Monitoring, Redundant Circuits, Etc.) Patents (Class 318/568.24)
  • Patent number: 10404327
    Abstract: The robot control system includes: a control device for controlling a machine; a portable wireless operation panel for performing wireless communication with the control device to control the machine; a distance measuring unit for measuring the distance between the machine and the portable wireless operation panel; and a warning generator that emits a warning to the operator or stops the machine when the distance between the machine and the portable wireless operation panel exceeds a predetermined threshold value.
    Type: Grant
    Filed: March 10, 2016
    Date of Patent: September 3, 2019
    Assignee: FANUC CORPORATION
    Inventors: Ryoutarou Inaba, Yoshiki Hashimoto
  • Patent number: 10363637
    Abstract: A molding system for assembling a part by moving a workpiece gripped by a hand of a robot toward a mold of an injection molding machine, while rotating a molded article supported on the mold and the workpiece relative to each other, whereby the molded article and the workpiece are screw-engaged. The molding system includes a rotation detector for detecting a rotational amount between the molded article and the workpiece, an assembled state judging unit for judging if the assembled part is in a predetermined state, and a control unit for relatively rotating and displacing the molded article and the workpiece until the rotational amount exceeds a predetermined rotational amount and the assembled state becomes the predetermined state.
    Type: Grant
    Filed: April 5, 2018
    Date of Patent: July 30, 2019
    Assignee: FANUC CORPORATION
    Inventors: Hajime Oono, Naoaki Seki, Ryousuke Mori
  • Patent number: 10144282
    Abstract: A shift position switching device for shifting gears in association with a shift position. The device includes a shift mechanism switching between shift positions using a drive power of a motor, an encoder outputting pulse signals in sync with a rotation of the motor, and a controller rotating the motor to a target rotation position corresponding to an intended gear. The controller rotates the motor toward a dead-end on a first shift position side of the shift mechanism while observing a motor rotation speed or an acceleration of rotation of the motor based on the outputted pulse signals of the encoder. Also, the controller learns, as a reference position on the first shift position side, a first rotation position of the motor.
    Type: Grant
    Filed: July 1, 2015
    Date of Patent: December 4, 2018
    Assignee: DENSO CORPORATION
    Inventors: Kiyoshi Kimura, Jun Yamada
  • Patent number: 9866008
    Abstract: A safety unit is provided for this purpose, and includes a position determining unit, a speed determining unit, a logical product unit, and a stopping unit. When a rotation amount (positional data) of an encoder rotating in connection with a rotation shaft of a servo motor falls within a predetermined limiting range, the position determining unit outputs a command for stopping a motor to a logical product unit. When rotation speed of the encoder rotating in connection with the rotation shaft of the servo motor falls within a predetermined limiting range, the speed determining unit outputs the command for stopping the motor to the logical product unit. This control by the logical product unit requires a stop command from both the position and speed determining units. The logical product unit informs the stopping unit to stop the servo motor to a controller.
    Type: Grant
    Filed: February 26, 2013
    Date of Patent: January 9, 2018
    Assignee: OMRON Corporation
    Inventors: Akihiko Morikawa, Takao Ushiyama, Junichi Ueno, Toshinori Sato
  • Patent number: 9156166
    Abstract: A robot control device according to an embodiment includes: an observer receiving the angular velocity of the motor and the current command value, and estimating an angular acceleration of the link, and angular velocities of the link and the motor from a simulation model of an angular velocity control system of the motor; a first feedback unit calculating an axis torsion angular velocity from a difference between the angular velocities of the link and the motor estimated by the observer, and giving feedback to the angular velocity control system; a second feedback unit feeding back the angular acceleration of the link estimated by the observer to the angular velocity control system; and a first feedback constant calculating unit compensating an end effector load mass and increases inertia at the second feedback unit when an end effector load in the nonlinear dynamic model has low inertia.
    Type: Grant
    Filed: July 31, 2014
    Date of Patent: October 13, 2015
    Assignee: Kabushiki Kaisha Toshiba
    Inventor: Junji Oaki
  • Patent number: 8998797
    Abstract: A surgical system performs a surgical procedure on a patient with manipulators and an endoscope. The surgical system has a display unit for simultaneously displaying a plurality of items of information including an endoscopic image captured by the endoscope, and a wireless image processor for transmitting information to the display unit and processing the plurality of items of information to be displayed by the display unit. The information about the endoscopic image is transmitted from the endoscope to the wireless image processor through a link including at least a portion based on wireless communications.
    Type: Grant
    Filed: July 18, 2008
    Date of Patent: April 7, 2015
    Assignee: Karl Storz GmbH & Co. KG
    Inventor: Shigeru Omori
  • Patent number: 8994312
    Abstract: A method includes determining whether a robot is walking and a direction in which the robot is walking; measuring an amount of time taken for a sole of a foot of the robot to step on the ground; calculating an imaginary reaction force applied to the sole using a trigonometric function having, as a period, the measured amount of time taken for the sole to step on the ground; and applying the calculated imaginary reaction force to a Jacobian transposed matrix and converting the imaginary reaction force into a drive torque for a lower extremity joint of the robot.
    Type: Grant
    Filed: March 18, 2013
    Date of Patent: March 31, 2015
    Assignee: Hyundai Motor Company
    Inventors: Seok Won Lee, Woo Sung Yang
  • Patent number: 8965578
    Abstract: Methods, computer readable media, and apparatuses provide robotic explosive hazard detection. A robot intelligence kernel (RIK) includes a dynamic autonomy structure with two or more autonomy levels between operator intervention and robot initiative A mine sensor and processing module (ESPM) operating separately from the RIK perceives environmental variables indicative of a mine using subsurface perceptors. The ESPM processes mine information to determine a likelihood of a presence of a mine. A robot can autonomously modify behavior responsive to an indication of a detected mine. The behavior is modified between detection of mines, detailed scanning and characterization of the mine, developing mine indication parameters, and resuming detection. Real time messages are passed between the RIK and the ESPM. A combination of ESPM bound messages and RIK bound messages cause the robot platform to switch between modes including a calibration mode, the mine detection mode, and the mine characterization mode.
    Type: Grant
    Filed: March 16, 2011
    Date of Patent: February 24, 2015
    Assignee: Battelle Energy Alliance, LLC
    Inventors: Roelof J. Versteeg, Douglas A. Few, Robert A. Kinoshita, Doug Johnson, Ondrej Linda
  • Patent number: 8918210
    Abstract: In a 6-axis robot, as an example, an inter-axis offset can be measured and calibrated. A light emitting diode is installed on an end effector, and the end effector is located on a plurality of target positions of movement on the axis X (Xb) of a robot coordinate. Then, the position of the light emitting diode is measured by a three-dimensional gauge, and an inter-axis offset F is detected based on an error between the target positions of movement and actually moved positions. For the inter-axis offset F, DH parameters are calibrated.
    Type: Grant
    Filed: March 19, 2012
    Date of Patent: December 23, 2014
    Assignee: Denso Wave Incorporated
    Inventor: Naoya Kagawa
  • 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: 8736212
    Abstract: A robotic catheter control system includes a plurality of electric motors. Diagnostic logic automatically detects motor runaway fault conditions based on the current motor position, the target motor position and a predetermined tolerance parameter. Fault conditions include overshoot, movement in the a non-prescribed direction, exceeding a prescribed maximum motor speed and exceeding a prescribed maximum motor acceleration. The diagnostic logic terminates operating power to the electric motor when a fault condition is detected for any one of the motor. An error message is generated to notify the operator of the fault.
    Type: Grant
    Filed: December 16, 2010
    Date of Patent: May 27, 2014
    Assignee: St. Jude Medical, Atrial Fibrillation Division, Inc.
    Inventors: Kulbir S. Sandhu, Atila Amiri, Otto K. Chiu, Samuel K. Gee
  • Patent number: 8629641
    Abstract: A machine tool includes a time calculation unit calculating the time for a spindle to arrive at a target rotational speed, and the time for a spindle head to arrive at a target position; a comparison unit comparing the time to arrive at the target rotational speed and the time to arrive at the target position; and a drive control unit controlling the drive of the spindle and the drive of the spindle head. The drive control unit controls the drive of the spindle head, when a determination is made that the time to arrive at the target rotational speed is longer than the time to arrive at the target position, such that the time for the spindle head to arrive at the target position is longer than the calculated time to arrive at the target position, and less than or equal to the calculated time to arrive at the target rotational speed. Accordingly, the machine tool can drive the spindle head that is a control object in a power-saving mode.
    Type: Grant
    Filed: November 19, 2010
    Date of Patent: January 14, 2014
    Assignee: Mori Seiki Co., Ltd.
    Inventors: Makoto Fujishima, Hiroki Nakahira
  • Patent number: 8384331
    Abstract: This invention aims to achieve safety without interchanging an entire existing servo system to a servo system having the safety function. In a servo system including a servo motor, and a servo amplifier for controlling the drive of the servo motor based on the output of an encoder attached to the servo motor, a safety control device for monitoring presence of abnormality based on the output of the encoder, and shielding the supply of drive power to the servo motor if abnormality is present is arranged, and the monitoring content is set as setting information.
    Type: Grant
    Filed: December 14, 2009
    Date of Patent: February 26, 2013
    Assignee: Omron Corporation
    Inventors: Teruyuki Nakayama, Minoru Hashimoto
  • Patent number: 8344848
    Abstract: The invention relates to methods and appropriate devices for safely, unequivocally and exclusively, temporarily assigning the command authority of an operator (1) to a controllable technical system (60) using a mobile control device (2) which is technically suitable for periodically controlling a plurality of controllable technical systems (60), which is equipped as standard with safety switch elements (38, 39) such as an emergency stop switch, ok key and operating mode selection switches and for a data coupling with the controllable technical system (60) in spite of having only normal transmission means (6) or network technologies without any particular features specific to safety function.
    Type: Grant
    Filed: April 5, 2006
    Date of Patent: January 1, 2013
    Assignee: Keba AG
    Inventors: Manfred Möschl, Manfred Schininger
  • 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: 8219245
    Abstract: To increase the safety of an articulated arm robot with robot members connected by means of joints as open kinematics and with functional elements acting on the joints, such as drive motors, gears, brakes and a weight balance system, while reducing the mechanical limitations of the motion space of the robot, the present invention provides that at least some of the said functional elements have a dual design.
    Type: Grant
    Filed: May 15, 2006
    Date of Patent: July 10, 2012
    Assignee: Kuka Roboter GmbH
    Inventors: Günther Merk, Joachim Markert, Rainer Krumbacher
  • Patent number: 8204626
    Abstract: A control device for a mobile body makes it possible to smoothly correct the deviation of an actual posture of a base body of a mobile body, which travels with the base body thereof moving up and down, from a desired posture of the base body while restraining an overshoot or an undershoot from occurring. To determine a required manipulated variable according to a feedback control law in order to converge a state amount deviation related to the posture of the base body of the mobile body to zero, the feedback gain of the feedback control law is determined by using the time series in a period from current time to predetermined time in the future in the time series of a desired inertial force of the mobile body or the base body. The required manipulated variable is determined by the calculation of the feedback control law on the basis of the determined feedback gain and an observed value of the state amount deviation.
    Type: Grant
    Filed: July 22, 2010
    Date of Patent: June 19, 2012
    Assignee: Honda Motor Co., Ltd.
    Inventors: Takahide Yoshiike, Toru Takenaka, Takashi Matsumoto
  • Patent number: 8190287
    Abstract: Time information t and positional information about each axis are obtained, and the three-dimensional coordinates of tool center point Pe at time t are calculated to display the path of the tool center point Pe at time t. Then, whether a fixed time has elapsed or not is decided. If the fixed time has elapsed, the coordinates of the tool vector start point Ps at time t are calculated to display a line segment connecting between tool vector start point Ps and tool center point Pe, which is the end point of the tool vector. This display enables the orientation of the tool at each tool center point to be grasped at a glance.
    Type: Grant
    Filed: June 3, 2010
    Date of Patent: May 29, 2012
    Assignee: Fanuc Ltd.
    Inventors: Yasusuke Iwashita, Tadashi Okita, Junichi Tezuka, Kazuyuki Sugiyama
  • Patent number: 8022655
    Abstract: A robot controller including a control unit and a portable device (TPU) for teaching and manually operating the robot. The TPU includes safety equipment, a safety TPU-part having a first communication unit and a main TPU-part having a third communication unit. The control unit includes a safety control part having a second communication unit and a main control part having a forth communication unit. The first and second communication units form a first communication channel for transferring data from the TPU to the control unit. The third and fourth communication units form a second communication channel for transferring data between the TPU and the control unit. Each of the main TPU-part, safety TPU-part, main control part, and safety control part includes a processor for generating and/or handling the data. Each communication unit is connected to a network and forms a node in the network.
    Type: Grant
    Filed: May 2, 2006
    Date of Patent: September 20, 2011
    Assignee: ABB Research Ltd.
    Inventors: Jan Endresen, Erik Carlson, Ralph Sjöberg, Olov Nylén
  • Patent number: 7974736
    Abstract: This subject invention features a robot deployed weapon system. A remotely controlled mobile robot has a weapon mounted to the robot. There is a firing circuit for the weapon and a weapon interrupt module on board the robot. An operator control unit is for remotely operating the robot and the weapon. The operating control unit preferably includes a stop switch. Also, a separate operator module is in communication with the weapon interrupt module. Preferably, the operator module includes a kill switch. There are two communication links. The first communication link is between the operator control unit and the robot. This communication link is configured to safe the weapon if the stop switch is activated and/or the first communication link degrades. The second communication link is between the operator module and the weapon interrupt module. The communication link is configured to safe the weapon if the kill switch is activated and/or the second communication link degrades.
    Type: Grant
    Filed: April 5, 2007
    Date of Patent: July 5, 2011
    Assignee: Foster-Miller, Inc.
    Inventors: Gary R. Morin, Daniel R. Deguire, Kurt Bruck, James Chung, David Platt
  • Patent number: 7970491
    Abstract: A robot localization system is provided. The robot localization includes a robot, which moves within a predetermined space and performs predetermined tasks, and a docking station corresponding to a home position of the robot. The docking station includes a first transmitting unit, which transmits a sound wave to detect a position of the robot; and a second transmitting unit, which transmits a synchronizing signal right when the sound wave is transmitted.
    Type: Grant
    Filed: December 30, 2003
    Date of Patent: June 28, 2011
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Hyoung-ki Lee, Jay-woo Kim, Seok-won Bang
  • Patent number: 7937186
    Abstract: A device and a method for automatically setting an interlock based on a suitable interference area obtained by executing an offline simulation in relation to a system including a plurality of robots. The device executes the simulation on the offline programming system based on a motion program so as to determine a moving path of the robots and a two-dimensional interference area between the robots. Next, the device calculates a first three-dimensional interference area by moving the two-dimensional area in the vertical direction and calculates an accurate second three-dimensional interference area within the first interference area, using three-dimensional models of the robots.
    Type: Grant
    Filed: December 7, 2006
    Date of Patent: May 3, 2011
    Assignee: Fanuc Ltd
    Inventors: Yoshiharu Nagatsuka, Toshiya Takeda
  • Patent number: 7925462
    Abstract: In a position-measuring device and a method for transmitting movement information from a position-measuring device to sequential electronics, the position-measuring device includes a position-measuring unit, a movement-measuring unit, an arithmetic logic unit and an interface unit. Position values of two objects in a measuring direction are measurable by the position-measuring unit. The movement-measuring unit is used to ascertain a movement value of the two objects. The position values and the movement value are supplied to the arithmetic logic unit which ascertains movement information in the form of a correction value that is suitable for calculating the movement value in sequential electronics from an instantaneous position value, at least one previous position value, a controller cycle time that indicates the time interval between the measurements of position values, and the correction value.
    Type: Grant
    Filed: August 1, 2008
    Date of Patent: April 12, 2011
    Assignee: Dr. Johannes Heidenhain GmbH
    Inventor: Marc Oliver Tiemann
  • Patent number: 7853356
    Abstract: An apparatus and a method for optimizing robot performance includes a computer connected to the robot controller for receiving performance data of the robot as the controller executes a path program. The computer uses the performance data, user specified optimization objectives and constraints and a kinematic/dynamic simulator to generate a new set of control system parameters to replace the default set in the controller. The computer repeats the process until the new set of control system parameters is optimized.
    Type: Grant
    Filed: April 14, 2006
    Date of Patent: December 14, 2010
    Assignee: Fanuc Robotics America, Inc.
    Inventors: Jason Tsai, Yi Sun, Sai-Kai Cheng, Min Ren Jean, Hadi Akeel
  • Patent number: 7813838
    Abstract: A medical examination and treatment apparatus includes a robot operable to control a tool, and an internal position-determination system to measure a position of the tool by determining a setting of adjusting elements of the robot. The apparatus further includes an external position-determination system to measure the position of the tool, and a position monitoring system to compare the position of the tool determined by the internal position-determination system with the position of the tool determined by the external position-determination system. A mobility of the tool is restricted if an adjustable threshold relating to deviations between position measurements is exceeded.
    Type: Grant
    Filed: August 29, 2005
    Date of Patent: October 12, 2010
    Assignee: Siemens Aktiengesellschaft
    Inventor: Andres Sommer
  • Patent number: 7792609
    Abstract: A gripping device for a manipulation system, particularly a robot, for receiving workpieces and feeding them from a readied stack of the workpieces to a manufacturing plant such as a metal sheet folding machine, punching press, welding plant, etc. The device has a gripper head fitted with gripping means such as suction cups, magnets, tongs, etc., and a detection system for detecting characteristics of the workpiece gripped by the gripping means. A pulse emitter excites vibrations in the workpiece and the vibration spectrum of the workpiece is compared to reference vibration data to determine characteristics of the gripped workpiece, such as whether two or more workpieces are stuck together, or whether the workpiece is the correct workpiece.
    Type: Grant
    Filed: September 25, 2003
    Date of Patent: September 7, 2010
    Assignee: Trumpf Maschinen Austria GmbH & Co. Kg.
    Inventors: Hagen Strasser, Gerhard Sperrer
  • Patent number: 7777441
    Abstract: A motor controlling method according to the present invention involves causing rotation of a motor to commence by applying an initial power that can cause movement of an object to be transported to commence, to the motor; obtaining a position of the object to be transported after the motor has been controlled so as to cause the object to be transported to move to a target position based on a signal outputted in response to the rotation of the motor; and correcting an initial power to be used when movement of the object to be transported is caused to commence a next time in response to a difference between the target position and the obtained position of the object to be transported.
    Type: Grant
    Filed: October 1, 2007
    Date of Patent: August 17, 2010
    Assignee: Seiko Epson Corporation
    Inventor: Yasuhiko Yoshihisa
  • Patent number: 7751940
    Abstract: A control method for a robot cleaner that includes: driving a driving part to move the robot cleaner by a predetermined distance in an opposite direction to a proceeding direction thereof when a bumper sensor detects a collision with an obstacle, measuring the number of times in which the robot cleaner repeats moving in real-time, comparing the measured number with a predetermined reference number, and stopping the robot cleaner when the measured number is more than the reference number. With this method, the robot cleaner can diagnose a breakdown of the bumper sensor to stop the cleaner, and inform a user of the breakdown.
    Type: Grant
    Filed: April 19, 2007
    Date of Patent: July 6, 2010
    Assignee: Samsung Gwangju Electronics Co., Ltd.
    Inventors: Ju-sang Lee, Sam-jong Jeung, Jeong-gon Song, Myeong-ho Kim, Jang-youn Ko, Kyoung-woung Kim, Hak-bong Lee
  • Publication number: 20100079099
    Abstract: A medical manipulator includes an actuator block having a motor, a coupler detachably mounted on the actuator block and having a rotor connected to a rotatable shaft of the motor, a distal-end working unit mounted on a distal end of a joint shaft, which extends from the coupler and is operatively connected to the rotor by a wire, an encoder for detecting an angular displacement of the motor, and a controller for reading a signal from the encoder and comparing the read signal with an operation command value for energizing the motor through a feedback loop. The controller outputs a signal having a level greater than the resolution of the encoder and a lower operation limit of the motor within a range in which the distal-end working unit remains still, and monitors the angular displacement of the motor for thereby determining whether the feedback loop is malfunctioning or not.
    Type: Application
    Filed: September 30, 2009
    Publication date: April 1, 2010
    Applicant: TERUMO KABUSHIKI KAISHA
    Inventors: Ryohei KATSUKI, Hiroaki SANO
  • Patent number: 7667427
    Abstract: Presence/absence of a failure in a feedback control system of a motor is monitored. When a failure is detected in the feedback control system, the motor is driven by switching to an open-loop control. During the open-loop control, the motor is rotated by sequentially switching the motor current supply phase without feeding back encoder count information. The position count is incremented or decremented every time the current supply phase is switched. When the position count has reached a target count, it is determined that the rotor has reached a target position, whereupon the open-loop control is finished.
    Type: Grant
    Filed: December 30, 2005
    Date of Patent: February 23, 2010
    Assignees: Denso Corporation, Toyota Jidosha Kabushiki Kaisha
    Inventors: Shigeru Kamio, Kenichi Fujiki, Sumiko Amamiya, Yasushi Kobiki, Yuji Inoue
  • Patent number: 7602306
    Abstract: An apparatus for monitoring the operation of a robot joint in which a second member (43) is displaceably mounted on a first member (41). The distance to a measurement plate provided to the second member (43) is measured by a range finder (42) provided to the first member (41). A monitoring unit (71) compares the distance data measured by the range finder with a reference distance stored in advance, and generates an abnormality signal when the difference between the distance data and the reference distance exceeds an allowable value.
    Type: Grant
    Filed: June 22, 2006
    Date of Patent: October 13, 2009
    Assignee: Honda Motor Co., Ltd.
    Inventors: Eiji Kashio, Yoshinobu Sugita
  • Publication number: 20090212731
    Abstract: A robot controller including a control unit and a portable operating device (TPU) for teaching and manually operating the robot. The TPU includes safety equipment, a safety TPU-part having a first communication unit and a main TPU-part having a third communication unit. The control unit includes a safety control part having a second communication unit and a main control part having a forth communication unit. The first and second communication units are arranged such that they form a first communication channel for transferring communication data including information regarding the status of safety equipment from the TPU to the control unit. The third and fourth communication units are arranged such that they form a second communication channel for transferring general communication data between the TPU and the control unit.
    Type: Application
    Filed: May 2, 2006
    Publication date: August 27, 2009
    Applicant: ABB RESEARCH LTD.
    Inventors: Jan Endresen, Erik Carlson, Ralph Sjöberg, Olov Nylén
  • Publication number: 20090146601
    Abstract: The present invention discloses a system and method for monitoring and diagnosing a robot mechanism. This requires adding intelligence to the diagnostics by parameters of physical robot arm linkages respecting component relative rotation or load transfer; storing rotation or translation relationship parameters characteristic of resonant frequencies between at least one mechanical link; receiving servo motor signals; digitizing and storing servo known normal data time histories; performing a time domain to frequency domain transformation on signal to identify components which are out-of band limit pre-sets.
    Type: Application
    Filed: December 10, 2007
    Publication date: June 11, 2009
    Inventor: Canh Le
  • Patent number: 7538453
    Abstract: A fan power supply system having a pair of voltage supplies, one producing a higher voltage than the other. A switch selects one of the voltage supplies in response to a control signal. A DC/DC converter is connected to the selected one of the voltage supplies for producing a current greater than current fed to the DC/DC converter by the selected one of the voltage supplies. A fan is fed by the current produced by the DC/DC converter. The fan produces a train of pulses representative of the rotational speed of the fan. A microcontroller encodes the train of pulses produced by the fan as a function of whether the selected one of the pair of voltages has the higher voltage or the lower voltage. A decoder produces the control signal in accordance with the encoding by the microcontroller.
    Type: Grant
    Filed: March 23, 2007
    Date of Patent: May 26, 2009
    Assignee: EMC Corporation
    Inventors: Phillip Roux, Robert M. Beauchamp, Kenneth Fife
  • Publication number: 20090079379
    Abstract: It is an object to obtain a servomotor controller by which a load on a machine device can be reduced, and control capability can be stabilized as well as the resistance property for a temporary blackout or a temporary voltage drop can be more secured in accordance with driving conditions of the machine device and a motor load.
    Type: Application
    Filed: April 8, 2005
    Publication date: March 26, 2009
    Applicant: MITSUBISHI ELECTRIC CORPORATION
    Inventor: Tomonori Abe
  • Patent number: 7508637
    Abstract: As an antilock system for a permanently excited electric motor drive, especially for a steering booster servo drive of a motor vehicle, in the event of a winding short-circuit, an interruption of at least one winding phase (MP1 or MP2 or MP3) of the winding affected by the short circuit is provided, by a separating means (T) triggered by an explosion directly or indirectly by the winding short-circuit. The antilock system advantageously has a separate neutral point connection part (MP) which is especially embodied as a sheet metal moulded part, is to be connected to the winding ends of the electric motor, and contains the winding phases (MP1; MP2; MP3) and the neutral point connection thereof as a single component. The antilock system is purposefully arranged on a front winding head of the electric motor and connected to the winding thereof.
    Type: Grant
    Filed: August 4, 2005
    Date of Patent: March 24, 2009
    Assignee: Brose Fahrzeugteile GmbH & Co. Kommanditgesellschaft, Wuerzburg
    Inventor: Marcus Podack
  • Publication number: 20090058342
    Abstract: A robot controller having a stoppage monitoring function, by which safety of an operator is ensured without using hardware or the like for allowing/stopping the power transmission to each of a robot and a cooperating device. A CPU of the robot controller periodically monitors the position of the robot or the cooperating device based on positional information from each servomotor and the state of entering information regarding the robot or the cooperating device. Then, when entering information is initially input, the position of the servomotor of the robot or the cooperating device, to which the entering information is applied, is stored in RAM. After that, while the entering information is being input, the distance between the position stored in RAM and the current position of the servomotor is calculated.
    Type: Application
    Filed: August 4, 2008
    Publication date: March 5, 2009
    Applicant: FANUC LTD
    Inventors: Ryo Nihei, Tetsuaki Kato, Takeaki Aramaki, Tomoyuki Yamamoto
  • Patent number: 7446496
    Abstract: In an abnormality detection system of a mobile robot, it is configured such that it is self-diagnosed whether the quantity of state is an abnormal value, or whether at least one of the internal sensor, etc., is abnormal and when an abnormality is self-diagnosed, abnormality information is outputted, then the degree of abnormality is discriminated based on the outputted abnormality information and the robot is driven into a stable state in response to the discriminated degree of abnormality. With this, it becomes possible to effectively utilize the abnormality detection result. In addition, since the robot is driven into a stable state in response to the discriminated degree of abnormality, it becomes possible to render the driving appropriate.
    Type: Grant
    Filed: February 14, 2003
    Date of Patent: November 4, 2008
    Assignee: Honda Giken Kogyo Kabushiki Kaisha
    Inventors: Naohide Ogawa, Yuichiro Kawaguchi, Masaki Aihara, Takashi Matsumoto
  • Publication number: 20080191654
    Abstract: A method for monitoring the condition of an industrial robot having a plurality of links movable relative to each other, and a plurality of actuators controlling the movements of the links. A feed forward torque is calculated for at least one of the actuators based on reference values for the position of the actuator and a mathematical model of the robot calculating a feedback torque for the actuators based on measured values from the actuators and reference values for the position of the actuator. A torque is calculated for the actuator at least based on the feedback torque. A difference is monitored between the calculated torque for the actuator and the feed forward torque. It is determined whether the difference is normal or non-normal, and based thereon monitoring the condition of the robot.
    Type: Application
    Filed: November 30, 2007
    Publication date: August 14, 2008
    Applicant: ABB RESEARCH LTD.
    Inventors: Dominique Blanc, Niclas Sjostrand
  • Patent number: 7365510
    Abstract: In a method for measuring motor speed and position by detecting the back EMF generated during pole-pair interactions, a separate respective duration of a power phase suppression signal, that is set during back EMF detection, is stored in memory for each respective pole. The separate respective duration values are determined during a calibration phase by iteratively lengthening each respective duration one unit at a time (up to a maximum value) until no part of the respective back EMF signal occurs outside the suppression signal duration, and those values are stored. During operation, the approach of a pole-pair interaction may be determined from the electrical cycle of the power supply, and then the stored duration value is used to control the state of the suppression signal.
    Type: Grant
    Filed: March 23, 2007
    Date of Patent: April 29, 2008
    Assignee: Marvell International Ltd.
    Inventors: Foo Leng Leong, Chen Yong Teoh, Siew Yong Chui
  • Patent number: 7348746
    Abstract: In an abnormality detection system of a mobile robot, it is configured such that it is self-diagnosed whether the quantity of state is an abnormal value, or whether at least one of the internal sensor, etc., is abnormal and when an abnormality is self-diagnosed, abnormality information affixed with a time on which the abnormality occurred is outputted to be stored in an internal memory and in an external memory. With this, it becomes possible to improve the reliability of abnormality detection of the mobile robot and by storing the information affixed with a time on which the abnormality occurred, it becomes possible to ascertain accurately the course of events leading up to the abnormality. It is further configured such that in addition to a time on which the abnormality occurred, the information is stored in an external memory together with a parameter indicative of the quantity of state.
    Type: Grant
    Filed: February 14, 2003
    Date of Patent: March 25, 2008
    Assignee: Honda Giken Kogyo Kabushiki Kaisha
    Inventors: Naohide Ogawa, Yuichiro Kawaguchi, Masaki Aihara, Takashi Matsumoto
  • Patent number: 7324872
    Abstract: An external force estimation system for estimating an external force acting upon a robot apparatus which includes a machine body which in turn includes a plurality of movable joints is disclosed which includes a distribution type contacting state detection section, an actuator current state measurement section, a motion state measurement section, a motion equation setting section, a known term calculation section, and an external force estimation section.
    Type: Grant
    Filed: July 21, 2006
    Date of Patent: January 29, 2008
    Assignee: Sony Corporation
    Inventor: Kenichiro Nagasaka
  • Patent number: 7312595
    Abstract: Presence/absence of a failure in a feedback control system of a motor is monitored. When a failure is detected in the feedback control system, the motor is driven by switching to an open-loop control. During the open-loop control, the motor is rotated by sequentially switching the motor current supply phase without feeding back encoder count information. The position count is incremented or decremented every time the current supply phase is switched. When the position count has reached a target count, it is determined that the rotor has reached a target position, whereupon the open-loop control is finished.
    Type: Grant
    Filed: May 30, 2003
    Date of Patent: December 25, 2007
    Assignee: Denso Corporation
    Inventors: Shigeru Kamio, Kenichi Fujiki
  • Patent number: 7292910
    Abstract: A method for machining workpieces by means of a multiaxial manipulator, such as an industrial robot, with a tool moved proportionally by a control unit of the manipulator and which can perform characteristic movements with several degrees of freedom is characterized in that the degrees of freedom of the tool are evaluated together with the degrees of freedom of axes of the manipulator in real time for moving a tool tip (TCP) in accordance with a predetermined, continuous machining path or a portionwise continuous machining geometry (step function) and for determining a movement of the manipulator. The invention also proposes a device suitable for performing the aforementioned method, in which the tool and a tool tip, during workpiece machining, are movement-controllable by the manipulator control unit. In this way it is possible to drastically reduce the overall machining time.
    Type: Grant
    Filed: November 24, 2003
    Date of Patent: November 6, 2007
    Assignee: KUKA Roboter GmbH
    Inventor: Peter Gmeiner
  • Patent number: 7262574
    Abstract: In an overcurrent prevention system for a robot having links connected by joints and an electrical system including electric motors installed at the joint, a power circuit connecting the electric motors to a power source, and drive circuits to supply current to the electric motors, there are provided a switching device installed in the power circuit, a current sensor detecting the current supplied to the electric motors, and the output of the current sensor is compared with a threshold value and the switching device is operated to execute a switching action to cut off the power circuit intermittently during a first predetermined period when the output of the current sensor exceeds the threshold value, thereby protecting the electrical system when overcurrent is detected, without causing functional disablement and/or posture instability of the robot.
    Type: Grant
    Filed: October 18, 2005
    Date of Patent: August 28, 2007
    Assignee: Honda Motor Co., Ltd.
    Inventors: Takuro Koyanagi, Takamichi Shimada
  • Patent number: 7262573
    Abstract: A robot system that includes a robot and a remote station. The remote station includes a head worn device worn on the head of a user. The head worn device senses movement of the user's head and generates corresponding input signals. The input signals are processed into robot movement commands and transmitted to the robot, typically through a broadband network. The robot movement commands move a camera of the robot. The camera movement tracks movement of the user's head so that the user can scan the visual field without having to generate separate input commands for the robot.
    Type: Grant
    Filed: February 17, 2004
    Date of Patent: August 28, 2007
    Assignee: InTouch Technologies, Inc.
    Inventors: Yulun Wang, Charles S. Jordan, Keith Phillip Laby, Jonathan Southard
  • Patent number: 7248943
    Abstract: Provided is a method in which a communication state between a main control unit and each sub control unit can be judged to be normal or abnormal, in a condition where a noise may be generated from a drive system power line. This method includes a power supply step s4, a test communication step (see arrows (3) and (4)), and a judgment step s6. In the power supply step s4, power is supplied to first sub control units 2a from a drive system power source 6 while no power is supplied to actuators 7 from the power source 6. In the test communication step, communication of a test signal is performed between the main control unit 1 and each of the sub control units 2. In the judgment step s6, whether the communication state is normal or abnormal is judged based on the result of the communication of the test signal between the main control unit 1 and each of the sub control units 2.
    Type: Grant
    Filed: March 28, 2002
    Date of Patent: July 24, 2007
    Assignee: Honda Giken Kabushiki Kaisha
    Inventor: Masaki Aihara
  • Patent number: 7211978
    Abstract: A system for performing the method of this invention includes a leader having a robot arm able to articulate about first axes and supporting an end effector. A follower includes a robot arm able to articulate about respective second axes. Servo motors articulate the leader arm about the first axes and the follower arm about the second axes. A user interface allows a user to jog the arm of the leader and to program movement of the arms for automatic execution such that the end effector reaches predetermined positions. A controller, operatively connected to the servo motors and the user interface, controls operation of the servo motors, moves the arm of the leader in accordance with the programmed movement, and moves the arm of the follower such that it tracks or mirrors movement of the leader.
    Type: Grant
    Filed: June 18, 2004
    Date of Patent: May 1, 2007
    Assignee: Fanuc Robotics America, Inc.
    Inventors: Tien L. Chang, H. Dean McGee, Eric Wong, Sai-Kai Cheng, Jason Tsai
  • Patent number: 7206666
    Abstract: An actuator unit is applied to joints, each movable along two or more axes, such as a hip joint, a knee joint, or an ankle joint of a legged mobile robot. All the moving portions of a power-supply and control-signal harness are accommodated inside the actuator unit, and an electric contact of the actuator unit is on the free end of an output shaft so that a multi-axis robot is easily achieved. The actuator unit has two orthogonal shafts, and is useful to robots having various kinds of joint structures.
    Type: Grant
    Filed: November 12, 2003
    Date of Patent: April 17, 2007
    Assignee: Sony Corporation
    Inventor: Katsuhisa Ito
  • Patent number: 7205744
    Abstract: In a method for measuring motor speed and position by detecting the back EMF generated during pole-pair interactions, a separate respective duration of a power phase suppression signal, that is set during back EMF detection, is stored in memory for each respective pole. The separate respective duration values are determined during a calibration phase by iteratively lengthening each respective duration one unit at a time (up to a maximum value) until no part of the respective back EMF signal occurs outside the suppression signal duration, and those values are stored. During operation, the approach of a pole-pair interaction may be determined from the electrical cycle of the power supply, and then the stored duration value is used to control the state of the suppression signal.
    Type: Grant
    Filed: July 7, 2006
    Date of Patent: April 17, 2007
    Assignee: Marvell International Ltd.
    Inventors: Foo Leng Leong, Cheng Yong Teoh, Siew Yong Chui