With Interpolating Means Patents (Class 318/573)
  • Patent number: 11400588
    Abstract: A memory in which information that is used in a tracking operation is to be temporarily stored, information cannot be accumulated in the memory when the accumulating intervals and the reading intervals do not match each other. A robot control apparatus includes: a memory; an accepting unit that accepts a sensing result of a laser sensor detecting a shape of a working target before an, and accumulates information according to the sensing result, in the memory. The memory management unit that, in a case in which the memory is running short of free space, deletes the information in the memory; and a control unit that moves the working tool based on teaching data, and corrects the movement of the working tool based on the information according to the sensing result stored in the memory.
    Type: Grant
    Filed: June 18, 2020
    Date of Patent: August 2, 2022
    Assignee: DAIHEN CORPORATION
    Inventor: Sho Fujisawa
  • Patent number: 11231693
    Abstract: An execution plan segment of an execution plan can be received at a control unit of a computer numerically controlled machine from a general purpose computer. The execution plan segment can define operations for causing movement of a moveable head of the computer numerically controlled machine to deliver electromagnetic energy to effect a change in a material within an interior space of the computer numerically controlled machine. The execution plan segment can include a predefined safe pausing point from which the execution plan can be restarted while minimizing a difference in appearance of a finished work-product relative to if a pause and restart are not necessary. Operations of the computer numerically controlled machine can be commenced only after determining that the execution plan segment has been received up to and including the predefined safe pausing point by the computer numerically controlled machine.
    Type: Grant
    Filed: June 14, 2019
    Date of Patent: January 25, 2022
    Assignee: Glowforge Inc.
    Inventors: Daniel Shapiro, Mark Gosselin, Anthony Wright, Dean Putney, Timothy Ellis, Lauren Banka
  • Patent number: 11048234
    Abstract: Provided is a numerical control system of a machine tool that can shorten a cycle time.
    Type: Grant
    Filed: March 5, 2020
    Date of Patent: June 29, 2021
    Assignee: FANUC CORPORATION
    Inventor: Yoshinori Saijo
  • Patent number: 11014237
    Abstract: A robotic manipulator has a robotic controller that includes a programmable logic controller (PLC). The PLC can be configured to receive a planned motion path having a first path segment and an abort segment. The first path segment can be associated with a path to be followed by a joint of the robotic manipulator and is queued before the abort segment associated with the first path segment. The abort segment can be indicative of a path segment that in response to execution results in aborting an operation of the joint of the robotic manipulator. The PLC can be configured to validate the planned motion path based on an analysis of at least the first path segment and the abort segment. Further, upon successful validation of the planned motion path, the PLC can be configured to initiate execution of the first path segment by the joint of the robotic manipulator.
    Type: Grant
    Filed: July 11, 2019
    Date of Patent: May 25, 2021
    Assignee: INTELLIGRATED HEADQUARTERS, LLC
    Inventor: Dominic George Clucas
  • Patent number: 10987758
    Abstract: A teaching device for a laser machining system which performs laser machining on a workpiece while moving an irradiation position of laser light using a robot includes a graphical user interface processing unit which displays machining periods, in each of which machining is performed by irradiating a corresponding one of a plurality of machining points set for the workpiece with the laser light while the robot moves along a machining path, and non-machining intervals between the machining periods of the machining points arranged in time series in a band-like region in a distinguishable manner.
    Type: Grant
    Filed: August 22, 2019
    Date of Patent: April 27, 2021
    Assignee: FANUC CORPORATION
    Inventors: Toshiya Takeda, Youhei Suzuki
  • Patent number: 10967500
    Abstract: The present disclosure provides a motion control method and apparatus and a robot with the same. The method includes: obtaining a first rotational angle P1 of an output shaft of the servo currently at and a first time T1 for the output shaft of the servo to perform one rotation; obtaining a second rotational angle P2 for the output shaft of the servo to reach and a second time T2 for the output shaft of the servo to rotate from the first rotational angle P1 to the second rotational angle P2; calculating a motion curve B(t) of the output shaft of the servo based on the first rotational angle P1, the second rotational angle P2, the first time T1, and the second time T2; and controlling the servo to rotate according to the motion curve B(t). The present disclosure solves the instability in the gravity center of the robot.
    Type: Grant
    Filed: December 6, 2018
    Date of Patent: April 6, 2021
    Assignee: UBTECH ROBOTICS CORP
    Inventors: Youjun Xiong, Rixin Shen
  • Patent number: 10940584
    Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for receiving, by one or more non-real-time processors, data defining a light illumination pattern for a robotic device. Generating, by the one or more non-real-time processors and based on the data, a spline that represents the light illumination pattern, where a knot vector of the spline defines a timing profile of the light illumination pattern. Providing the spline to one or more real-time processors of the robotic system. Calculating, by the one or more real-time processors, an illumination value from the spline at each of a plurality of time steps. Controlling, by the one or more real-time processors, illumination of a lighting display of the robotic system in accordance with the illumination value of the spline at each respective time step.
    Type: Grant
    Filed: April 26, 2018
    Date of Patent: March 9, 2021
    Assignee: X Development LLC
    Inventors: Sarah Coe, Yuchen Wu
  • Patent number: 10944313
    Abstract: A self-adaptive control miniature motor comprises a driving unit (200), a mover (300) and a self-adaptive control unit (100). The driving unit comprises a fixed stator and a movable vibration block, and provides the driving force for the reciprocating motion of the mover through the interaction between the stator and the vibration block. The mover is a forced vibration part, and is driven by the movable vibration block of the driving unit to do the reciprocating motion. The self-adaptive control unit is used for controlling a motion state of the mover in real time by adjusting a force applied on the mover, based on a feedback information of the motion state of the mover. The self-adaptive control miniature motor, by combining the motor hardware with a control circuit, facilitates real-time adjustment of the magnetic field intensity in the motor, thus improving the stability of the vibration of the motor.
    Type: Grant
    Filed: December 15, 2015
    Date of Patent: March 9, 2021
    Assignee: GOERTEK INC.
    Inventors: Fenglei Zu, Chunfa Liu
  • Patent number: 10359759
    Abstract: A motion control system operating a machine as well as a method operating a machine scale a motion path section-by-section by using a C2-consistent scaling function.
    Type: Grant
    Filed: December 11, 2014
    Date of Patent: July 23, 2019
    Assignee: Siemens Aktiengesellschaft
    Inventors: Daniel Geweth, Dirk Mattil, Björn Seelinger
  • Patent number: 10248101
    Abstract: A tool path generation method for generating a second tool path by performing a smoothing process on a first tool path for processing a work with a machine tool includes a change rate calculation step of calculating a curvature change rate of the first tool path at a plurality of moving points (Pn) of the first tool path. The tool path generation method includes: a weight calculation step of calculating a moving average weight on the basis of the curvature change rate of the first tool path at each of the moving points (Pn); and a step of calculating coordinate values of the moving average of the moving points (Pn) using the weight at each of the moving points (Pn), and setting the coordinate values of the moving average of the moving points (Pn) as moving points of the second tool path.
    Type: Grant
    Filed: October 29, 2014
    Date of Patent: April 2, 2019
    Assignee: MAKINO MILLING MACHINE CO., LTD.
    Inventors: Mitsunari Oda, Megumi Furuta, Akihiro Shinone, Toshimune Kawai
  • Patent number: 10209107
    Abstract: A geometric error identification method of multi-axis machine tool includes a measuring step of indexing a position of a target ball mounted on one of a main spindle and a table into a plurality of angles around an rotation axis, and measuring the position of the target ball at respective indexed positions by using a touch probe mounted on the other one of the main spindle and the table, a geometric error calculation step of calculating a geometric error from the measured position of the target ball, an ellipse-expression calculation step of calculating an ellipse approximate expression by an arc trajectory measured by operating the rotation axis, and an error correcting step of calculating and correcting a scaling error of translation axes from the calculated ellipse approximate expression.
    Type: Grant
    Filed: October 27, 2014
    Date of Patent: February 19, 2019
    Assignee: Okuma Corporation
    Inventor: Tadahiro Oki
  • Patent number: 10139803
    Abstract: A device comprises: a calculation unit calculating, based on a model on a calculator, a response path along which a target actually operates when an instruction path is given; a determiner determining a target path along which the target operates; a generation unit regenerating a temporary instruction path based on the target path and a temporary instruction response path obtained when the calculation unit is given the temporary instruction path; a determiner determining a convergence determination condition; and a comparator determining whether error between the temporary instruction response path and the target path is converged, based on the condition. Regenerating the path and calculating the temporary instruction response path are repeated until the comparator determines that the condition is met, and, when the comparator determines so, the temporary instruction path is output to a controller controlling the target, as the path for operating the target.
    Type: Grant
    Filed: April 16, 2014
    Date of Patent: November 27, 2018
    Assignee: Mitsubishi Electric Corporation
    Inventors: Toshihiro Azuma, Kotaro Nagaoka, Tsuyoshi Kumazawa, Akihiko Koide, Wenjuan Wang
  • Patent number: 10099389
    Abstract: An industrial robot provided with a drive shaft in which a power transmission unit is arranged between a servomotor and a power output unit includes: a first brake unit integrally incorporated in the servomotor; and a second brake unit which is connected to the power transmission unit to branch to a power transmission path of the power transmission unit. The drive shaft is braked by using both the first brake unit and the second brake unit.
    Type: Grant
    Filed: March 10, 2015
    Date of Patent: October 16, 2018
    Assignee: FANUC CORPORATION
    Inventors: Satoshi Kinoshita, Ryuji Takikawa, Shinya Chikara
  • Patent number: 10067525
    Abstract: A configurable generic electrical member includes a processor means for performing at least one configured function in order to generate output signals for at least one piece of electrical equipment. The processor means includes a fast processor unit and a slow processor unit in which functional blocks are implemented, which blocks are arranged respectively to perform relatively fast operations and relatively slow operations, in that the functional blocks are independent and parameterizable, and in that the processor units are configurable to parameterize and interconnect the functional blocks selectively in such a manner as to perform the configured function.
    Type: Grant
    Filed: November 22, 2013
    Date of Patent: September 4, 2018
    Assignee: SAGEM DEFENSE SECURITE
    Inventors: Antonio Prata, Damien Le Bail, Jean-Luc Manca
  • Patent number: 9983560
    Abstract: A positioning device and a programmable logic controller (PLC) system including the positioning device are provided. The positioning device includes a computing unit that analyzes a positioning start instruction that includes an operation pattern, a storage unit that stores therein an operation pattern and an analysis result obtained by the computing unit analyzing the operation pattern stored in the storage unit in association with each other, and an instruction generating unit including a processor that, when it is verified that the operation pattern stored in the storage unit corresponds to the operation pattern included in the positioning start instruction, reads the analysis result associated with the operation pattern stored in the storage unit and generates positioning instruction data for positioning a control target by using the read analysis result.
    Type: Grant
    Filed: December 11, 2012
    Date of Patent: May 29, 2018
    Assignee: Mitsubishi Electric Corporation
    Inventors: Tetsushi Narui, Haruki Inoue
  • Patent number: 9869989
    Abstract: A numerical controller is configured to move a tool in synchronism with rotation of a workpiece, thereby controlling a machine tool configured to perform thread cutting, and comprises a cutting amount variation setting unit for previously setting the size of a variation of a cutting amount during the thread cutting. The cutting amount variation setting unit periodically changes the cutting amount based on a preset variation during the thread cutting.
    Type: Grant
    Filed: February 10, 2015
    Date of Patent: January 16, 2018
    Assignee: FANUC CORPORATION
    Inventors: Kouei Yoshida, Shuji Ogawa
  • Patent number: 9857795
    Abstract: A trajectory planning system for an autonomous vehicle fits a jerk profile including a plurality of phases within a set of acceptable parameters, a jerk value being constant within each phase of the jerk profile. The system parameterizes the jerk profile based on an initial velocity, an initial acceleration, a final velocity, and a final acceleration for the first segment. The system then integrates the jerk profile to determine a first trajectory function, the first trajectory function including a speed for the vehicle at a given time. The system guides the vehicle along the first segment of the path according to the first trajectory function. The system detects an unplanned obstacle along the first segment of the path. The system plans a second trajectory function for a second segment of the path between a current location of the vehicle and a location on the path before the unplanned obstacle.
    Type: Grant
    Filed: March 24, 2016
    Date of Patent: January 2, 2018
    Assignee: HONDA MOTOR CO., LTD.
    Inventors: Rakesh Gupta, Robert Cofield
  • Patent number: 9678500
    Abstract: A numerical control device reads a machining program and causes a machine tool to operate based on the machining program. The numerical control device includes: an acceleration-deceleration determining unit; and a position-command generating unit. The numerical control device is configured to set the acceleration and the deceleration as acceleration-deceleration data when the acceleration and the deceleration satisfy tolerances decided based on actual mechanical dynamic characteristics, and set the tolerances as acceleration-deceleration data when the acceleration and deceleration do not satisfy the tolerances. The position-command generating unit is configured to generate a position command based on the moving command, the acceleration-deceleration data, and the speed at the end of the command route and the superimposition amount subjected to processing by the acceleration-deceleration determining unit.
    Type: Grant
    Filed: September 15, 2011
    Date of Patent: June 13, 2017
    Assignees: Mitsubishi Electric Corporation, DMG MORI SEIKI CO., LTD.
    Inventors: Takeshi Tsuda, Tsuyoshi Kumazawa, Munetaka Wakizaka
  • Patent number: 9519280
    Abstract: A numerical control device for a machine tool includes: a timing calculation unit configured to calculate a start timing of a post-reverse movement command by which a position, where the sum of velocities generated in response to a pre-reverse movement command and the post-reverse movement command becomes zero, is equal to a position distanced by an in-position width from the end point of the pre-reverse movement command; and a movement command start unit configured to start the post-reverse movement command in accordance with the start timing calculated by the timing calculation unit.
    Type: Grant
    Filed: April 8, 2015
    Date of Patent: December 13, 2016
    Assignee: FANUC Corporation
    Inventors: Nobuaki Aizawa, Kouichi Noda
  • Patent number: 9517558
    Abstract: A time-optimal trajectory generation method, for a robotic manipulator having a transport path with at least one path segment, comprising generating a forward time-optimal trajectory of the manipulator along the at least one path segment from a start point of the at least one path segment towards an end point of the at least one path segment, generating a reverse time-optimal trajectory of the manipulator along the at least one path segment from the end point towards the start point of the at least one path segment, and combining the time-optimal forward and reverse trajectories to obtain a complete time-optimal trajectory, where the forward and reverse trajectories of the at least one path segment are blended together with a smoothing bridge joining the time-optimal forward and reverse trajectories in a position-velocity reference frame with substantially no discontinuity between the time-optimal forward and reverse trajectories.
    Type: Grant
    Filed: August 30, 2012
    Date of Patent: December 13, 2016
    Assignee: Brooks Automation Inc.
    Inventors: Jayaraman Krishnasamy, Martin Hosek
  • Patent number: 9436178
    Abstract: A parameter adjustment support device configured to effectively adjust an acceleration/deceleration parameter of a drive axis, even when an operator thereof is inexperienced. The Support device includes: an actual acceleration/deceleration characteristic obtaining part which obtains an actual acceleration/deceleration characteristic curve relating to a velocity and an acceleration of the drive axis, from a numerical controller or an external storing device; a parameter setting part which sets or changes the parameter based on an external input; an acceleration/deceleration characteristic displaying part which generates a commanded acceleration/deceleration characteristic curve relating to the velocity and the acceleration of the drive axis based on the setup or updated parameter, and contrastively displays the obtained actual curve and the generated commanded curve; and a setting information outputting part which outputs the setup or updated parameter to the numerical controller.
    Type: Grant
    Filed: December 8, 2014
    Date of Patent: September 6, 2016
    Assignee: Fanuc Corporation
    Inventors: Junichi Tezuka, Hajime Ogawa
  • Patent number: 9377776
    Abstract: A numerical control apparatus includes a machining-program reading unit that reads a command issued from a machining program, a command-path storing unit that stores a pre-compression command path in a pre-compression command path buffer, a compression processing unit that creates new one post-compression command path connecting start points and end points of a continuous plurality of pre-compression command paths, a movement-data creating unit that creates tool movement data necessary for correcting the post-compression command path to a tool movement path and interpolating the tool movement path, and an interpolation processing unit that interpolates the tool movement path and calculates a tool position using both the pre-compression command path stored by the command-path creating unit and the tool movement data of the tool movement path after compression created by the movement-data creating unit.
    Type: Grant
    Filed: January 22, 2010
    Date of Patent: June 28, 2016
    Assignee: Mitsubishi Electric Corporation
    Inventors: Naoki Nakamura, Tomonori Sato, Shinya Nishino
  • Patent number: 9370837
    Abstract: A wire electric discharge machine corrects a machining route according to an angle between two moving blocks that form a corner portion. A correction distance and a return distance are computed based on a detected corner angle. The correction is implemented so that an end point of a block to be machined first is extended according to the correction distance, and a portion extending from a start point of a block to be machined subsequently to an intermediate point of this block is removed according to the return distance. A machining route is created so that the end point of the new block created by the extension is connected to the start point of the other block created by the removal, and the wire electrode is moved along the machining route relative to a workpiece.
    Type: Grant
    Filed: December 9, 2013
    Date of Patent: June 21, 2016
    Assignee: FANUC CORPORATION
    Inventors: Yan Niu, Kaoru Hiraga
  • Patent number: 9170580
    Abstract: A method determines trajectories of redundant actuators of a machine including a first actuator and a second actuator. The method determines a first trajectory of the first actuator tracking a reference trajectory with an error tolerance, wherein the error tolerance is a function of a constraint of the second actuator, and determines a second trajectory of the second actuator based on a difference between the reference trajectory and the first trajectory.
    Type: Grant
    Filed: October 19, 2012
    Date of Patent: October 27, 2015
    Assignee: Mitsubishi Electric Rsearch Laboratories, Inc.
    Inventors: Vijay Shilpiekandula, Matthew Brand, Manohar Srikanth, Scott A. Bortoff
  • Patent number: 8838265
    Abstract: A work having a non-circular cross-section is machined by relative movement between the work and a tool, as the relative position and angle between the work and tool are changed at least within a plane including the cross-section of the work. In machining along a preset tool path, the difference between the relative angle at a point on the preset tool path which machining is started and that point on the preset tool path at which machining is finished is calculated. Time needed in machining along the preset tool path is equally divided by a preset number at equal time divisions, and positions on the tool path corresponding to equal time divisions are set as tool path points. When the tool moves through each point, the relative angle is continuously changed an angle corresponding to division of the difference of the relative angles by the preset number of equal time divisions.
    Type: Grant
    Filed: December 20, 2011
    Date of Patent: September 16, 2014
    Assignee: Mori Seiki & Co., Ltd.
    Inventors: Akira Kimura, Katsuhiko Ono
  • Patent number: 8831768
    Abstract: A CPU 41 reads a next block (S1), and then determines whether the read block is a TCP (tool center point) control finish command “G49” or not (S2). If it is determined to be the TCP control finish command “G49”, the TCP control is finished. If it is determined not to be the TCP control finish command “G49”, whether the read block is a coordinate-system transformation command “P1” or not is determined (S3). Next, if it is determined not to be the coordinate-system transformation command “P1”, the TCP control is performed, without transforming the coordinate system, in accordance with a command of the block (S11). Next, the process returns to S1, and then the process after S1 is executed.
    Type: Grant
    Filed: February 17, 2009
    Date of Patent: September 9, 2014
    Assignee: Mitsubishi Electric Corporation
    Inventors: Shunro Ono, Kotaro Nagaoka, Tomonori Sato, Daisuke Fujino
  • Patent number: 8810184
    Abstract: The characteristic is defined by a characteristic line that connects a lowest point at which the duty of the PWM signal is a minimum value and the rotation command signal is a minimum rotation command signal, and a highest point at which the duty of the PWM signal is a maximum value and the rotation command signal is a maximum rotation command signal. The duty calculating circuit updates the characteristic so that the characteristic line passes through a first control point at which the duty of the PWM signal is a value set based on the first setting signal and the rotation command signal is a first rotation command signal between the minimum rotation command signal and the maximum rotation command signal.
    Type: Grant
    Filed: February 10, 2012
    Date of Patent: August 19, 2014
    Assignee: Kabushiki Kaisha Toshiba
    Inventors: Toshiaki Ohgushi, Takehiro Hara
  • Patent number: 8803465
    Abstract: A motion command is constructed based on an optimized acceleration pulse designed to control the spectral content of the commanded acceleration. By way of judicious design of the pulse shape, the majority of the energy in the command is contained in a narrow baseband and rolls off rapidly in frequencies outside that band. Additionally, the command can be constructed to suppress selected frequency content in one or more attenuation bands outside the baseband. The resulting motion command permits rapid motion control, while avoiding the excitation of unwanted resonant response in the system while remaining tolerant of system uncertainty.
    Type: Grant
    Filed: April 6, 2012
    Date of Patent: August 12, 2014
    Assignee: Exelis Inc.
    Inventors: David A. Smith, Patrick J. Argento
  • Patent number: 8699338
    Abstract: A signal data source supplies signal data of a stored signal that is defined relative to a original time base. The signal data is processed by adding or removing samples to adapt a reproduction rate to an adapted time base. The samples of the signal with the adapted reproduction rate are passed through a delaying buffer and the signal is rendered after it emerges from the buffer. A time converter determines time values relative to the original time base and the adapted time base. Commands are provided to control the rate used for reproduction rate adaptation. Normally, each command is accepted and used to change the rate. Information is stored after the commands have been used to change the reproduction rate. Acceptance of further commands is disabled when a predetermined number of accepted commands is stored, until at least one of the stored commands have emerged from the buffer.
    Type: Grant
    Filed: August 25, 2009
    Date of Patent: April 15, 2014
    Assignee: NXP B.V.
    Inventor: Farid Benamrouche
  • Patent number: 8482557
    Abstract: An instructed position, which includes an instruction area for receiving a predetermined instruction and is displayable two-dimensionally and three-dimensionally, on a display means where an instruction image is displayed is detected. Upon setting on the display means a control range corresponding to the instruction area displayed on the display means such that the control range is changed between during the two-dimensional display and during the three-dimensional display, information of a tentative instructed position is obtained by receiving an instruction directed to the instruction area during the three-dimensional display. A horizontal shift on the display means of the tentative instructed position during the three-dimensional display relative to a position of the instruction area during the two-dimensional display is calculated.
    Type: Grant
    Filed: August 26, 2009
    Date of Patent: July 9, 2013
    Assignee: FUJIFILM Corporation
    Inventor: Tomonori Masuda
  • Patent number: 8432120
    Abstract: A numerical controller calculates a first position command from a machining program, converts the first position command into a second position command for restricting a tangential speed of a tool, and delivers the second position command and a status signal indicative of the achievement of the conversion of the first position command into the second position command to a tool path display apparatus. The tool path display apparatus displays the path of the tool in a color corresponding to the status signal and can thereby determine the point on the tool path at which the speed restriction is performed.
    Type: Grant
    Filed: May 27, 2011
    Date of Patent: April 30, 2013
    Assignee: Fanuc Corporation
    Inventors: Yasusuke Iwashita, Tadashi Okita, Junichi Tezuka
  • Patent number: 8392002
    Abstract: Presently disclosed is a method and system for processing standard part description programs in real time into the tool position control data appropriate to a CNC machine's standard and high bandwidth mechanisms, respectively. The result is precise tool tip control that tracks the programmed path at all times while maintaining the appropriate feed rates and accelerations for each type of mechanism. In one exemplary embodiment, a hybrid mechanism employing a high bandwidth mechanism mounted on and moved by a standard mechanism is employed. The command vector for the high-bandwidth mechanism is computed by subtracting the tool tip vector filtered to comprise only the tool tip positions and trajectories realizable by the standard mechanism from an ideal tool tip trajectory vector that represents the complete programmed path. These calculations produce a synchronous set of movements for both standard and high bandwidth mechanisms.
    Type: Grant
    Filed: October 14, 2010
    Date of Patent: March 5, 2013
    Assignee: Delta Tau Data Systems, Inc.
    Inventors: H. Ali Pak, Curtis S Wilson
  • Patent number: 8374718
    Abstract: A preceding-check processing sequence is provided separately from a machine-control processing sequence for an actual machine control, to make it possible to perform a collision check at an accurate position from an operation restart time of a machining program even when an operator interrupts an operation in the middle of the machining program or when the operator interrupts the operation as having detected a collision. This preceding-check processing sequence performs a collision possibility check ahead of an actual machine control. In this arrangement, there is provided a control-state synchronizing unit that matches a state of the preceding-check processing sequence with a state of the machine-control processing sequence during a period from when a machine stops until when the machine restarts an operation.
    Type: Grant
    Filed: April 22, 2008
    Date of Patent: February 12, 2013
    Assignee: Mitsubishi Electric Corporation
    Inventors: Nobuyuki Takahashi, Takashi Kamiya, Daisuke Kanaya, Tadahiro Otsuka, Ryoichi Ikeda
  • Patent number: 8350514
    Abstract: A numerical controller for controlling a multi-axis machine calculates an axis-dependent translation error amount and an axis-dependent rotation error amount based on a command axis position. Translation and rotation compensation amounts are calculated based on the axis dependent translation and rotation error amounts, respectively. The translation and rotation compensation amounts are added to command linear and rotary axis positions, respectively. Three linear axes and three rotary axes are driven to the added positions, individually. Thus, there is provided a numerical controller that enables even machining with a side face of a tool or boring to be in commanded tool position and posture (orientation) in the multi-axis machine.
    Type: Grant
    Filed: April 29, 2011
    Date of Patent: January 8, 2013
    Assignee: Fanuc Corporation
    Inventors: Toshiaki Otsuki, Soichiro Ide, Osamu Hanaoka, Takafumi Sasaki
  • Patent number: 8265783
    Abstract: Lift data in which a lift amount is set based on a lift data rotation angle is read to identify the shape of a non-circular workpiece, and a profile point group that is formed of a plurality of profile points, each of which indicates a tool reciprocation position that corresponds to a spindle rotation angle, is calculated based on the read lift data. Then, the calculated profile point group is divided into a plurality of groups each of which is formed of the profile points that satisfy a group division condition, the two groups that satisfy a group comparison condition are selected, and the profile point that satisfies a specific point deletion condition that is set in advance for the combination of the selected two groups is deleted.
    Type: Grant
    Filed: May 26, 2009
    Date of Patent: September 11, 2012
    Assignee: JTEKT Corporation
    Inventor: Akira Saito
  • Patent number: 8260453
    Abstract: A numerical controller for controlling a five-axis machining apparatus, in which a tool orientation command is corrected to thereby attain a smooth machined surface and a shortened machining time. The numerical controller includes command reading device that successively reads a tool orientation command, tool orientation command correcting device that corrects the tool orientation command so that a ratio between each rotary axis motion amount and a linear axis motion amount is constant in each block, interpolation device that determines respective axis positions at every interpolation period based on the tool orientation command corrected by the tool orientation command correcting device, a motion path command, and a relative motion velocity command such that a tool end point moves along a commanded motion path at a commanded relative motion velocity, and device that drives respective axis motors such that respective axis positions determined by the interpolation device are reached.
    Type: Grant
    Filed: December 1, 2008
    Date of Patent: September 4, 2012
    Assignee: Fanuc Ltd
    Inventors: Toshiaki Otsuki, Soichiro Ide, Osamu Hanaoka, Daijirou Koga
  • Patent number: 8228015
    Abstract: A method for controlling a servomotor for driving a movable part of a machine, the method comprising: determining the coordinates of an acceleration and of a deceleration curve for each stage of a cycle of operation to move said part; determining the maximum number of stages required to complete said cycle; initiating the acceleration curve for the first stage of the cycle of operation; and dynamically correcting the cycle of operation, at at least one intermediate point in the cycle, to initiate the deceleration curve appropriate to the stage, at a predetermined decision point, if production line parameters require a change to the operation cycle.
    Type: Grant
    Filed: July 28, 2009
    Date of Patent: July 24, 2012
    Assignee: Neopost Technologies
    Inventor: Christopher Hugh Williams
  • Patent number: 8155781
    Abstract: In order to improve movement control in an automation system for movement control, profiles for movement control are freely defined via functions. Polynomial interpolations or spline interpolations are used for the defined functions, the interpolations being of a higher degree. The profile for movement control has a command variable and a secondary variable, at least one of which is time-based or position-related.
    Type: Grant
    Filed: December 27, 2002
    Date of Patent: April 10, 2012
    Assignee: Siemens Aktiengesellschaft
    Inventors: Johannes Birzer, Tino Heber, Raimund Kram
  • Patent number: 8145347
    Abstract: In a numerical control apparatus, a rotation-axis filtering processor subjects an angle change amount between interpolation points between rotation angles of a rotation axis to moving average filtering thereby smoothing the angle change amount between the interpolation points. A translation-axis timing synchronization unit subjects a moving amount between interpolation points between tool-tip positions of a translation axis to moving average filtering, to synchronize timing of rotation of the rotation axis being smoothed and timing of movement of the translation axis. A coordinate transformation unit transforms the tool-tip position into coordinates of a machine position of the translation axis according to a configuration of the machine tool, from each tool-tip position after timing synchronization between axes of the translation axis is performed and from each rotation angle of the rotation axis after being filtered.
    Type: Grant
    Filed: March 12, 2009
    Date of Patent: March 27, 2012
    Assignee: Mitsubishi Electric Corporation
    Inventors: Naoki Nakamura, Tomonori Sato
  • Patent number: 8116901
    Abstract: For controlling a motion sequence of a machine element, with which the control of the motion sequence of the machine element is carried out based on a functional relationship between a master shaft and a slave shaft, the functional relationship IS ascertained with consideration for several conditions of this motion sequence. The functional relationship includes at least one first section, which is defined by an nth-order polynomial, and at least one second section, which is at least partially separated from the first section, and which is defined by an ath-order polynomial. In this case, “a” is less than “n”.
    Type: Grant
    Filed: November 3, 2008
    Date of Patent: February 14, 2012
    Assignee: Robert Bosch GmbH
    Inventors: Sebastian Krauskopf, Bartosz Korajda
  • Patent number: 8098038
    Abstract: A servomotor control system that includes a numerical control unit and servo control unit enables the use of learning control based on an angle synchronization method in high-speed oscillating motion performed by, for example, a jig grinder. The numerical control unit calculates a reference angle ?(=?t), and also calculates a cyclic oscillation command F(t) according to the reference angle ? and a machining condition (angular velocity ?). The servo control unit calculates a difference between the value in the oscillation command F(t) and the position of the servomotor (positional difference ?) at intervals of a predetermined cycle, and performs learning control according to the reference angle ?, oscillation command F(t), and positional difference ?.
    Type: Grant
    Filed: September 9, 2010
    Date of Patent: January 17, 2012
    Assignee: FANUC Ltd
    Inventors: Tadashi Okita, Yukio Toyozawa, Naoto Sonoda
  • Publication number: 20120007536
    Abstract: A numerical controller calculates a first position command from a machining program, converts the first position command into a second position command for restricting a tangential speed of a tool, and delivers the second position command and a status signal indicative of the achievement of the conversion of the first position command into the second position command to a tool path display apparatus. The tool path display apparatus displays the path of the tool in a color corresponding to the status signal and can thereby determine the point on the tool path at which the speed restriction is performed.
    Type: Application
    Filed: May 27, 2011
    Publication date: January 12, 2012
    Applicant: FANUC CORPORATION
    Inventors: Yasusuke IWASHITA, Tadashi OKITA, Junichi TEZUKA
  • Patent number: 8050797
    Abstract: A automation equipment control system comprises a general purpose computer with a general purpose operating system in electronic communication with a real-time computer subsystem. The general purpose computer includes a program execution module to selectively start and stop processing of a program of equipment instructions and to generate a plurality of move commands. The real-time computer subsystem includes a move command data buffer for storing the plurality of move commands, a move module linked to the data buffer for sequentially processing the moves and calculating a required position for a mechanical joint. The real-time computer subsystem also includes a dynamic control algorithm in software communication with the move module to repeatedly calculate a required actuator activation signal from a joint position feedback signal.
    Type: Grant
    Filed: July 26, 2005
    Date of Patent: November 1, 2011
    Assignee: C.H.I. Development Mgnt. Ltd. XXIV, LLC
    Inventor: John R. Lapham
  • Publication number: 20110264265
    Abstract: A system and the like capable of maintaining the continuity or smoothness in the motion of a controlled object. According to a control system 1 and a robot R, which is a controlled object thereof, of the present invention, a desired position trajectory is generated by performing an interpolation process of generating a line segment represented by a linear combination of point sequences disposed in a model space with a basis function for spatial interpolation as a coupling coefficient. Therefore, a line segment, which continuously and smoothly connects the starting point and the end point, represented by a linear combination of a plurality of points (control points), instead of a broken line passing through the plurality of points disposed in the model space.
    Type: Application
    Filed: April 14, 2011
    Publication date: October 27, 2011
    Applicant: HONDA MOTOR CO., LTD.
    Inventor: Yoshiki Kanemoto
  • Patent number: 8041447
    Abstract: A numerical controller controlling a 5-axis machine tool compensates setting error that arises when a workpiece is set on the table. Error in the three linear axes and the two rotation axes are compensated using preset error amounts to keep the calculated tool position and tool direction in a command coordinate system. If a trigonometric function used for error compensation has a plurality of solution sets, the solution set closest to the tool direction in the command coordinate system is selected from the plurality of solution sets and used as the positions of the two rotation axes compensated in the above error compensation.
    Type: Grant
    Filed: August 15, 2008
    Date of Patent: October 18, 2011
    Assignee: FANUC Ltd
    Inventors: Toshiaki Otsuki, Soichiro Ide, Takafumi Sasaki
  • Patent number: 7957832
    Abstract: A method for vibration avoidance in automated machinery produces actuator space-time contours that meet design objectives of the machinery while suppressing energy content at frequencies in the space-time contour, by concatenating multiple space-time contour segments together in such a way as to be mostly free of energy at the frequencies of interest while meeting other specified design goals. The segments used to construct these frequency-optimized-contours are a series of concatenated polynomial segments, the independent variable t being time. These segments can define the variable to be controlled (e.g. speed or distance) versus time, or define one of the controlled variable's time-derivatives (e.g., the slope of the speed vs. time, etc.).
    Type: Grant
    Filed: March 25, 2009
    Date of Patent: June 7, 2011
    Assignee: Teknic, Inc.
    Inventor: Francis Joseph Testa
  • 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: 7902785
    Abstract: The invention relates to a method for guiding the displacement of a displaceable machine element (18) in a machine, comprising the following steps: a) specification of a guide target variable (xtarg) that describes the desired displacement operation of the machine element (18); b) determination of a pilot actual variable (Mpilot) and/or a guide actual variable (xact) from the guide target variable (xtarg) using a model (2), said model (2) comprising a path model (3), which simulates the dynamic behaviour of the elements (16, 18) involved in the displacement. The invention also relates to a device that corresponds to the method. The invention permits the optimised guidance of the displacement of a displaceable machine element (18) in a machine.
    Type: Grant
    Filed: September 27, 2006
    Date of Patent: March 8, 2011
    Assignee: Siemens Aktiengesellschaft
    Inventors: Joachim Denk, Klaus Geissdörfer, Jens Hamann, Elmar Schäfers, Bernd Wedel
  • Publication number: 20100277114
    Abstract: A speed instruction generation apparatus of a motor interpolates a first position instruction to obtain a second position instruction. The second position instruction is a second-order continuous instruction. The second-order continuous position instruction is differentiated two times to obtain a compensation speed. The speed instruction generation apparatus further generates a first speed instruction according to a difference between an actual position value of the motor and the second position instruction. The first speed instruction is added to the compensation speed to obtain a second speed instruction to control a rotation speed of the motor.
    Type: Application
    Filed: July 22, 2009
    Publication date: November 4, 2010
    Applicant: FOXNUM TECHNOLOGY CO., LTD.
    Inventors: SHIH-CHANG CHEN, RONG-CONG HUNG, YOU-REN LIN, SHEN-AN CHEN, RONG-HWANG HORNG, YAW-SHEN LAI
  • Patent number: 7774099
    Abstract: A programming device for making a program for returning a robot to its waiting position when the robot is stopped by an error. A robot control device is connected to the programming device via a network line. When the robot during operation is stopped by the error, information including data of a position where the robot is stopped is transferred to the programming device. The programming device makes the returning program, based on layout data, the received information and data including teaching positions and attribute data of the positions, by which the robot may be returned from the stop position to the waiting position without interfering with peripheral devices. The returning program is executed by using an offline simulation function of the programming device. The program is transferred to the robot control device after it is judged that interference will not occur. The robot may be safely returned to the waiting position by executing the returning program.
    Type: Grant
    Filed: June 24, 2005
    Date of Patent: August 10, 2010
    Assignee: Fanuc Ltd
    Inventors: Hirohiko Kobayashi, Yoshiharu Nagatsuka