Multiple Axes Point To Point Systems Patents (Class 318/574)
  • Patent number: 10112247
    Abstract: A wire electric discharge machine includes a machine learning device that learns an adjustment of an axis feed command of the wire electric discharge machine. The machine learning device determines an adjustment amount of the axis feed command by using data related to a movement state of an axis, and adjusts the axis feed command based on the determined adjustment amount of the axis feed command. Subsequently, the machine learning device performs machine learning of the adjustment of the axis feed command based on the determined adjustment amount of the axis feed command, the data related to the movement state of the axis, and a reward calculated based on the data related to the movement state of the axis.
    Type: Grant
    Filed: September 21, 2016
    Date of Patent: October 30, 2018
    Assignee: FANUC CORPORATION
    Inventors: Hiroyuki Abe, Kaoru Hiraga
  • Patent number: 9855657
    Abstract: A method and system for planning and optimizing the movement of a robotic device comprises establishing a plurality of spatial locations where the device can possibly be positioned and establishing rule sets for constraining movement of the robotic device between the locations. Once a start and end point have been determined, the method of the invention calculates all possible routes for the device to move, via the established locations and following the constraints of the rule sets. The calculated routes are then compared to a criteria, such as minimizing time, and an optimum route, meeting the desired criteria is determined. The calculated routes may also be cached for future access. The invention also provides for an error recovery method for allowing a robotic device to recover should it encounter an error.
    Type: Grant
    Filed: January 30, 2004
    Date of Patent: January 2, 2018
    Assignee: Thermo CRS Ltd.
    Inventors: Daniel Curtis McCrackin, Stephen Wayne Johnson
  • Patent number: 9696712
    Abstract: In a numerical control device, a command read out unit sequentially reads out time or a position of an axis or a spindle which is a reference and a position of a different axis or spindle from the axis or the spindle which is the reference or an auxiliary function that are stored in a storage unit. A selection unit selects a processing unit that processes a command which is read out by the command read out unit on the basis of a definition set by a definition unit. The definition unit defines commands executed by each processing unit.
    Type: Grant
    Filed: November 18, 2014
    Date of Patent: July 4, 2017
    Assignee: FANUC Corporation
    Inventor: Akira Kanemaru
  • Patent number: 9417622
    Abstract: A controller has a control unit generating a control signal to control a drive motor and a friction compensation unit adding a friction compensation signal to the control signal for compensating for a positioning error caused by friction in a guide unit. When reversing the direction of movement of the movable body, the friction compensation unit generates a friction compensation signal in accordance with a function f(?) representing a friction compensation value uf by a relationship with a variable ? and asymptotically approaching the maximum value and the minimum value of the friction compensation value uf and having an inflection point therebetween, and adds the generated friction compensation signal to the control signal generated by the control unit during movement of the movable body a predetermined movement distance from before to after the reversing.
    Type: Grant
    Filed: September 2, 2014
    Date of Patent: August 16, 2016
    Assignees: DMG MORI SEIKI CO., LTD., THE UNIVERSITY OF TOKYO
    Inventors: Hiroshi Fujimoto, Hongzhong Zhu, Koji Yamamoto, Shinji Ishii
  • Patent number: 9194355
    Abstract: In a method for monitoring an attachment for switching a starter of an internal combustion engine, at least one output stage for controlling the current flow with the aid of an actuator is monitored with regard to function. The output stage is checked for proper function prior to shutdown of the internal combustion engine.
    Type: Grant
    Filed: July 21, 2010
    Date of Patent: November 24, 2015
    Assignee: ROBERT BOSCH GMBH
    Inventors: Remco ten Zweege, Gerald-Markus Mueller, Uemit Cansever
  • Patent number: 8958907
    Abstract: A robot arm apparatus includes an arm mechanism including a base member and a link pivotally connected to the base member for pivotal motion in a horizontal plane through a rotational shaft. The link holds a regular circular transport object at its distal end. The apparatus also includes an edge detector, provided on the base member, that detects two edges of the regular circular transport object as the link pivotally rotates with respect to the base member, a pivotal angle detector that detects a pivotal angle of the link with respect to the base member, and a center position calculator that calculates a center position of the regular circular transport object with respect to the link. The calculation is based on two pivotal angles detected by the pivotal angle detector when the edge detector detects the two edges of the regular circular transport object.
    Type: Grant
    Filed: March 21, 2012
    Date of Patent: February 17, 2015
    Assignee: Sinfonia Technology Co., Ltd.
    Inventors: Toru Saeki, Yasumichi Mieno, Yuji Urabe, Toshio Kamigaki, Yoji Masui
  • Patent number: 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: 8786243
    Abstract: In a numerically controlled machine tool which has a linear feed axis and a rotational feed axis and in which a main spindle and a table are movable relative to each other, a position error and an attitude error produced by an operation of a linear feed axis and a rotational feed axis are measured at a plurality of measurement points set within a movable range of the linear feed axis and the rotational feed axis, and the position error and the attitude error thus measured are stored as an error map in correspondence to a position of the linear feed axis and a rotation angle of the rotational feed axis.
    Type: Grant
    Filed: November 2, 2007
    Date of Patent: July 22, 2014
    Assignee: Makino Milling Machine Co., Ltd.
    Inventors: Norio Mori, Tadashi Kasahara, Tadahiro Nishiguchi
  • Patent number: 8515576
    Abstract: The present invention was developed by a neurosurgeon and seeks to mimic the results of primate neurological research which is indicative of a human's actual neurological control structures and logic. Specifically, the motor proprioceptive and tactile neurophysiology functioning of the surgeon's hands and internal hand control system from the muscular level through the intrafusal fiber system of the neural network is considered in creating the robot and method of operation of the present invention. Therefore, the surgery is not slowed down as in the art, because the surgeon is in conscious and subconscious natural agreement and harmonization with the robotically actuated surgical instruments based on neurological mimicking of the surgeon's behavior with the functioning of the robot. Therefore, the robot can enhance the surgeon's humanly limited senses while not introducing disruptive variables to the surgeon's naturally occurring operation of his neurophysiology.
    Type: Grant
    Filed: August 8, 2011
    Date of Patent: August 20, 2013
    Assignee: MacDonald, Dettwiler and Associates Ltd.
    Inventors: Kenneth L. Lipow, Dennis Gregoris
  • Patent number: 8515583
    Abstract: A machine motion control system for testing electronic devices includes two test machines, a control card and a main controller. The test machines secure the electronic devices, whereby each test machine includes a plurality of moving parts for securing the electronic devices and a plurality of driving modules. The driving modules drive and control the corresponding moving parts of the test machine. The control card controls the driving modules. The main controller provides and transmits a movement instruction to the control card, the control card monitors and controls the driving modules according to the movement instruction, and the driving modules accordingly adjusts and drives the test machines and the moving parts on the test machines.
    Type: Grant
    Filed: January 6, 2011
    Date of Patent: August 20, 2013
    Assignees: Shenzhen Futaihong Precision Industry Co., Ltd., FIH (Hong Kong) Limited
    Inventor: Guang-chen Li
  • Patent number: 8432119
    Abstract: Disclosed are various systems and methods for assessing and improving the capability of a machine tool. The disclosure applies to machine tools having at least one slide configured to move along a motion axis. Various patterns of dynamic excitation commands are employed to drive the one or more slides, typically involving repetitive short distance displacements. A quantification of a measurable merit of machine tool response to the one or more patterns of dynamic excitation commands is typically derived for the machine tool. Examples of measurable merits of machine tool performance include workpiece surface finish, and the ability to generate chips of the desired length.
    Type: Grant
    Filed: April 14, 2010
    Date of Patent: April 30, 2013
    Assignee: Babcock & Wilcox Technical Services Y-12, LLC
    Inventors: William E. Barkman, Edwin F. Babelay, Jr., Kevin Scott Smith, Thomas S. Assaid, Justin T. McFarland, David A. Tursky, Bethany Woody, David Adams
  • Patent number: 8334668
    Abstract: A machine motion control system includes a number of moving parts for securing test electronic devices, a machine and an axis control card mounted on the machine. The machine includes a number of servo modules and a number of sensing units. The servo modules drive and control the corresponding moving parts on the machine. Each sensing unit is electrically connected to a corresponding moving part; the sensing units are operable to sense and transmit location information of the moving parts and the machine. The axis control card is electrically connected to the moving parts, the machine, and the sensing units. The axis control card receives location information of each moving part and processes the location information to generate a corresponding command signal, and transmits the generated command signal to the servo modules to control and adjust the moving parts.
    Type: Grant
    Filed: October 5, 2010
    Date of Patent: December 18, 2012
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventors: Jia-Bin Wang, Hua-Yong Xu, Guo-Jun Yu, Teng-Tsung Huang
  • Patent number: 8253355
    Abstract: A control apparatus for multiplexing a single distributed control amplifier to control multiple axes of motion in a multi-axis machine. In one example, the control apparatus comprises a distributed control motor amplifier, a first motor constructed and arranged to provide movement along a first axis of motion, a second motor constructed and arranged to provide movement along a second axis of motion, a first relay having a switch coupled to the distributed control motor amplifier, a first contact coupled to the first motor, a second contact coupled to the second motor, and an input for receiving an actuation signal, wherein the relay is configured to be manipulated between a first state in which the switch is electrically connected to the first contact a second state in which the switch is electrically connected to the second contact, in response to the actuation signal.
    Type: Grant
    Filed: October 13, 2010
    Date of Patent: August 28, 2012
    Assignee: Illinois Tool Works Inc.
    Inventors: Patsy Anthony Mattero, John G. Klauser
  • 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: 8155779
    Abstract: A numerical controller including a storage device for storing tabular data configured to operate one arbitrary axis, in which a position of a spindle or an axis as a control object is caused to correspond to a reference value composed of time or the position of a reference spindle or axis. A reading device is provided for successively reading a reference value in the tabular data and a position of the spindle or the axis as control object corresponding to the reference value from the storage device, and controls the position of the spindle or the axis as control object based on the reference value read by the reading device. An assignment device is provided for assigning the axis to be operated in accordance with the tabular data, and a starting device for starting the tabular data stored in the storage device, thereby causing the axis assigned by the assigning device to operate.
    Type: Grant
    Filed: May 27, 2009
    Date of Patent: April 10, 2012
    Assignee: Fanuc Ltd
    Inventors: Takahiko Endo, Yasushi Takeuchi
  • 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: 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
  • Patent number: 8024061
    Abstract: A method of and apparatus to generate a position profile using lower-order polynomials. The device includes a pattern coefficient generator to generate pattern and time coefficients of a position pattern that is classified by velocity change, a contour generator to generate a pattern polynomial to define a contour of each section of the position pattern using the generated pattern and time coefficients, and a dual filter for generating a position profile by selectively activating one of a plurality of filters, which receive the pattern polynomial generated by the contour generator. The device uses lower-order polynomials and a small number of coefficients, thereby reducing the number of calculations required in the procedure to generate the position profile. The device generates a seamless and smooth position profile by preventing switching errors due to the difference between filter sizes.
    Type: Grant
    Filed: May 19, 2005
    Date of Patent: September 20, 2011
    Assignee: Samsung Electronics Co., Ltd.
    Inventor: Jung Ik Ha
  • Patent number: 8024071
    Abstract: Based upon a force in a vertical direction exerted between an object and a hand and an angle made by the hand relative to a horizontal face, a transporting force estimation unit estimates a transporting force applied in the vertical direction by a person, and based upon the estimated force, a force controlling operation is carried out so as to set a force in the vertical direction of the robot arm of a robot system to a predetermined force.
    Type: Grant
    Filed: February 25, 2010
    Date of Patent: September 20, 2011
    Assignee: Panasonic Corporation
    Inventors: Mayumi Komatsu, Yasunao Okazaki
  • Patent number: 8018192
    Abstract: A trajectory display device capable of correctly quantifying an error of a three-dimensional trajectory of a machine tool, and displaying or outputting the error. The trajectory display device has a command line segment defining part adapted to define a command line segment which connects two temporally adjacent points, in relation to each commanded position; an error calculating part adapted to define a normal line extending from the actual position to each command line segment and calculate an error of the actual position relative to a commanded trajectory, the error being determined as a shorter one between a length of a shortest normal line among the defined normal lines and a length of a line segment extending from the actual position to a commanded position which is the nearest from the actual position.
    Type: Grant
    Filed: June 24, 2010
    Date of Patent: September 13, 2011
    Assignee: FANUC Ltd
    Inventors: Yasusuke Iwashita, Tadashi Okita, Junichi Tezuka, Kazuyuki Sugiyama
  • Patent number: 7847506
    Abstract: In a machine tool controller (1): a position control unit (12) controls, based on an operational signal input from without during manual operation, a moving body's move-to point and moving speed; a memory (13) stores data modeling the moving body and any potentially interfering machine-tool structure; a travel-area checking unit (17) defines in the modeled structure speed-control regions obtained by displacing the structure's contour, generates, based on the defined speed control regions and on current moving-body position, data modeling the moving body as moved into its current position, to check whether the moving body will travel within a speed control region, and if so, sends to the position control unit a speed limit predefined for that speed control region. The position control unit controls the moving body to travel at speed limit if the operational-signal-directed moving speed exceeds the speed limit.
    Type: Grant
    Filed: July 5, 2007
    Date of Patent: December 7, 2010
    Assignee: Mori Seiki Co., Ltd.
    Inventor: Tetsuo Ogawa
  • Patent number: 7633255
    Abstract: At the time of two-dimensionally moving a mobile body of a machine tool, to a predetermined position, a speed of the mobile body is gently increased/decreased at an acceleration/deceleration equal to or less than the maximum acceleration/deceleration, from the time when the mobile body reaches a direction change point. Therefore, the moving time is shortened and a rapid acceleration/deceleration may be avoided.
    Type: Grant
    Filed: June 6, 2005
    Date of Patent: December 15, 2009
    Assignee: Citizen Holdings Co., Ltd.
    Inventors: Yutaka Shibui, Hajime Matsumaru, Keita Kazuie
  • Patent number: 7529599
    Abstract: The invention provides systems and methods that integrate and/or control motion of a plurality of axes in a motion control environment. Grouped axes can be linked (e.g., via a tag) to provide desired multi-axis coordinated motion as well as provide control for corresponding aspects of motion such as acceleration, velocity, etc. Such axes can be integrated with other control functionality such as process and/or machine control to provide the user with a comprehensive control. The foregoing can provide simple mechanisms for moving devices in multiple axes of a coordinate system in a coordinated fashion. Such coordinated move functionality can provide a user-friendly interface for linear and circular moves in multi-dimensional space. The algorithm employed for path planning can provide fast execution and dynamic parameter changes (e.g., maximum velocity, acceleration and deceleration) along a desired path of motion.
    Type: Grant
    Filed: May 25, 2004
    Date of Patent: May 5, 2009
    Assignee: Rockwell Automation Technologies, Inc.
    Inventors: Jatin P. Bhatt, Jacob S. Baker, David R. Mowry, Stephen L. Steh, William C Schwarz
  • Patent number: 7519440
    Abstract: A position of a motion control axis is monitored and an output device responsive to the position of the motion control axis is controlled. The controlling further includes latching an electronic cam element that controls the output device, and unlatching the cam element that controls the output device. The manner in which the latching is performed and the manner in which the unlatching is performed are configurable in a programming interface. The programming interface is capable of receiving a latch position for the cam element and an unlatch position for the cam element. The programming interface is further capable of receiving additional configuration information to configure the manner in which the latching is performed and different additional configuration information to separately configure the manner in which the unlatching is performed.
    Type: Grant
    Filed: August 8, 2006
    Date of Patent: April 14, 2009
    Assignee: Rockwell Automation Technologies, Inc.
    Inventors: Juergen K. Weinhofer, Jacob S. Baker, Kendal R. Harris
  • Patent number: 7518329
    Abstract: A method and a device for cutting freeform surfaces is disclosed. In 5-axis cutting, a workpiece is milled by a tool, i.e., a milling cutter, in such a way that a desired freeform surface is obtained. The tool is moved for cutting along at least one tool path, i.e., cutting path, defined on the basis of interpolation points in relation to the workpiece. According to this invention, a tool vector in the form of leading angles and setting angles is defined for each interpolation point on the tool path. For each interpolation point a normal vector is determined from the leading angles and the setting angles and also from a drive vector determined for each interpolation point. The normal vector in each interpolation point on the tool path is used for a 3D-radius correction for equalizing/compensating for deviations in dimensions of the milling cutter.
    Type: Grant
    Filed: July 2, 2004
    Date of Patent: April 14, 2009
    Assignee: MTU Aero Engines GmbH
    Inventor: Arndt Glaesser
  • Publication number: 20080315821
    Abstract: A device for finding a home position of a moveable member includes a magnet mounted on the moveable member and two switch-type Hall effect detectors, one on each side of the home position and equally spaced from the home position. The device includes a device for measuring movement of the moveable member and a microprocessor with a memory that receives information from the two Hall effect detectors and the device for measuring movement.
    Type: Application
    Filed: June 21, 2007
    Publication date: December 25, 2008
    Inventor: Jack Chen
  • Patent number: 7215089
    Abstract: A workpiece is rotated by a master motor and a tool is linearly moved by a slave motor to cut a thread in the workpiece. Position feedback of the master motor is multiplied by a coefficient K and the result used as the position command of the slave motor. Provision is made of an angle synchronization learning control unit for storing one pattern cycle's worth of the correction data of the threading and adding the same to the position deviation. This control unit stores one pattern cycle's worth of the correction data corresponding to the position feedback of the master motor. The position is converted to the correction data corresponding to the time at that time based on the stored correction data to find the correction data and this is added to the position deviation.
    Type: Grant
    Filed: January 27, 2005
    Date of Patent: May 8, 2007
    Assignee: Fanuc Ltd
    Inventors: Yukio Toyozawa, Naoto Sonoda
  • Patent number: 7183736
    Abstract: An AC servo system with distributed movement control is used for multiple axes control in distributed manner includes at least one drive containing a programmable movement controller to perform a customized procedure to control I/O signal of local axis or other axis. The drive can download/perform movement program through communication network, edit axis parameter and monitor the axis status. The drive can set to be master/slave axis according to practical need. The master axis drive performs multiple axes simultaneous control and sends path command to each slave axis drive. The master axis drive calculates complementary command coordinate according to the path command and the path command received by the slave axis drive, whereby the movement trace of the master/slave axis drive can satisfy the path command requirement.
    Type: Grant
    Filed: January 30, 2006
    Date of Patent: February 27, 2007
    Assignee: Delta Electronics, Inc.
    Inventors: Chung-Chi Chou, Jian-Da Chen, Chin-Shiong Tsai
  • Patent number: 7129666
    Abstract: An x-ray apparatus has a servo-supported C-arm that is movable with two degrees of freedom in a movement space by means of a drive device. The servo support of the C-arm deviates at a stop point within the movement space from the servo support in the surrounding movement space.
    Type: Grant
    Filed: October 14, 2004
    Date of Patent: October 31, 2006
    Assignee: Siemens Aktiengesellschaft
    Inventors: Jochen Bauer, Wendelin Feiten, Manfred Rattner
  • Patent number: 7084595
    Abstract: Method for optimizing the movement performance of an industrial robot for a current movement path with respect to thermal load on the driving system of the robot, wherein the method comprises the following steps: for at least one component in the driving system, the thermal load is calculated for the whole or parts of the movement path if the calculated thermal load is compared with a maximally allowed load for the component; and dependent on said comparison, a course of accelerations and velocities for the current movement path are adjusted.
    Type: Grant
    Filed: March 14, 2002
    Date of Patent: August 1, 2006
    Assignee: ABB AB
    Inventors: Torgny Brogårdh, Magnus Ahlbäck, Jesper Bergsjö, Staffan Elfving, Anders Lager, Stig Moberg, Mats Myhr, Dan Rylander
  • Patent number: 7064512
    Abstract: A positioning apparatus includes an X stage, a linear motor (X-axis) which drives the X stage along the X-axis, a linear motor (Y-axis) which drives a Y stage along the Y-axis, a laser interferometer which detects position information of the stages along the X and Y directions, and a controller which controls the linear motor (X-axis) and linear motor (Y-axis) based on a detection result of the laser interferometer. The controller controls the linear motor (Y-axis) based on the position information of the stages along the X direction detected by the laser interferometer, so as to cancel a force generated along the Y-axis by the linear motor (X-axis) when the linear motor (X-axis) is to drive the stage in the X direction.
    Type: Grant
    Filed: April 14, 2005
    Date of Patent: June 20, 2006
    Assignee: Canon Kabushiki Kaisha
    Inventor: Atsushi Kimura
  • Patent number: 7043333
    Abstract: In a machine tool with a spindle capable of motion along at least three axes x, y, and z, the position of the spindle is checked by a device that operates utilizing electromagnetic signals sent out by four emitters, located externally of the machine tool, and picked up by a receiver mounted directly to the spindle. The signals are fed into a master control unit and processed by circuits in such a way as to produce an output that can be used to verify and if necessary correct the position of the spindle on the three axes X, Y, and Z.
    Type: Grant
    Filed: March 11, 2004
    Date of Patent: May 9, 2006
    Assignee: JOBS S.p.A.
    Inventors: Bruno Schiavi, Sandro Foletti
  • Patent number: 7009357
    Abstract: After a controller #1 has started giving an interpolating instruction, the length on an interpolation line is calculated by a first calculation means in synchronism with a clock signal from a clock synchronous circuit 45, and after having executed a first step for generating a synthetic locus-use frame 100 based upon the calculated value, the synthetic locus-use frame 100 is transmitted to controller #2 so that, after controller #2 has executed a second step for receiving a synthetic locus calculation-use frame from a receiving means, controllers #1, #2 execute a third step for calculating the position on the interpolation line based upon the synthetic locus-use frame 100 by using a second calculation means.
    Type: Grant
    Filed: August 2, 2001
    Date of Patent: March 7, 2006
    Assignee: Mitsubishi Denki Kabushiki Kaisha
    Inventors: Kimihiro Mizuno, Nobuyasu Takaki
  • Patent number: 6922034
    Abstract: Provided is an arm structure for a robot which can favorably carry out jobs which are typically performed by humans. By determining the length of the arm and the height of the axis of rotation of the arm in such a manner that a range of rotational motion of the arm in accessing the region can be covered by a range in which the fore-and-aft distance to the tip of the arm can be linearly approximated, even though the trajectory of the arm is approximated by a line, the error in the distance to the object can be limited within a prescribed range, and the practicality and economy of computation can be achieved at the same time.
    Type: Grant
    Filed: November 16, 2001
    Date of Patent: July 26, 2005
    Assignee: Honda Giken Kogyo Kabushiki Kaisha
    Inventor: Masato Hirose
  • Patent number: 6922611
    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: December 30, 2003
    Date of Patent: July 26, 2005
    Assignee: Robotic Workspace Technologies, Inc.
    Inventor: John R. Lapham
  • Patent number: 6911797
    Abstract: A multi-axes industrial processing machine with a multi-axes electrical drive system and at least two axle drives that have each an axle module and a built-in motor is disclosed. The machine further includes an impedance that is transformer-coupled with a supply module through an annular core. Either the phase lines on the AC side of the supply module or the output lines of the DC side of the supply module as well as an additional winding are wound on the annular core. The impedance is connected in parallel to the additional winding.
    Type: Grant
    Filed: July 31, 2003
    Date of Patent: June 28, 2005
    Assignee: Siemens Aktiengesellschaft
    Inventors: Tobias Hofmann, Sebastian Raith, Bernd Segger
  • Patent number: 6836315
    Abstract: A method of providing pitch torque compensation for planar motors in which pitch torque is not inherently provided includes calculating and summing a given set of forces ideally required to be applied by each forcer in the planar motor. Correction forces for each forcer are determined such that the net effect of the corrections is equal and opposite to the pitch torques previously determined.
    Type: Grant
    Filed: April 22, 2003
    Date of Patent: December 28, 2004
    Assignee: ASML Netherlands B.V.
    Inventor: Fransiscus Martines Roes
  • Patent number: 6825630
    Abstract: A longer life, low cost tool and tool holder enabling change of posture with respect to a spindle, having a high machining accuracy of a workpiece, and resistant to generation of vibration or heat, provided with a working tool for processing a workpiece, a motor having an output shaft to which the working tool is connected and rotating the working tool, a first holder for holding the working tool and the motor, a mount attached to the spindle, a generator to which rotational force is transmitted from the spindle through the mount and generating electric power for driving the motor, a second holder for holding the mount rotatably, holding the generator, and engaged with a nonrotating portion of the machine tool, and a posture adjustment mechanism which connects the first holder and the second holder and is able to change the posture of the working tool with respect to the spindle.
    Type: Grant
    Filed: July 18, 2002
    Date of Patent: November 30, 2004
    Assignee: Toshiba Kikai Kabushiki Kaisha
    Inventors: Kouichi Katoh, Yasunori Kato, Takazumi Watanabe, Makoto Sagara
  • Patent number: 6819073
    Abstract: In a method for active compensation of mechanical vibrations and/or deformations in industrial processing machines, a main drive in a primary axis executes a first motion to move a mechanical machine element with an auxiliary drive in a secondary axis for execution of a second comparably more fine-tuned motion to move a machine point by the auxiliary drive in such a way that the movement of the machine point is composed of superimposed portions of the first and second motions. The first motion of the machine point moves hereby in accordance with a predetermined desired position value, and the second motion so compensates vibrations and/or deformation of the mechanical machine point that the machine point assumes the desired predetermined position.
    Type: Grant
    Filed: November 19, 2002
    Date of Patent: November 16, 2004
    Assignee: Siemens Aktiengesellschaft
    Inventors: Gerhard Heinemann, Wolfgang Papiernik, Guido Stöppler
  • Patent number: 6816755
    Abstract: A method of three-dimensional handling of an object by a robot uses a tool and one camera mounted on the robot and at least six target features which are normal features of the object are selected on the object. The features are used to train the robot in the frame of reference of the object so that when the same object is subsequently located, the robot's path of operation can be quickly transformed into the frame of reference of the object.
    Type: Grant
    Filed: May 24, 2002
    Date of Patent: November 9, 2004
    Assignee: Braintech Canada, Inc.
    Inventors: Babak Habibi, Simona Pescaru
  • Patent number: 6809450
    Abstract: In a rotor assembly having a rotor supported for rotation by magnetic bearings, a processor controlled by software or firmware controls the generation of force vectors that position the rotor relative to its bearings in a “bounce” mode in which the rotor axis is displaced from the principal axis defined between the bearings and a “tilt” mode in which the rotor axis is tilted or inclined relative to the principal axis. Waveform driven perturbations are introduced to generate force vectors that excite the rotor in either the “bounce” or “tilt” modes.
    Type: Grant
    Filed: December 4, 2003
    Date of Patent: October 26, 2004
    Assignee: The United States of America as represented by the Administrator of the National Aeronautics and Space Administration
    Inventor: Carlos R. Morrison
  • Publication number: 20040207356
    Abstract: A numerical controller which, after once stopping a slave axis during superposing control, can easily resume the superposing control. In the superposing control, a motion amount for a master axis and a motion amount for the slave axis are added to a workpiece coordinate value of the master axis and a workpiece coordinate value of the slave axis, respectively, to update their present position data (I2, II2). These motion amounts are supplied also to servo processing (I3, II3) for the master axis and the slave axis, where an amount obtained by superposing a motion amount &dgr;zIm for the master axis ZIm on a motion amount &dgr;zIIs for the slave axis ZIIs is supplied to the servo processing for the slave axis ZIIs. When a slave axis motion stop command is issued, the motion of the slave axis is stopped and a motion amount &dgr;zIm for the master axis ZIm is subtracted from the workpiece coordinate value of the slave axis ZIIs.
    Type: Application
    Filed: April 12, 2004
    Publication date: October 21, 2004
    Applicant: FANUC LTD
    Inventors: Takahiko Endo, Yasushi Takeuchi
  • Patent number: 6804580
    Abstract: A system for controlling a plurality of robots and a method for controlling said system. Said system comprises a plurality of controllers, each having an associated motion system adapted to control attached robots, with each motion controller being able to receive motion instructions from at least one motion instruction source and at least one of said motion instruction sources being a control program, as well as a computer network over which said controllers communicate. In this way, the invention can be applied to solve problems which are commonly encountered in coordination activities such as load sharing, mating of parts while processing, fixtureless transfer, teaching, manual motion of coordinated operations, and time coordinated motion.
    Type: Grant
    Filed: April 3, 2003
    Date of Patent: October 12, 2004
    Assignee: Kuka Roboter GmbH
    Inventors: Kenneth A. Stoddard, R. William Kneifel, II, David M. Martin, Khalid Mirza, Michael C. Chaffee, Andreas Hagenauer, Stefan Graf
  • Publication number: 20040164698
    Abstract: The invention regards a method for co-ordinating and synchronising the movement of servo-assisted axes in machines and apparatuses which execute various industrial applications. The method in object is applied in the programming of electronic control systems using specific commands collected in a particular table subdivided into sectors and known as a “CAM TABLE”, according to a programming technique known as “CAMMING”. The fundamental characteristic of the devised method is given by the fact that inside the aforementioned sectors of the CAM TABLE are described, through the use of a special operating code comprising a plurality of operating instructions, both the position relationships and the virtual laws of motion which bind a first reference axis known as the “MASTER axis”, and each of the other axes known as “SLAVE axes” together.
    Type: Application
    Filed: March 24, 2004
    Publication date: August 26, 2004
    Inventors: Adriano Cazzavillan, Pietro Magnabosco, Dario Zatton
  • Patent number: 6750625
    Abstract: A high accuracy stage supported in six degrees of freedom by electromagnetic bearings. Movements in the horizontal plane of the stage are controlled by variable reluctance actuators which are mounted between the high accuracy stage and a coarse stage so as not to distort the high accuracy stage during movements thereof. The high accuracy stage is supported in three vertical degrees of freedom by electromagnetic actuators disposed between the coarse stage and the high accuracy stage and aided by a supplemental vertical support disposed adjacent to the actuators. Preferably, the high accuracy stage is suspended from a bar supported by the supplemental vertical support, which is preferably air bellows.
    Type: Grant
    Filed: August 15, 2001
    Date of Patent: June 15, 2004
    Assignee: Nikon Corporation
    Inventors: Michael Binnard, Kazuya Ono, Andrew J. Hazelton
  • Patent number: 6684128
    Abstract: A robot capable of being operated at a high-speed by the full use of a power of a servo-motor, including a motor and a speed reducer, wherein the motor drives the robot through the speed reducer, and the speed reducer is a variable speed reducer capable of varying a reduction ration thereof while the robot is operating reproducibly.
    Type: Grant
    Filed: April 29, 2002
    Date of Patent: January 27, 2004
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Shuichi Tounai, Hiroyuki Hamamoto, Koichi Yamaguchi
  • Patent number: 6675070
    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: August 26, 2002
    Date of Patent: January 6, 2004
    Assignee: Robotic Workspace Technologies, Inc.
    Inventor: John R. Lapham
  • Patent number: 6671580
    Abstract: A system for directing robot movement in a storage library is provided, the library comprising at least one horizontal array of storage cells and at least one robot that moves along the horizontal array and can retrieve objects from and place objects into the storage cells. The system comprises a guide rail that runs along the length of the horizontal array and loops around from one end of the horizontal array to the other end. The robot may move along the guide rail in a continuous, unidirectional loop. If multiple robots are added to the library, they can be made to move in the same direction along looping guide rail, thus elimination contention among robot movements. If multiple horizontal arrays are stacked vertically within the library, the looping guide rail allows robots to loop around and return to the same level or move onto a different horizontal level.
    Type: Grant
    Filed: December 28, 2001
    Date of Patent: December 30, 2003
    Assignee: Storage Technology Corporation
    Inventors: James P. Campbell, Timothy C. Ostwald
  • Patent number: 6611122
    Abstract: The invention makes it possible to execute the pre-control and the fine interpolation in the drive (A) in the fast drive clock (tDR) with a slower path pre-setting in the clock (tNC) of the NC. For this purpose, in each NC clock (tNC) a setpoint speed value (nNC*) and the P gain (kP) of the NC position controller (L_NC) and the desired axle speed (nNC) and the average axle speed (nNCMW) during the last NC position controller clock are transferred from the NC to the drive. From this information, polynomial segments of the third degree are in each case generated on the drive side, valid for the duration of an NC position controller clock (tNC). They are constructed in such a way that the speed at the polynomial transitions is constant. A variable component of the position polynomial is determined as the fine position component xF, with which the setpoint position values are finely interpolated in the drive.
    Type: Grant
    Filed: August 30, 2001
    Date of Patent: August 26, 2003
    Assignee: Siemens Aktiengesellschaft
    Inventors: Thomas Grohmann, Stefan Kuenzel, Wolfgang Papiernik, Bernd Quaschner, Guido Seeger, Johannes Welker
  • Patent number: 6611121
    Abstract: For automatically freeing an axis which, after running over a safe end position (E+), is monitored to ascertain when it is at a standstill (3), monitoring for overshooting the safe end positions (E+, E−) is switched off and a freeing range (4) is defined by a limit value (G1), in the traversing direction of the axis which led to the overshooting of the safe end position (E+), with the value of the greater limit (S1) in absolute terms of the monitored standstill range (3), and by a limit value (G2), in the other traversing direction of the axis, with the value of the corresponding safe end position (E1). After deactivating the monitoring for a standstill of the axis, the axis can then be moved automatically back into the normal traversing range (1) within the safe end positions (E+, E−), while monitoring for overshooting of this freeing range (4).
    Type: Grant
    Filed: August 24, 2001
    Date of Patent: August 26, 2003
    Assignee: Siemens Aktiengesellschaft
    Inventor: Markus Schuermann