Compensation Or Calibration Patents (Class 700/254)
  • Patent number: 11511419
    Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for modifying a process definition to ensure accuracy, timeliness, or both of workcell measurement. One of the methods includes receiving an initial process definition for a process to be performed by a robot, wherein the process definition defines a sequence of actions to be performed in a workcell, and wherein a first action in the sequence of actions has an associated measurement tolerance; computing a predicted accumulated measurement variance for each of one or more actions that occur before the first action in the sequence; determining that the predicted accumulated measurement variance for the one or more actions that occur before the first action in the sequence exceeds a threshold; and in response, generating a modified process definition that inserts a measurement action at a location in the sequence before the first action.
    Type: Grant
    Filed: May 1, 2020
    Date of Patent: November 29, 2022
    Assignee: Intrinsic Innovation LLC
    Inventors: Timothy Robert Kelch, Ryan Butterfoss
  • Patent number: 11508088
    Abstract: A system and method for performing automatic camera calibration is provided. The system receives a calibration image, and determines a plurality of image coordinates for representing respective locations at which a plurality of pattern elements of a calibration pattern appear in a calibration image. The system determines, based on the plurality of image coordinates and defined pattern element coordinates, an estimate for a first lens distortion parameter of a set of lens distortion parameters, wherein the estimate for the first lens distortion parameter is determined while estimating a second lens distortion parameter of the set of lens distortion parameters to be zero, or is determined without estimating the second lens distortion parameter. The system determines, after the estimate of the first lens distortion parameter is determined, an estimate for the second lens distortion parameter based on the estimate for the first lens distortion parameter.
    Type: Grant
    Filed: May 11, 2020
    Date of Patent: November 22, 2022
    Assignee: MUJIN, INC.
    Inventors: Russell Islam, Xutao Ye
  • Patent number: 11453120
    Abstract: A robot system includes: a robot including drive shafts; and a control device configured to control the robot, in which each of the drive shafts includes a drive unit configured to cause a second member to operate with respect to a first member, the drive unit includes a motor, a deceleration mechanism configured to decelerate rotation of the motor and supply the rotation to the first member and the second member, and an input-side detector configured to detect a rotation angle position of the motor, at least one drive unit includes an output-side detector configured to detect an operation position of the second member with respect to the first member, and the control device controls the motor such that each of the drive shafts with high responsiveness is caused to operate with priority, on the basis of the detected rotation angle position of the motor and the detected operation position.
    Type: Grant
    Filed: August 6, 2020
    Date of Patent: September 27, 2022
    Assignee: FANUC CORPORATION
    Inventor: Keita Suyama
  • Patent number: 11446823
    Abstract: A robot including a motor is used to machine a workpiece. The robot further includes the following components: a controller configured to output a speed command and commanded-position information; an encoder; a position sensor configured to output, as a differential signal, the amount of displacement of the position of the workpiece W from a predetermined position; a servo driver configured to control the motor upon receiving the speed command, the output signal of the encoder, and the differential signal; and a safety unit configured to detect a fault in the encoder. When controlling the motor based on the speed command, the output signal, and the differential signal, the servo driver sends the differential signal to the controller. The controller sends the safety unit new commanded-position information, which is generated by adding a correction value based on the differential signal to the commanded-position information.
    Type: Grant
    Filed: February 3, 2020
    Date of Patent: September 20, 2022
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Yasuhiro Kinugasa, Kei Aimi
  • Patent number: 11440188
    Abstract: The present invention provides a robot system including: a movable human-collaborative robot including a human-collaborative robot, and a moving device that moves the human-collaborative robot mounted thereon; a control unit that controls the movable human-collaborative robot; and an approach sensor that detects approach of a human to the movable human-collaborative robot. The human-collaborative robot includes a human detection sensor that detects approach or contact of a human to or with the movable human-collaborative robot. When the approach sensor has detected the approach of a human, the control unit restricts the operation of at least the moving device and, when the human detection sensor has detected the approach of or contact with a human, the control unit performs control so as to stop the movable human-collaborative robot or so as to avoid the approach of or contact with the human.
    Type: Grant
    Filed: August 20, 2018
    Date of Patent: September 13, 2022
    Assignee: FANUC CORPORATION
    Inventors: Masahiro Morioka, Takatoshi Iwayama, Junya Fujita
  • Patent number: 11433542
    Abstract: According to one embodiments, a calibration detecting apparatus includes a generator, a setting unit, an acquisition unit, and a calculator. The generator generates location data indicating a group including a pair of two positions arranged respectively in two spaces. The setting unit sets an irradiation arrangement so that an irradiating device performs laser irradiation on a region including an end position of the end effector. The acquisition unit acquires observation data indicating whether or not the end effector is observed. The calculator calculates a change in an installed state of the irradiating device based on the observation data.
    Type: Grant
    Filed: February 27, 2020
    Date of Patent: September 6, 2022
    Assignee: Kabushiki Kaisha Toshiba
    Inventor: Kenichi Shimoyama
  • Patent number: 11420323
    Abstract: A method for controlling movement sequences of a robot, the method including predicting values of at least one parameter related to the execution of alternative movement sequences by the robot, where each movement sequence includes at least one movement segment associated with a handling location; selecting a movement sequence based on the predicted values of the at least one parameter; and executing the selected movement sequence by the robot. A control system for controlling movement sequences of a robot is also provided.
    Type: Grant
    Filed: May 16, 2017
    Date of Patent: August 23, 2022
    Assignee: ABB Schweiz AG
    Inventors: Anders Lager, Johnny Holmberg, Magnus Wahlström
  • Patent number: 11413101
    Abstract: A sequence of tracking input samples that are measures of position or orientation of a user interface device, UID, being held by a user, are received. In a prediction phase, a current output sample of a state of linear quadratic estimator, LQE, is computed that is an estimate of the position or orientation of the UID. The current output sample is computed based on i) a previously computed output sample, and ii) a velocity term. In an update phase, an updated output sample of the state of the LQE is computed, based on i) a previously computed output sample from the prediction phase, and ii) a most recent tracking input sample. Other embodiments are also described and claimed.
    Type: Grant
    Filed: December 3, 2020
    Date of Patent: August 16, 2022
    Assignee: VERB SURGICAL INC.
    Inventors: Hasan Tutkun Sen, Sina Nia Kosari
  • Patent number: 11396928
    Abstract: An actuator is provided which includes a parallel eccentric gear train, a prime mover having an assembly of piezoelectric elements which drives the gear train and which forms a mechanical amplifier, and a crankshaft which is driven by the parallel eccentric gear train.
    Type: Grant
    Filed: July 15, 2019
    Date of Patent: July 26, 2022
    Inventor: Delbert Tesar
  • Patent number: 11378988
    Abstract: An aircrew automation system may comprise an actuation system and a computer system having a processor and one or more interfaces. The computer system can be communicatively coupled with a flight control system of an aircraft and configured to generate control commands based at least in part on flight situation data. The actuation system is operatively coupled with the computer system and comprises a robotic arm, a force sensor, and a controller. The robotic arm can be configured to engage a cockpit instrument among a plurality of cockpit instruments. The force sensor is operably coupled to the robotic arm and configured to measure a force when the robotic arm makes contact with the cockpit instrument. The controller is operably coupled with the robotic arm and the force sensor.
    Type: Grant
    Filed: December 2, 2019
    Date of Patent: July 5, 2022
    Assignee: Aurora Flight Sciences Corporation
    Inventors: William Bosworth, Devin Richard Jensen, Margaret Reagan
  • Patent number: 11364633
    Abstract: A cleaning robot includes an arm including a distal end portion to which a brush is attached, the arm extending in a first direction parallel to a horizontal direction, a driver connected to the arm, the driver including a first mechanism that moves the arm in the first direction, a second mechanism that moves the arm in a second direction parallel to a vertical direction perpendicular to the first direction, and a third mechanism that moves the arm in a third direction perpendicular to both the first direction and second direction, a controller configured to switch the orientation of the distal end portion between an orientation for cleaning a first target face of the object and an orientation for cleaning a second target face of the object, the first target face facing the first direction, the second target face facing the second direction.
    Type: Grant
    Filed: February 25, 2020
    Date of Patent: June 21, 2022
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Jie Lin, Teruto Hirota, Takayuki Nagata
  • Patent number: 11358279
    Abstract: When a control message is determined and sent from a master system to a slave system, the control message is accompanied with a time stamp, indicative of the master model version of the environment which was applied when the control data was determined by the master system. When data, triggered by data provided from the environment to the slave system in the form of updated sensor data is provided from the slave system to the master system, also that data, indicative of an updated slave model version of the environment made by the slave system, is provided to the master system, together with a time stamp, indicative of when the update of the slave model version was made. By applying the suggested time stamp, a coordination of model versions can be obtained between the master system and the slave system.
    Type: Grant
    Filed: August 4, 2016
    Date of Patent: June 14, 2022
    Assignee: Telefonaktiebolaget LM Ericsson (publ)
    Inventors: José Araújo, Tommy Falk, Lars Andersson
  • Patent number: 11331801
    Abstract: A system for estimating a pose of a robot includes a particle filter to track the pose of the robot using particles that defining a probability of pose of the robot and a particle tuner to update the particles of the robot based on particles of neighboring robot. Upon receiving data indicative of relative pose between a pose of the robot and a pose of a neighboring robot, and particles of the neighboring robot, the particle tuner pairs an arbitrarily sampled particle of the robot with an arbitrarily sampled particle of the neighboring robot, determines a weight of the paired particles in reverse proportion to an error between a relative pose defined by the paired particles and the relative pose between the robot and the neighboring robot, and updates the particles of the robot in accordance to the weights of corresponding paired particles.
    Type: Grant
    Filed: November 28, 2018
    Date of Patent: May 17, 2022
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Milutin Pajovic, Vikrant Shah, Philip Orlik
  • Patent number: 11319005
    Abstract: A legged robot may seek to operate according to a target gait. The legged robot may include leg members and leg joints. Possibly based on the target gait and state of the legged robot, an ordered list of gait controllers may be obtained. The gait controllers in the ordered list may define respective gaits of the legged robot, and may include respective validity checks and output parameters for the respective gaits. The ordered list may begin with a target gait controller that defines the target gait. The ordered list may be traversed in order from the target gait controller until a validity check associated with a particular gait controller passes. The legged robot may be instructed to actuate the leg members and/or leg joints according to output parameters of the particular gait controller.
    Type: Grant
    Filed: July 24, 2019
    Date of Patent: May 3, 2022
    Assignee: Boston Dynamics, Inc.
    Inventors: Benjamin Swilling, Eric Whitman, Stephen Berard, Alfred Anthony Rizzi, Alex Yu Khripin, Gina Christine Fay
  • Patent number: 11298827
    Abstract: A calibration apparatus of a robot that includes an arm, a joint attached to the arm, a motor provided to the joint, and a gear speed reducer provided between the motor and the joint includes setting circuitry that sets a destination position of the end of the arm in a predetermined three-dimensional space, acquiring circuitry that acquires an angle of the joint when the end of the arm is moved to the destination position, adjusting circuitry that adjusts the angle acquired by the acquiring circuitry in accordance with rotational angle transmission error in gears of the gear speed reducer, and correcting circuitry that corrects Denavit-Hartenberg (DH) parameters of the robot by using the angle adjusted by the adjusting circuitry.
    Type: Grant
    Filed: November 19, 2019
    Date of Patent: April 12, 2022
    Assignee: NIDEC CORPORATION
    Inventors: Vineet Jacob Kuruvilla, Haruhiro Tsuneta
  • Patent number: 11294363
    Abstract: A method is presented for positioning a workpiece in a workstation. The method includes: transporting a workpiece into a workstation using an automatic guided vehicle, where the workpiece is supported by a workpiece fixture and the workpiece fixture is supported by the automatic guided vehicle; measuring spatial position of the workpiece fixture; removing the workpiece fixture from the automatic guided vehicle using one or more adjustable locators mounted on a frame of the workstation; calculating an adjustment to position of the workpiece fixture between the measured spatial position of the workpiece fixture and a nominal work position; moving the workpiece fixture suing the one or more adjustable locators to the nominal work position according to calculated adjustment; performing an operation on the workpiece while the workpiece fixture remains in the nominal work position; and returning the workpiece fixture to the automatic guided vehicle.
    Type: Grant
    Filed: April 17, 2019
    Date of Patent: April 5, 2022
    Assignee: ProcessChamp, LLC
    Inventor: George K. Ghanem
  • Patent number: 11289303
    Abstract: A calibrating method is provided including the following steps. A type of a first sensor and a type of a first sensor carrier are determined according to an external shape of a first object. The first sensor is carried by the first sensor carrier, and a relative coordinate of the first object is measured by the first sensor. The relative coordinate of the first object is compared with a predetermined coordinate of the first object to obtain a first object coordinate error, and the first object coordinate error is corrected. After the first object coordinate error is corrected, the first object is driven to perform an operation on a second object or the second object is driven to perform the operation on the first object. A calibrating system is also provided.
    Type: Grant
    Filed: March 10, 2020
    Date of Patent: March 29, 2022
    Assignee: Industrial Technology Research Institute
    Inventors: Yen-Cheng Chen, Chung-Yin Chang, Jun-Yi Jiang, Qi-Zheng Yang, Kai-Ming Pan, Chen-Yu Kai
  • Patent number: 11279027
    Abstract: A method for estimating a wrench acting on a reference point of a robot includes the steps of: a) measuring at least one component, but not all components, of the wrench; and b) estimating non-measured components of the wrench based on a dynamical model of the robot while taking into account the measured components.
    Type: Grant
    Filed: February 8, 2021
    Date of Patent: March 22, 2022
    Assignee: ABB Schweiz AG
    Inventors: Debora Clever, Fan Dai, Hao Ding, Tomas Groth, Bjoern Matthias, Arne Wahrburg
  • Patent number: 11279032
    Abstract: A method includes positioning a robot in a plurality of postures in a substrate processing system relative to a fixed location in the substrate processing system and generating sensor data identifying a fixed location relative to the robot in the plurality of postures. The method further includes determining, based on the sensor data, a plurality of error values corresponding to one or more components of the substrate processing system and causing, based on the plurality of error values, performance of one or more corrective actions associated with the one or more components of the substrate processing system.
    Type: Grant
    Filed: April 9, 2020
    Date of Patent: March 22, 2022
    Assignee: Applied Materials, Inc.
    Inventors: Nicholas Michael Bergantz, Ali Utku Pehlivan
  • Patent number: 11279026
    Abstract: Apparatus and methods for training and controlling of, for instance, robotic devices. In one implementation, a robot may be trained by a user using supervised learning. The user may be unable to control all degrees of freedom of the robot simultaneously. The user may interface to the robot via a control apparatus configured to select and operate a subset of the robot's complement of actuators. The robot may comprise an adaptive controller comprising a neuron network. The adaptive controller may be configured to generate actuator control commands based on the user input and output of the learning process. Training of the adaptive controller may comprise partial set training. The user may train the adaptive controller to operate first actuator subset. Subsequent to learning to operate the first subset, the adaptive controller may be trained to operate another subset of degrees of freedom based on user input via the control apparatus.
    Type: Grant
    Filed: November 13, 2019
    Date of Patent: March 22, 2022
    Assignee: Brain Corporation
    Inventors: Jean-Baptiste Passot, Oleg Sinyavskiy, Eugene Izhikevich
  • Patent number: 11273554
    Abstract: A method of evaluating calibration precision includes a setting step of setting a three-dimensional lattice structure including lattice points and a movement instructing step of moving an arm tip of a calibrated robot from a first lattice point to a second lattice point spaced from the first lattice point. The method includes a calculating step of calculating a difference between a movement instruction value given to the robot and an actual distance by which the arm tip of the robot is moved. The method includes a repeat controlling step of repeating the movement instructing step and the calculating step multiple times using a pair of lattice points other than the first and second lattice points and a presenting step of presenting differences obtained by the repeat controlling step.
    Type: Grant
    Filed: March 29, 2019
    Date of Patent: March 15, 2022
    Assignee: NIDEC CORPORATION
    Inventors: Thanh Nhat Doan, Haruhiro Tsuneta
  • Patent number: 11254006
    Abstract: A robot device includes: a robot; an operation control section; a sensor configured to detect a value related to a position of a control target portion of the robot; a low-speed position information acquisition section configured to acquire low-speed position information of the control target portion; a calibration section configured to perform calibration between the sensor and the robot by using the low-speed position information and a command position; and a learning control section configured to learn a correction amount that reduces a deviation between operation described in an operation program and an actual operation of the control target portion, by using a detection value of the sensor that is acquired when the robot is operated in accordance with the operation program, the low-speed position information or the command position, and calibration data acquired through the calibration.
    Type: Grant
    Filed: October 22, 2019
    Date of Patent: February 22, 2022
    Assignee: Fanuc Corporation
    Inventors: Nobuaki Yamaoka, Hajime Suzuki
  • Patent number: 11230005
    Abstract: A robot includes an arm, one or more visual sensors provided on the arm, a storage unit that stores a first feature value regarding at least a position and an orientation of a following target, the first feature value being stored as target data for causing the visual sensors provided on the arm to follow the following target, a feature value detection unit that detects a second feature value regarding at least a current position and a current orientation of the following target, the second feature value being detected using an image obtained by the visual sensors, a movement amount calculation unit that calculates a movement command for the arm based on a difference between the second feature value and the first feature value, and a movement command unit that moves the arm based on the movement command.
    Type: Grant
    Filed: January 17, 2020
    Date of Patent: January 25, 2022
    Assignee: FANUC CORPORATION
    Inventor: Masafumi Ooba
  • Patent number: 11230013
    Abstract: A calibration system of a robot includes a data storage unit that stores a number of pieces of data in which actual measured position information obtained by actually measuring a tip position of the robot and information indicating a state of the robot upon actual measurement are combined, a parameter selecting unit that selects mechanical error parameters to be identified from parameters indicating mechanical errors of the robot, a parameter identifying unit that identifies each of the mechanical error parameters using the stored data and information of the selected mechanical error parameters, and an identification result evaluating unit that evaluates an identification result, and, in the case where evaluation does not satisfy a predetermined criterion, selection of different mechanical error parameters by the parameter selecting unit, identification and evaluation are repeated.
    Type: Grant
    Filed: July 15, 2019
    Date of Patent: January 25, 2022
    Assignee: FANUC CORPORATION
    Inventors: Yuelai Wang, Soichi Arita
  • Patent number: 11192255
    Abstract: There is provided a robot hand that grips and positions a work with a certain gripping force, and that rapidly conveys the work to execute assembling after gripping the work.
    Type: Grant
    Filed: May 23, 2018
    Date of Patent: December 7, 2021
    Assignee: Canon Kabushiki Kaisha
    Inventors: Shingo Amano, Nobuaki Fujii
  • Patent number: 11173609
    Abstract: A hand-eye calibration system and method are provided. The system includes a robot on which a small pattern is mounted, a camera configured to photograph the robot, a memory, and a processor configured to move the robot, acquire posture information of the moved robot, acquire an image from the camera, move the camera after performing the robot movement, the posture information acquisition, and the image acquisition a first predetermined number of times, and perform hand-eye calibration for the robot based on the posture information and the images, which are obtained by repeatedly performing of the robot movement, the posture information acquisition, the image acquisition, and the camera movement.
    Type: Grant
    Filed: January 15, 2020
    Date of Patent: November 16, 2021
    Inventors: Sohee Lee, Sukjune Yoon, Yuso Kang, Kyungshik Roh, Wook Bahn, Minyong Choi
  • Patent number: 11154988
    Abstract: There is provided a robot hand that grips and positions a work with a certain gripping force, and that rapidly conveys the work to execute assembling after gripping the work.
    Type: Grant
    Filed: May 23, 2018
    Date of Patent: October 26, 2021
    Assignee: Canon Kabushiki Kaisha
    Inventors: Shingo Amano, Nobuaki Fujii
  • Patent number: 11123864
    Abstract: A motion teaching apparatus includes a teaching motion detection device, a demonstration tool, and circuitry. A robot includes a leading end to move in a first coordinate system. A teaching motion detection device detects a position of the demonstration tool in a second coordinate system. The circuitry derives a relationship between the first and second coordinate system based on a position of the demonstration tool in the first coordinate system at at least one spot and based on the position of the demonstration tool in the second coordinate system at the at least one spot; obtains a transition of the position of the demonstration tool during the demonstration using the demonstration tool; and generates a motion command to control motion of the leading end of the robot based on the transition and the coordinate system relationship information.
    Type: Grant
    Filed: July 2, 2019
    Date of Patent: September 21, 2021
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Toshihiro Iwasa, Ryoichi Nagai, Nathanael Mullennix, Shingo Ando, Kenichi Yasuda
  • Patent number: 11110592
    Abstract: A remote control robot system includes a slave arm configured to perform a given work, a master arm having a motor configured to drive a joint, and configured to receive from an operator an operation to manipulate the slave arm, an instruction generating module configured to generate an instruction to apply to the master arm an imaginary external force in a given direction that is independent from a force received by the slave arm from the exterior, and a motor controller configured to supply, to the motor, drive current corresponding to the instruction sent from the instruction generating module.
    Type: Grant
    Filed: May 16, 2018
    Date of Patent: September 7, 2021
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Nobuyasu Shimomura, Masayuki Kamon, Jun Fujimori, Hiroki Kinoshita, Takuya Shitaka, Hiroki Takahashi
  • Patent number: 11097418
    Abstract: Grasping of an object, by an end effector of a robot, based on a grasp strategy that is selected using one or more machine learning models. The grasp strategy utilized for a given grasp is one of a plurality of candidate grasp strategies. Each candidate grasp strategy defines a different group of one or more values that influence performance of a grasp attempt in a manner that is unique relative to the other grasp strategies. For example, value(s) of a grasp strategy can define a grasp direction for grasping the object (e.g., “top”, “side”), a grasp type for grasping the object (e.g., “pinch”, “power”), grasp force applied in grasping the object, pre-grasp manipulations to be performed on the object, and/or post-grasp manipulations to be performed on the object.
    Type: Grant
    Filed: January 4, 2018
    Date of Patent: August 24, 2021
    Assignee: X DEVELOPMENT LLC
    Inventors: Umashankar Nagarajan, Bianca Homberg
  • Patent number: 11077557
    Abstract: A system and method for robustly calibrating a vision system and a robot is provided. The system and method enables a plurality of cameras to be calibrated into a robot base coordinate system to enable a machine vision/robot control system to accurately identify the location of objects of interest within robot base coordinates.
    Type: Grant
    Filed: November 15, 2018
    Date of Patent: August 3, 2021
    Assignee: COGNEX CORPORATION
    Inventors: Aaron S. Wallack, Lifeng Liu, Xiangyun Ye
  • Patent number: 11069082
    Abstract: Provided is a method including emitting, with a laser light emitter disposed on a robot, a collimated laser beam projecting a light point on a surface opposite the laser light emitter; capturing, with each of at least two image sensors disposed on the robot, images of the projected light point; overlaying, with a processor of the robot, the images captured by the at least two image sensors to produce a superimposed image showing both captured images in a single image; determining, with the processor of the robot, a first distance between the projected light points in the superimposed image; and determining, with the processor, a second distance based on the first distance using a relationship that relates distance between light points with distance between the robot or a sensor thereof and the surface on which the collimated laser beam is projected.
    Type: Grant
    Filed: March 27, 2020
    Date of Patent: July 20, 2021
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Soroush Mehrnia, Lukas Fath
  • Patent number: 11065070
    Abstract: A robot system which includes a manipulator configured to receive a manipulating instruction from an operator, a slave arm having a plurality of joints, and a control device configured to control operation of the slave arm. The control device is configured, while the slave arm is operating at a speed equal to or higher than a first given the threshold, even when an operational instruction value for correcting the operation of the slave arm is inputted from the manipulator during an automatic operation of the slave arm, to prevent the correction of the operation of the slave arm.
    Type: Grant
    Filed: July 15, 2016
    Date of Patent: July 20, 2021
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Kenji Noguchi, Masayuki Kamon, Shigetsugu Tanaka
  • Patent number: 11059106
    Abstract: A drilling system includes a single robotic drilling unit having a drill end effector positioned inside a barrel section configured as a composite sandwich structure having an inner face sheet. The robotic drilling unit is operable to drill a plurality of perforations into the inner face sheet using the drill end effector. The robotic drilling unit is configured to index a hole pattern of the perforations to one or more cell walls of a honeycomb core of the composite sandwich structure. The robotic drilling unit is configured to form the hole pattern in the inner face sheet such that the perforations are located at a spaced distance from the cell walls of the honeycomb core.
    Type: Grant
    Filed: January 15, 2018
    Date of Patent: July 13, 2021
    Assignee: The Boeing Company
    Inventors: Claudio Zubin, Geoffrey Gibbings, Mathew J. Shewfelt, Damjan Simonovic, Antonio M. Ferreira, David Boonstra, Arnold J. Lauder, Mark F. Gabriel
  • Patent number: 11059178
    Abstract: A position correction method includes: a step of opposing a hand to a target by moving the hand such that the hand becomes in a predetermined first initial posture; a first position detection step of detecting a position of the target from a rotation angle of a rotation axis when the target blocks a detection light by swinging the hand; a step of opposing the hand to the target by moving the hand such that the hand becomes a predetermined second initial posture different from the first initial posture; a second position detection step of detecting a position of the target from the rotation angle of the rotation axis when the target blocks the detection light by swinging the hand; and a correction amount arithmetic step of obtaining rotation angle correction amounts of the second axis and the third axis based on a difference between the position of the target acquired in the first initial posture and the position of the target acquired in the second initial posture.
    Type: Grant
    Filed: December 27, 2018
    Date of Patent: July 13, 2021
    Assignees: KAWASAKI JUKOGYO KABUSHIKI KAISHA, KAWASAKI ROBOTICS (USA), INC.
    Inventors: Masaya Yoshida, Hajime Nakahara, Takao Yamaguchi, Daniel Chung
  • Patent number: 11045951
    Abstract: The control system includes: a driven body driven by a motor; a control apparatus configured to operate the body; and a sensor detecting a state quantity of the body, wherein the control apparatus includes: a storage storing a correction amount for correcting vibration occurring at the mounting position; a control unit configured to generate a command value for the motor in each control cycle based on an operation program, and perform operation control of the body based on the correction amount and the command value; a calculation unit configured to calculate the correction amount; an update unit configured to update the correction amount each time the operation control is performed; and a determination unit configured to determine validity of at least one of an internal parameter and the like of the sensor based on the command value and the state quantity each time the operation control is performed.
    Type: Grant
    Filed: April 3, 2019
    Date of Patent: June 29, 2021
    Assignee: FANUC CORPORATION
    Inventors: Nobuaki Yamaoka, Hajime Suzuki
  • Patent number: 11014241
    Abstract: A robot control system and a method for camera calibration verification is presented. The robot control system is configured to perform a first camera calibration, and to control a robot arm to move a verification symbol to a reference location. The robot control system further receives, from a camera, a reference image of the verification symbol, and determines a reference image coordinate for the verification symbol. The robot control system further controls the robot arm to move the verification symbol to the reference location again during an idle period, receives an additional image of the verification symbol, and determines a verification image coordinate. The robot control system determines a deviation parameter value based the reference image coordinate and the verification image coordinate, and whether the deviation parameter value exceeds a defined threshold, and performs a second camera calibration if the threshold is exceeded.
    Type: Grant
    Filed: January 2, 2020
    Date of Patent: May 25, 2021
    Assignee: Mujin, Inc.
    Inventors: Russell Islam, Xutao Ye, Rosen Diankov
  • Patent number: 11002529
    Abstract: A supplementary metrology position determination system is provided for use with a robot. The robot includes a movable arm configuration and a motion control system configured to control an end tool position with a robot accuracy (i.e., based on sensors included in the robot). The supplementary system includes cameras and 2D scales, each of which is attached to the movable arm configuration (e.g., as attached on arm portions and/or rotary joints). The cameras are operated to acquire images for determining relative positions of the scales. The scales may be coupled to rotary joints (e.g., as may be utilized to determine rotary motion as well as any motion transverse to a rotary axis), and/or to arm portions (e.g., as may be utilized to determine any bending or twisting of the arm portions). Such information may be utilized to achieve higher accuracy (e.g., for measurement operations and/or control of the robot, etc.).
    Type: Grant
    Filed: October 15, 2020
    Date of Patent: May 11, 2021
    Assignee: Mitutoyo Corporation
    Inventor: Michael Nahum
  • Patent number: 10987870
    Abstract: A printing system for three-dimensional objects has a control unit for storing and executing a robot program and an industrial robot which is controlled by the control unit and which has an arm with several members, wherein the tip of the arm is movable along a predetermined movement path according to path data of the robot program. A printing unit is mounted on the tip of the robot arm and is controlled by the control unit, which has at least one print nozzle for applying pointwise a respective portion of a print material at respective coordinates according to object data of the robot program.
    Type: Grant
    Filed: June 26, 2014
    Date of Patent: April 27, 2021
    Assignee: ABB Schweiz AG
    Inventor: Oliver Becker
  • Patent number: 10987806
    Abstract: According to a production method, when a workpiece is grasped with a hand that includes two grasping pieces that grasp the workpiece by sandwiching the workpiece in a width direction between two surfaces orthogonal to a subject flat surface, and pressing surfaces that abut against a to-be-pressed surface of the workpiece opposite to the subject flat surface, the pressing surfaces are caused to abut against the to-be-pressed surface near a grasping position. The robot is operated on a basis of forces detected by a force sensor so that the robot assumes an orientation with which moments about axes that lie within the subject flat surface are balanced, and the workpiece is grasped with the two grasping pieces of the hand at a position where the moments are balanced. The robot is then operated to assume an orientation with which the subject flat surface aligns with the target flat surface.
    Type: Grant
    Filed: March 22, 2019
    Date of Patent: April 27, 2021
    Assignee: FANUC CORPORATION
    Inventor: Tamotsu Sakai
  • Patent number: 10974388
    Abstract: A method of correcting a position of a robot includes: a correction step of rotating an arm around a first axis to detect a rotation angle around the first axis when a target blocks detection light, and locating the first axis, a third axis, and the target on an identical straight line by rotating the arm and/or a hand around the first axis, a second axis, and/or the third axis based on a detection result; and a correction amount arithmetic step of obtaining rotation angle correction amounts of the second axis and the third axis based on the rotation angle of each rotation axis acquired after the correction step in a first posture.
    Type: Grant
    Filed: December 27, 2018
    Date of Patent: April 13, 2021
    Assignees: KAWASAKI JUKOGYO KABUSHIKI KAISHA, KAWASAKI ROBOTICS (USA), INC.
    Inventors: Masaya Yoshida, Takao Yamaguchi, Hajime Nakahara, Daniel Chung
  • Patent number: 10967514
    Abstract: Mechanical condition monitoring of robots can be used to detect unexpected failure of robots. Data taken from a robot operation is processed and compared against a health baseline. Features extracted during the monitoring stage of robot operation are aligned with features extracted during the training stage in which the health baseline is established by projecting both onto a common subspace. A classifier which can include a distance assessment such as an L2-norm is used within the common subspace to assess the condition of the robot. Excursions of the distance assessment from a criteria indicate a failure or potential failure.
    Type: Grant
    Filed: August 22, 2018
    Date of Patent: April 6, 2021
    Assignee: ABB Schweiz Ag
    Inventors: Arash Mahyari, Nevroz Sen, Thomas Locher, Wenzhi Gao, Dan Dai, Said Zahrai
  • Patent number: 10967513
    Abstract: In an interference evaluation device, an axis value obtaining unit obtains posture information indicating a posture to be taken by a welding robot, on the basis of teaching information for teaching an operation to the welding robot. A reference point calculation unit, an extension direction calculation unit, and an evaluation value setting unit generate evaluation information indicating a degree of bend of a torch cable, which is caused by the torch cable contacting an arm of the welding robot, by using the posture information obtained by the axis value obtaining unit. The torch cable is included in a welding tool attached to an end of the arm and extending in a direction away from a welding torch of the welding tool. An evaluation value output unit outputs the evaluation information generated by the reference point calculation unit, the extension direction calculation unit, and the evaluation value setting unit.
    Type: Grant
    Filed: June 8, 2018
    Date of Patent: April 6, 2021
    Assignee: Kobe Steel, Ltd.
    Inventor: Masatoshi Hida
  • Patent number: 10962486
    Abstract: The present disclosure relates to a system for process-integrated optical analysis of flowable media, comprising a processing system for processing a flowable medium and an analytical system for analysis of the flowable medium, wherein the analytical system includes an optical measuring head, for irradiation of the medium and for receiving measuring radiation, and a reference unit. The processing system includes a measuring region, into which the medium can be introduced during the processing and which is accessible for measurement by means of the measuring head. According to the invention, a mechanism for achieving defined positions of the measuring head relative to the measuring region and/or relative to a reference unit is included, which selectively enables a measurement of the medium located in the measuring region or of the reference unit.
    Type: Grant
    Filed: October 5, 2017
    Date of Patent: March 30, 2021
    Assignee: Blue Ocean Nova AG
    Inventor: Joachim Mannhardt
  • Patent number: 10960553
    Abstract: A robot control device includes a processor that is configured to calculate, based on magnitude of a target force in force control performed based on an output of a force sensor, a direction of the target force, a position where the force control is started, a posture in which the force control is started, and peculiar information including values of a plurality of allowable torques corresponding to a plurality of joints included in the robot, values of a plurality of torques generated in the plurality of joints when the force control is executed at the magnitude of the target force and in the direction of the target force in the position where the force control is started and the posture in which the force control is started.
    Type: Grant
    Filed: May 22, 2019
    Date of Patent: March 30, 2021
    Inventor: Kaoru Takeuchi
  • Patent number: 10953540
    Abstract: A robot control device includes a position-accuracy-information storage unit that stores position accuracy information at a plurality of division points defined when an operating area space of the multi joint robot is divided into a plurality of areas in a grid shape, a position-accuracy calculation unit that calculates position accuracy at the end-effector position based on the position accuracy information and the current end-effector position of the multi-joint robot, and a position-accuracy output unit that outputs the calculated position accuracy to an outside.
    Type: Grant
    Filed: January 10, 2018
    Date of Patent: March 23, 2021
    Assignee: FANUC CORPORATION
    Inventors: Yuelai Wang, Soichi Arita
  • Patent number: 10933527
    Abstract: A method for operating a robotic system including determining an initial pose of a target object based on imaging data; calculating a confidence measure associated with an accuracy of the initial pose; and determining that the confidence measure fails to satisfy a sufficiency condition; and deriving a motion plan accordingly for scanning an object identifier while transferring the target object from a start location to a task location.
    Type: Grant
    Filed: January 15, 2020
    Date of Patent: March 2, 2021
    Assignee: MUJIN, Inc.
    Inventor: Rosen Diankov
  • Patent number: 10889001
    Abstract: In a service provision system utilizing a movable device such as a robot, a service is realized, in which an external service device installed at a service location and the movable device cooperate with each other. A position of the movable device as well as an installation position and an availability range of the service devices are managed at a service provision location; when the movable device provides a service, an availability of a service device necessary for the service is determined, and when there is a service device not available, the robot is moved to a position where the service device becomes available.
    Type: Grant
    Filed: March 12, 2018
    Date of Patent: January 12, 2021
    Assignee: HITACHI, LTD.
    Inventor: Hideya Yoshiuchi
  • Patent number: 10874467
    Abstract: A surgical robotic system comprises a manipulator assembly including at least one manipulator arm having a distal portion that is movable with the manipulator arm. The robotic system further comprises a registration device mounted to a surgical table. The registration device includes a registration element shaped to contact with the distal portion of the manipulator arm by receiving the distal portion to define a spatial relationship between the manipulator assembly and the surgical table. The distal portion is movable in a plurality of degrees of freedom, and the plurality of degrees of freedom is reduced by the registration device when the registration device is in contact with the distal portion. The robotic system further comprises a control system that determines the spatial relationship between the manipulator assembly and the surgical table by receiving at least one sensor reading that indicates a position or an orientation of the manipulator arm.
    Type: Grant
    Filed: November 7, 2018
    Date of Patent: December 29, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Mahdi Azizian, Jonathan M. Sorger
  • Patent number: 10828781
    Abstract: Provided is a calibration system for a horizontal articulated robot, the system including: an installation surface on which a base of the horizontal articulated robot is installed; two reference surfaces that are provided on the base, that intersect with the installation surface, and that intersect with each other; and a positioning jig that is attached to a distal end of the horizontal articulated robot and that has three positioning surfaces, which respectively and simultaneously come into contact with the installation surface and the two reference surfaces.
    Type: Grant
    Filed: October 18, 2018
    Date of Patent: November 10, 2020
    Assignee: FANUC CORPORATION
    Inventor: Tomoaki Nagayama