Compensation Or Calibration Patents (Class 700/254)
  • 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: 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: 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: 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
  • Patent number: 10773388
    Abstract: An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.
    Type: Grant
    Filed: March 15, 2017
    Date of Patent: September 15, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David Q. Larkin, David S. Mintz, Thomas R. Nixon
  • Patent number: 10751966
    Abstract: A single facer comprises: a swingable frame supporting a press roll in such a manner as to allow a gap between one of a pair of corrugating rolls and the press roll to be changed; an adjusting screw contactable with a contact member coupled to the swingable frame; an encoder for detecting vibration of the press roll occurring during formation of a corrugated medium by the pair of corrugating rolls; and a control section for controlling drive of a motor for displacing the adjusting screw. The control section is configured to execute a first control processing of driving the motor until a magnitude of the vibration is reduced to a given value.
    Type: Grant
    Filed: August 29, 2014
    Date of Patent: August 25, 2020
    Assignee: KABUSHIKI KAISHA ISOWA
    Inventors: Hisashi Hayashi, Takahiro Yamada, Naoki Mori
  • Patent number: 10752442
    Abstract: A identification and planning system includes a scanner assembly, a robotic manipulator, and control server. The control server detects a first plurality of inventory items in a first inventory storage system and determines a first set of position parameters for a first inventory item from the detected first plurality of inventory items, with respect to a position of one or more image sensors in the scanner assembly. The control server generates a plurality of pick-path plans for the first inventory item, where each pick-path plan corresponds to a transformation of the determined first set of position parameters to a second set of position parameters with respect to the robotic manipulator. The control server further selects a first pick-path plan from the plurality of pick-path plans and controls the robotic manipulator to pick the first inventory item from the first inventory storage system, based on the first pick-path plan.
    Type: Grant
    Filed: August 29, 2019
    Date of Patent: August 25, 2020
    Assignee: GREY ORANGE PTE. LTD.
    Inventors: Anirudh Singh Shekhawat, Sameer Narkar, Akash Patil, Avilash Kumar, Vaibhav Tolia
  • Patent number: 10744644
    Abstract: A calibration area has a rectangular area and a peripheral area. The rectangular area includes a center area provided in the center portion and a first corner area, a second corner area, a third corner area, and a fourth corner area that are set at four corners sequentially in the circumferential direction. The center area has a line symmetry with respect to each of the two orthogonal axes passing through the center of the rectangular area. The heights of the areas are different.
    Type: Grant
    Filed: December 21, 2017
    Date of Patent: August 18, 2020
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Tomotaka Hagino, Naoto Kagami, Yoichi Naruse, Kaito Matsubara
  • Patent number: 10743897
    Abstract: A system and method of reducing blade exposures includes a surgical cutting. The surgical cutting instrument includes an end effector located at a distal end of the surgical cutting instrument, one or more drive units, a shaft coupled to the drive unit, an articulated wrist coupling the end effector to the shaft, and one or more drive mechanisms in the shaft for coupling force or torque from the drive units to the end effector and the articulated wrist. The end effector includes opposable gripping jaws and a cutting blade. To perform a cutting operation, the surgical cutting instrument measures a jaw angle between the gripping jaws, measures articulation of the articulated wrist, corrects the jaw angle based on the articulation of the articulated wrist, determines a restriction on the cutting operation based on the corrected jaw angle, and performs or prevents the cutting operation based on the restriction.
    Type: Grant
    Filed: May 13, 2016
    Date of Patent: August 18, 2020
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: David W. Weir, Julie L. Berry, Melissa D. Lippiatt, Daniel P. Saraliev, Melody Wu
  • Patent number: 10730187
    Abstract: An endoscope captures images of a surgical site for display in a viewing area of a monitor. When a tool is outside the viewing area, a GUI indicates the position of the tool by positioning a symbol in a boundary area around the viewing area so as to indicate the tool position. The distance of the out-of-view tool from the viewing area may be indicated by the size, color, brightness, or blinking or oscillation frequency of the symbol. A distance number may also be displayed on the symbol. The orientation of the shaft or end effector of the tool may be indicated by an orientation indicator superimposed over the symbol, or by the orientation of the symbol itself. When the tool is inside the viewing area, but occluded by an object, the GUI superimposes a ghost tool at its current position and orientation over the occluding object.
    Type: Grant
    Filed: June 29, 2017
    Date of Patent: August 4, 2020
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: David Q. Larkin, Thomas R. Nixon, David S. Mintz
  • Patent number: 10723024
    Abstract: Specialized robot motion planning hardware and methods of making and using same are provided. A robot-specific hardware can be designed using a tool that receives a robot description comprising a collision geometry of a robot, degrees of freedom for each joint of the robot, and joint limits of the robot; receives a scenario description; generates a probabilistic roadmap (PRM) using the robot description and the scenario description; and for each edge of PRM, produces a collision detection unit comprising a circuit indicating all parts of obstacles that collide with that edge. The hardware is implemented as parallel collision detection units that provide collision detection results used to remove edges from the PRM that is searched to find a path to a goal position.
    Type: Grant
    Filed: January 5, 2016
    Date of Patent: July 28, 2020
    Assignee: DUKE UNIVERSITY
    Inventors: George D. Konidaris, Daniel J. Sorin
  • Patent number: 10618178
    Abstract: A method to control operation of a robot includes generating at least one virtual image by an optical 3D measurement system and with respect to a 3D measurement coordinate system, the at least one virtual image capturing a surface region of a component. The method further includes converting a plurality of point coordinates of the virtual image into point coordinates with respect to a robot coordinate system by a transformation instruction and controlling a tool element of the robot using the point coordinates with respect to the robot coordinate system so as to implement the operation.
    Type: Grant
    Filed: September 21, 2016
    Date of Patent: April 14, 2020
    Assignee: Airbus Defence and Space GmbH
    Inventors: Meinhard Meyer, Christian Herrles, Jens Fuhrmann
  • Patent number: 10618171
    Abstract: There is provided a method of controlling a mobile manipulator for tracking a surface. The mobile manipulator includes a mobile base movable in an axial direction of the mobile manipulator and a manipulator supported on the mobile base having an end effector adjustable in a lateral direction of the mobile manipulator. The method includes detecting the surface from the mobile manipulator, including positions of the surface at points along the surface, determining a reference path for the end effector to track based on an offset from the surface detected, determining a tracking error in the reference path determined, and adjusting a position of the end effector in the lateral direction based on the tracking error to compensate for the tracking error in the reference path determined. There is also provided a corresponding mobile manipulator.
    Type: Grant
    Filed: February 1, 2016
    Date of Patent: April 14, 2020
    Assignee: AGENCY FOR SCIENCE, TECHNOLOGY AND RESEARCH
    Inventors: Renjun Li, Boon Hwa Tan, Zhiyong Huang, Wei Yun Yau
  • Patent number: 10596701
    Abstract: A method for operating a robotic system including determining an initial pose of a target object based on imaging data, wherein the initial pose is for estimating a resting orientation of the target object in a pickup area; calculating a confidence measure associated with the initial pose, wherein the confidence measure is for representing a likelihood of the initial pose being correct; and calculating a motion plan according to the confidence measure, the motion plan for executing a task based on picking up the target object from a start location, transferring the target object to a task location, and scanning one or more object identifiers between the start location and the task location.
    Type: Grant
    Filed: August 20, 2019
    Date of Patent: March 24, 2020
    Assignee: MUJIN, Inc.
    Inventor: Rosen Nikolaev Diankov
  • Patent number: 10576635
    Abstract: According to an embodiment, an object handling device includes a base, a manipulator, a first camera, a sensor, a manipulator control unit and a calibration unit. The manipulator is arranged on the base, and includes a movable part and an effector that is arranged on the movable part and acts on an object. The first camera and the sensor are arranged on the manipulator. The manipulator control unit controls the manipulator so that the movable part is moved to a position corresponding to a directed value. The calibration processing unit acquires a first error in a first direction based on an image photographed by the first camera, acquire a second error in a second direction intersecting with the first direction based on a detection result obtained by the sensor, and acquire a directed calibration value with respect to the directed value based on the first error and the second error.
    Type: Grant
    Filed: August 23, 2017
    Date of Patent: March 3, 2020
    Assignee: Kabushiki Kaisha Toshiba
    Inventors: Akihito Ogawa, Atsushi Sugahara, Junya Tanaka, Kazuma Komoda, Haruna Eto
  • Patent number: 10582651
    Abstract: A component mounting machine provided with multiple component transfer devices each have a mounting nozzle, a movable section and an XY driving mechanism and perform a component mounting operation, and a control device that controls component mounting operation and performs thermal correction processing that reduces influence of thermal deformation accompanying temperature change of at least one of the movable section and the XY driving mechanism, in which the control device has an implementation period determination section that individually determines an implementation period of the thermal correction processing for each of the component transfer devices based on operation circumstances of each component transfer device, and a thermal correction implementation section that simultaneously performs thermal correction processing for the multiple component transfer devices when it is determined that the implementation period of the thermal correction processing is reached for either of the component transfer de
    Type: Grant
    Filed: December 25, 2014
    Date of Patent: March 3, 2020
    Assignee: FUJI CORPORATION
    Inventor: Ryohei Kamio
  • Patent number: 10576631
    Abstract: A method for operating a robotic system including determining an initial pose of a target object based on imaging data, wherein the initial pose is for estimating a resting orientation of the target object in a pickup area; calculating a confidence measure associated with the initial pose, wherein the confidence measure is for representing a likelihood of the initial pose being correct; and calculating a motion plan according to the confidence measure, the motion plan for executing a task based on picking up the target object from a start location, transferring the target object to a task location, and scanning one or more object identifiers between the start location and the task location.
    Type: Grant
    Filed: August 20, 2019
    Date of Patent: March 3, 2020
    Assignee: MUJIN, Inc.
    Inventor: Rosen Nikolaev Diankov
  • Patent number: 10569417
    Abstract: A method for operating a robotic system including determining an initial pose of a target object based on imaging data, wherein the initial pose is for estimating a resting orientation of the target object in a pickup area; calculating a confidence measure associated with the initial pose, wherein the confidence measure is for representing a likelihood of the initial pose being correct; and calculating a motion plan according to the confidence measure, the motion plan for executing a task based on picking up the target object from a start location, transferring the target object to a task location, and scanning one or more object identifiers between the start location and the task location.
    Type: Grant
    Filed: August 20, 2019
    Date of Patent: February 25, 2020
    Assignee: MUJIN, Inc.
    Inventor: Rosen Nikolaev Diankov
  • Patent number: 10569416
    Abstract: A method for operating a robotic system including determining an initial pose of a target object based on imaging data, wherein the initial pose is for estimating a resting orientation of the target object in a pickup area; calculating a confidence measure associated with the initial pose, wherein the confidence measure is for representing a likelihood of the initial pose being correct; and calculating a motion plan according to the confidence measure, the motion plan for executing a task based on picking up the target object from a start location, transferring the target object to a task location, and scanning one or more object identifiers between the start location and the task location.
    Type: Grant
    Filed: August 20, 2019
    Date of Patent: February 25, 2020
    Assignee: MUJIN, Inc.
    Inventor: Rosen Nikolaev Diankov
  • Patent number: 10571905
    Abstract: In an apparatus for controlling operation of a utility vehicle that is driven to run within a working area, a map is generated by arraying multiple cells in a grid pattern with respect to the working area, area of the working area is calculated based on the generated map, and required work period per unit time period is calculated in accordance with first characteristics with respect to the calculated area. Then user information including the calculated area and required work period are shown to prompt the user to input user's preferred work period and preferred working time of day. Next target work schedule is calculated by distributing the required work period within the unit time period in accordance with second characteristics based on the user's preferred work period and working time of day inputted by the user and work is controlled in accordance with the calculated schedule.
    Type: Grant
    Filed: March 29, 2017
    Date of Patent: February 25, 2020
    Assignee: Honda Motor Co., Ltd.
    Inventor: Makoto Yamamura
  • Patent number: 10525597
    Abstract: A robot includes an instruction receiving unit that receives a calibration initiation instruction, and an arm that changes a positional relationship between a marker which indicates a reference point and a capturing unit when the calibration initiation instruction is received, in which the calibration of a coordinate system of the capturing unit and a coordinate system of the robot is performed on the basis of an image in which the marker is captured by the capturing unit after the positional relationship between the capturing unit and the marker changes.
    Type: Grant
    Filed: November 13, 2015
    Date of Patent: January 7, 2020
    Assignee: Seiko Epson Corporation
    Inventors: Atsushi Harada, Yukihiro Yamaguchi, Taro Ishige, Koichi Yasuda, Kazushige Akaha
  • Patent number: 10512983
    Abstract: A welding system configured to calibrate a welding torch's orientation without using a magnetometer.
    Type: Grant
    Filed: June 3, 2016
    Date of Patent: December 24, 2019
    Assignee: University of Kentucky Research Foundation
    Inventor: YuMing Zhang
  • Patent number: 10510155
    Abstract: A method and system for processing camera images is presented. The system receives a first depth map generated based on information sensed by a first type of depth-sensing camera, and receives a second depth map generated based on information sensed by a second type of depth-sensing camera. The first depth map includes a first set of pixels that indicate a first set of respective depth values. The second depth map includes a second set of pixels that indicate a second set of respective depth values. The system identifies a third set of pixels of the first depth map that correspond to the second set of pixels of the second depth map, identifies one or more empty pixels from the third set of pixels, and updates the first depth map by assigning to each empty pixel a respective depth value based on the second depth map.
    Type: Grant
    Filed: June 11, 2019
    Date of Patent: December 17, 2019
    Assignee: MUJIN, INC.
    Inventors: Russell Islam, Xutao Ye
  • Patent number: 10507580
    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: April 30, 2018
    Date of Patent: December 17, 2019
    Assignee: Brain Corporation
    Inventors: Jean-Baptiste Passot, Oleg Sinyavskiy, Eugene Izhikevich
  • Patent number: 10500725
    Abstract: The invention relates to a method and a device (1) for compensating the weight (G) acting on a manipulator (2), wherein a variable counterforce (F) is generated, wherein the counterforce (F) generated is applied to the manipulator (2) by means of a supporting kinematic system (12) that contacts the manipulator in a force application region (22), and wherein a value of the counterforce (F) corresponds at least substantially to a value of the weight (G) acting on the force application region on account of acceleration due to gravity, and the counterforce (F) is directed at least substantially parallel and in the opposite direction to the acceleration due to gravity. The invention also relates to a system comprising a device (1) and a manipulator (2).
    Type: Grant
    Filed: May 27, 2015
    Date of Patent: December 10, 2019
    Assignee: Huber Diffraktionstechnik GmbH & Co. KG
    Inventor: Franz Ehrenleitner
  • Patent number: 10503143
    Abstract: Techniques described herein define a protection system for a multi-zone area where mobile drive units operate autonomously. For example, the protection system may receive sensor data in a particular detection space where the mobile drive units and potentially human operators enter and exit around a robotic arm. The sensor data may identify that an object has entered the detection space around the robotic arm. The sensor data may identify the likelihood of a mobile drive unit entering the area as compared to an operator entering the area. When the object is identified as an operator, any movement of the robotic arm may immediately stop. When the object is identified as the mobile drive unit, protection rules meant to protect the operator may be deactivated so that the mobile drive unit may receive inventory from the robotic arm.
    Type: Grant
    Filed: April 5, 2018
    Date of Patent: December 10, 2019
    Assignee: Amazon Technologies, Inc.
    Inventor: Dennis Polic
  • Patent number: 10481596
    Abstract: A control device includes a receiving unit that receives output signals from a plurality of manufacturing machines, via a communication network; a noise-component extracting unit that extracts a common noise component that is contained in the output signals; and a noise-component removing unit that removes the extracted noise component from at least one of the output signals.
    Type: Grant
    Filed: July 31, 2017
    Date of Patent: November 19, 2019
    Assignee: FANUC CORPORATION
    Inventor: Soichi Arita
  • Patent number: 10464786
    Abstract: A flat storage facility includes a storage/retrieval device having a Y-direction moving member that is horizontally movable at a certain height above a storage item placement plane. A carriage is horizontally movable in an X direction on the Y-direction moving member, and a storage item gripping mechanism is provided in the carriage. The storage/retrieval device performs storage/retrieval on a storage item between the storage/retrieval device and respective storage item placement points set on the storage item placement plane. The storage item placement plane is divided into a plurality of unit sections at various heights with respect to a reference plane. When the storage/retrieval operation is performed with the storage/retrieval device, the lowering distance of the storage item gripping mechanism with respect to the carriage is adjusted according to the height of the unit section to which the storage item placement point of a storage/retrieval target belongs.
    Type: Grant
    Filed: November 10, 2017
    Date of Patent: November 5, 2019
    Assignee: Daifuku Co., Ltd.
    Inventors: Kazuhiko Miyoshi, Masato Inaba, Jun Hamaguchi
  • Patent number: 10456915
    Abstract: A method for operating a robotic system including determining an initial pose of a target object based on imaging data, wherein the initial pose is for estimating a resting orientation of the target object in a pickup area; calculating a confidence measure associated with the initial pose, wherein the confidence measure is for representing a likelihood of the initial pose being correct; and calculating a motion plan according to the confidence measure, the motion plan for executing a task based on picking up the target object from a start location, transferring the target object to a task location, and scanning one or more object identifiers between the start location and the task location.
    Type: Grant
    Filed: January 25, 2019
    Date of Patent: October 29, 2019
    Assignee: MUJIN, Inc.
    Inventor: Rosen Nikolaev Diankov
  • Patent number: 10421189
    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: October 23, 2015
    Date of Patent: September 24, 2019
    Assignee: Cognex Corporation
    Inventors: Aaron S. Wallack, Lifeng Liu, Xiangyun Ye
  • Patent number: 10399778
    Abstract: A identification and planning system includes a scanner assembly, a robotic manipulator, and control server. The control server detects a first plurality of inventory items in a first inventory storage system and determines a first set of position parameters for a first inventory item from the detected first plurality of inventory items, with respect to a position of one or more image sensors in the scanner assembly. The control server generates a plurality of pick-path plans for the first inventory item, where each pick-path plan corresponds to a transformation of the determined first set of position parameters to a second set of position parameters with respect to the robotic manipulator. The control server further selects a first pick-path plan from the plurality of pick-path plans and controls the robotic manipulator to pick the first inventory item from the first inventory storage system, based on the first pick-path plan.
    Type: Grant
    Filed: October 25, 2018
    Date of Patent: September 3, 2019
    Assignee: GREY ORANGE PTE. LTD.
    Inventors: Anirudh Singh Shekhawat, Sameer Narkar, Akash Patil, Avilash Kumar, Vaibhav Tolia