Compensation Or Calibration Patents (Class 700/254)
-
Patent number: 9482534Abstract: The invention relates to integrated circuits, and more particularly, to systems, devices and methods of integrating a gyro sensing circuit with a gyroscope to detect a shock or a disturbance, and accurately differentiate rotation-based sense signals from noises introduced by the shock or disturbance. The gyro sensing circuit may be implemented in a differential or non-differential demodulation scheme, and comprises at least one demodulation unit and a peak detector. The at least one demodulation unit demodulates a gyro output signal provided by the gyroscope with a reference signal. In a demodulated gyro output signal, a shock signal or a gyro disturbance signal is substantially isolated out from interested gyro sense signals that are used to sense a rate of rotation. A peak detector samples the modulated gyro output signal, determines whether the signal exceeds a threshold level VTH and outputs a shock flag indicating a corresponding determination result.Type: GrantFiled: August 17, 2015Date of Patent: November 1, 2016Assignee: Maxim Integrated Products, Inc.Inventors: Massimiliano Forliti, Christian Rosandini
-
Patent number: 9417625Abstract: A system for calibrating a multi-robot system includes a robot simulation device having a processor disposed therein for creating a simulation work cell of an operation of a real robot work cell, the robot simulation device configured to communicate with a robot control system controlling the robots of the real robot work cell. The simulation work cell is created based upon a predetermined layout of the real robot work cell. The system further includes a software program executed by at least one of the robot simulation device and the robot control system for calculating a part tracking offset between the simulation work cell and the real robot work cell for controlling the robots.Type: GrantFiled: November 26, 2013Date of Patent: August 16, 2016Assignee: Fanuc America CorporationInventors: Randy A. Graca, Thomas R. Galloway, Nivedhitha Giri, Gordon Geheb
-
Patent number: 9360867Abstract: Provided are an apparatus and method for controlling a driving device of a self-driving vehicle, the apparatus includes, a data converting unit receiving sensor data from at least one sensor of the self-driving vehicle, and converting a format of the sensor data into a predefined format to generate integrated data, a driving control message generating unit determining a driving control response for controlling the driving device of the self-driving vehicle according to the integrated data to generate a driving control message that has a pre-defined common format, and a driving command signal generating unit converting a format of the driving control message into a message format corresponding to the driving device of the self-driving vehicle to generate a driving command signal.Type: GrantFiled: February 13, 2015Date of Patent: June 7, 2016Assignee: INDUSTRY-ACADEMIC COOPERATION FOUNDATION, YONSEI UNIVERSITYInventors: Da Young Ju, Sangho Lee
-
Patent number: 9321175Abstract: A controller determines a set of solutions to an inverse kinematic relationship relating received three axes position and orientation requirements defining a tool control point (TCP) of a robotic manipulator, the robotic manipulator including at least seven revolute joints, to a respective angular position of each of the seven revolute joints. The set of solutions specifies, in terms of an angular position of a first revolute joint proximate to a proximal end of the robotic manipulator, at least one set of angular positions of the second, third, fourth, fifth, sixth and seventh revolute joints. The set of solutions results from solving only closed-form mathematical expressions.Type: GrantFiled: February 28, 2013Date of Patent: April 26, 2016Assignee: MDA U.S. Systems, LLCInventor: Kenneth S. Smith
-
Patent number: 9279661Abstract: An information processing apparatus which estimates a three-dimensional position-and-orientation of a measuring object using an imaging apparatus capable of capturing a two-dimensional image and a range image, includes a data storing unit configured to store verification data for estimating a position-and-orientation of a measuring object, a two-dimensional image input unit configured to input a two-dimensional image captured by the imaging apparatus in a first position-and-orientation, a range image input unit configured to input a range image captured by the imaging apparatus in a second position-and-orientation, a position-and-orientation information input unit configured to acquire position-and-orientation difference information which is relative position-and-orientation information in the first position-and-orientation and the second position-and-orientation, and a calculation unit configured to calculate, based on the position-and-orientation difference information, a position-and-orientation of the meaType: GrantFiled: June 29, 2012Date of Patent: March 8, 2016Assignee: Canon Kabushiki KaishaInventors: Keisuke Tateno, Shinji Uchiyama
-
Patent number: 9227327Abstract: This robot system includes a first imaging portion detachably mounted to a robot arm and a control portion controlling the operation of the robot arm and a grasping portion, and the control portion is so formed as to detach the first imaging portion from the robot arm before moving an object to be grasped that is being grasped by the grasping portion to a prescribed processing position.Type: GrantFiled: February 15, 2012Date of Patent: January 5, 2016Assignee: KABUSHIKI KAISHA YASKAWA DENKIInventor: Yoshimitsu Nakahara
-
Patent number: 9221176Abstract: A robot system which requires no manual teaching operation in acquiring calibration values for coordinate transformation, and improves the calibration accuracy includes a robot body, a camera, and a control apparatus. The control apparatus measures, via the camera, a calibration plate at each position and orientation of a first position and orientation group including a reference measurement position and orientation and a position and orientation within a first offset range, calculates a first calibration value based on the measurement value, measures, via the camera, the calibration plate at each position and orientation of a second position and orientation group including a reference operation position and orientation different from the reference measurement position and orientation, and a position and orientation within a second offset range, calculates a second calibration value based on the measurement value, and activates the robot body by using the first and second calibration values.Type: GrantFiled: February 11, 2014Date of Patent: December 29, 2015Assignee: Canon Kabushiki KaishaInventor: Hideaki Suzuki
-
Patent number: 9193074Abstract: A multi-joint robot having a function for estimating an amount of decrease in inner pressure of a gas spring, by means of a simple and low-cost structure, and a method for estimating the amount of decrease in inner pressure of the gas spring. The gas pressure within a cylinder of the gas spring decreases in connection with the motion of a lower arm associated with the gas spring. In the present invention, an amount of decrease in inner pressure within the gas spring is estimated by using a current value of a servomotor, in view of the finding that the amount of decrease in inner pressure is generally proportional to an amount of decrease in torque, and the torque generated by the servomotor can be calculated based on the current value of the servomotor.Type: GrantFiled: March 28, 2014Date of Patent: November 24, 2015Assignee: Fanuc CorporationInventor: Yu Hayashi
-
Patent number: 9196067Abstract: A projection, image, and depth capture system projects content into a scene and captures images of the scene as the user interacts with the content. The system uses depth analysis to determine location and distance of available surfaces in the scene onto which the content can be projected. Due to the complexity of this analysis and the inherent imperfections of the electronic and optical components, depth analysis possesses inherent noise that may adversely affect the accuracy of the projected image onto the surface. The system is configured with noise compensation technology that averages depth information over multiple image frames captured from the scene. The averaged information leads to a more consistent measurement of the distance to the surface, which in turn allows for more accurate focus of the projected content.Type: GrantFiled: March 5, 2013Date of Patent: November 24, 2015Assignee: Amazon Technologies, Inc.Inventors: Ian W. Freed, William Spencer Worley, III
-
Patent number: 9156160Abstract: A robot system includes a plurality of robots, a control device, a common work table, and a calibration device. The control device is configured to control the plurality of robots. On the common work table, the plurality of robots are configured to work. Based on a position of a first robot having a calibrated coordinate relative to a position of a second robot among the plurality of robots, the calibration device is configured to calibrate a coordinate of the second robot.Type: GrantFiled: March 10, 2014Date of Patent: October 13, 2015Assignee: KABUSHIKI KAISHA YASKAWA DENKIInventors: Ryoichi Nagai, Tamio Nakamura, Dai Kouno, Tetsuro Izumi
-
Patent number: 9110466Abstract: An operator inputs a sensing instruction at a sensing point, which is a rough taught point, in a teaching mode (S22). The instruction and sensing point are stored in a second storage region (S23). Further, a target angle and an advance/retraction angle are both input in the second storage region (S24). A CPU moves a robot to the sensing point (S33) in a sensing mode, to perform detection tasks by a laser sensor, thereby acquiring the shape of a workpiece (S33). The CPU calculates a position and a posture of a welding torch to create a task program (S35). In such a manner, it is possible to greatly simplify teaching tasks in an environment free of workpiece displacements.Type: GrantFiled: March 25, 2011Date of Patent: August 18, 2015Assignee: Daihen CorporationInventors: Kouzou Yanagawa, Yasuhiro Koujina
-
Patent number: 9104197Abstract: A method and apparatus are disclosed for off-line programming of multiple interacting robots. For example, a system for off-line programming (100) of multiple interacting robots includes a computer (110) for off-line programming and verification of program codes (111) for multiple interacting robots (131-133) and a robot controller (120) connected to the computer (110) to receive a download of at least one of the program codes for execution. Multiple interacting robots (131-133) can be controlled by the robot controller (120).Type: GrantFiled: June 15, 2005Date of Patent: August 11, 2015Assignee: ABB ABInventors: Volker Miegel, Jochen Bargfrede, Jonas Anselmby
-
Patent number: 9044257Abstract: Methods, devices, and systems for controlling movement of a slave manipulator by an operator controlling a master manipulator in a way that the motion of that slave manipulator can be presented via a display to the operator such that the displayed position of the slave manipulator is intuitive to the operator, regardless of the actual position and orientation of the slave manipulator. Methods, devices, and systems relating to force feedback associated with medical robotic procedures.Type: GrantFiled: October 8, 2013Date of Patent: June 2, 2015Inventors: Tim Fielding, Perry Newhook
-
Publication number: 20150148957Abstract: Methods and systems for determining a status of a component of a device are provided. An example method includes triggering an action of a component of a device, and responsively receiving information associated with the action of the component from a sensor. The method further includes a computing system having a processor and a memory comparing the information with calibration data and determining a status of the component based on the comparison. In some examples, the calibration data may include information derived from data received from a pool of one or more devices utilizing same or similar components as the component. The determined status may include information associated with a performance of the component with respect to performances of same or similar components of the pool of devices. In one example, the device may self-calibrate the component based on the status.Type: ApplicationFiled: December 1, 2014Publication date: May 28, 2015Inventors: James J. Kuffner, JR., Ryan Hickman
-
Patent number: 9043024Abstract: A vision correction method for establishing the position of a tool center point (TCP) for a robot manipulator includes the steps of: defining a preset position of the TCP; defining a preset coordinate system TG with the preset position of the TCP as its origin; capturing a two-dimensional picture of the preset coordinate system TG to establish a visual coordinate system TV; calculating a scaling ratio ? of the vision coordinate system TV relative to the preset coordinate system TG; rotating the TCP relative to axes of the preset coordinate system TG; capturing pictures of the TCP prior to and after rotation; calculating the deviation ?P between the preset position and actual position of the TCP; correcting the preset position and corresponding coordinate system TG using ?P, and repeating the rotation through correction steps until ?P is less than or equal to a maximum allowable deviation of the robot manipulator.Type: GrantFiled: March 8, 2012Date of Patent: May 26, 2015Assignees: HONG FU JIN PRECISION INDUSTRY (ShenZhen) CO., LTD., HON HAI PRECISION INDUSTRY CO., LTD.Inventors: Long-En Chiu, Shu-Jun Fu, Gang Zhao
-
Patent number: 9043030Abstract: A manipulator and a method of generating the shortest path along which the manipulator moves to grip an object without collision with the object models a target object and a gripper into a spherical shape, measures a current position of the gripper and a position of the target object and a target position of the gripper, calculates an arc-shaped path in a two-dimensional plane along which the gripper needs to move by calculating an included angle of a triangle consisting of the position of the object and the current position and target position of the gripper, transforms the arc-shaped path in the two-dimensional plane into an arc-shaped path in a three-dimensional space using a transform matrix consisting of the position of the object and the current position and target position of the gripper, thereby automatically generating the shortest path of the manipulator.Type: GrantFiled: June 11, 2012Date of Patent: May 26, 2015Assignee: Samsung Electronics Co., Ltd.Inventors: Jong Do Choi, Kyung Shik Roh, Young Bo Shim
-
Publication number: 20150134112Abstract: Embodiments of mechanisms for measuring the distance between a robot blade and at least one measurement target are provided. A method for measuring the distance includes emitting a signal to the measurement target by a signal source assembly. The method also includes receiving the signal reflected from the measurement target by a signal reception assembly. The method further includes determining the distance between the robot blade and the measurement target. The distance is determined based on the time difference between the emission of the signal from the signal source assembly and the receipt of the signal by the signal reception assembly.Type: ApplicationFiled: November 14, 2013Publication date: May 14, 2015Applicant: Taiwan Semiconductor Manufacturing Co., Ltd.Inventor: Shih-Hung CHEN
-
Patent number: 9031694Abstract: An entry detection device includes first light marks and second light marks. A control signal corresponding to a part of the first light marks is an error detection code of the control signal corresponding to the other part of the first light marks. A first inspection value is generated based on a first part of a light receiving signal corresponding to the other part of the first light marks. A second inspection value is generated based on a reverse bit string of a third part of the light receiving signal corresponding to a part of the second light mark paired with the other part of the first light marks. An entry is detected based on the first inspection value and the second inspection value.Type: GrantFiled: January 8, 2013Date of Patent: May 12, 2015Assignee: Seiko Epson CorporationInventor: Atsushi Harada
-
Publication number: 20150127153Abstract: A robot performs, after i-th (i is a natural number) work, i+1-th work different from the i-th work and performs, after j-th (j is a natural number satisfying j?i) work, j+1-th work different from the j-th work. The robot performs the i+1-th work after the i-th work without changing information concerning correction in a joint of the robot during the i-th work, performs robot calibration after the j-th work, and performs the j+1-th work after performing the robot calibration.Type: ApplicationFiled: November 4, 2014Publication date: May 7, 2015Inventors: Yukihiro YAMAGUCHI, Taro ISHIGE
-
Patent number: 9026247Abstract: The present technology is directed to motion and video capture for tracking and evaluating robotic surgery. In one embodiment, the system includes at least one tracking device coupled to a remote surgical tool. The tracking device is configured to use one or more sensors to sense one or more physical variables such as movement and electrical contact. In some embodiments, the data from multiple individual sensors is synchronized, received, and stored by a digital information system. The digital information system is configured to analyze the data to objectively assess surgical skill.Type: GrantFiled: March 29, 2012Date of Patent: May 5, 2015Assignee: University of Washington through its Center for CommunicationInventors: Lee Woodruff White, Timothy Mariusz Kowalewski, Thomas S. Lendvay, Blake Hannaford
-
Patent number: 9026249Abstract: A robot calibration method which aligns the coordinate system of a gantry module with the coordinate system of a camera system is disclosed. The method includes using an alignment tool, which allows the operator to place workpieces in locations known by the gantry module. An image is then captured of these workpieces by the camera system. A controller uses the information from the gantry module and the camera system to determine the relationship between the two coordinate systems. It then determines a transformation equation to convert from one coordinate system to the other.Type: GrantFiled: September 5, 2013Date of Patent: May 5, 2015Assignee: Varian Semiconductor Equipment Associates, Inc.Inventors: Jason M. Schaller, Robert Brent Vopat, James R. McLane
-
Publication number: 20150120048Abstract: Robotic system (100) includes a processing device (512) and a plurality of robot actuators (501) to cause a specified motion of the robot (102). The processing device (512) responds to one or more user robot commands (115) initiated by a control operator input at a remote control console (108). A user robot command will specify a first movement of the robot from a first position to a second position. The processing device will compare a current pose of the robot to an earlier pose of the robot to determine a difference between the current pose and the earlier pose. Based on this comparing, the processing device will selectively transform the user robot command to a latency-corrected robot command which specifies a second movement for the robot which is different from the first movement.Type: ApplicationFiled: October 24, 2013Publication date: April 30, 2015Applicant: HARRIS CORPORATIONInventors: Matthew D. Summer, Paul M. Bosscher, Michael J. Summer, Miguel Ortega-Morales
-
Patent number: 9020638Abstract: A position control method for controlling a position of a movable portion, includes: performing control of allowing the movable portion to approach a predetermined position by moving the movable portion; and performing control of moving the movable portion to the predetermined position by moving the movable portion and detecting a relative position of the movable portion with respect to the predetermined position by using an imaging unit.Type: GrantFiled: December 2, 2013Date of Patent: April 28, 2015Assignee: Seiko Epson CorporationInventor: Izumi Iida
-
Publication number: 20150112484Abstract: In a trajectory control device (10) for an articulated robot, a first dynamic characteristic calculation unit (300) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than the natural oscillation frequency of the robot, performs filtering processing with respect to a joint-angle command value (?c), and outputs a processed joint-angle target value (?d). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from a coupling-torque compensation command value calculation unit (200), and outputs a processed coupling-torque compensation value (cd).Type: ApplicationFiled: May 30, 2013Publication date: April 23, 2015Applicant: KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.)Inventors: Yoshiharu Nishida, Takashi Wada, Yoshihide Inoue, Shuichi Inada
-
Patent number: 9014853Abstract: A pair of manipulators are caused to take a plurality of attitudes in a state where distal ends of the manipulators are coupled to each other, coordinates of joints between links at each attitude change are acquired on the basis of detection signals, at each attitude change, of rotary encoders provided for servomotors that drive the links of the manipulators, and a position and attitude of an installation point of a slave robot with reference to an installation point of a master robot are calculated on the basis of the joint coordinates acquired at the corresponding attitude change in a forward kinematics manner. A deviation vector for each attitude change between actual measured values of the installation point of the slave robot and the calculated values of the installation point of the slave robot is calculated, and robot constants of both manipulators are identified from the deviation vector.Type: GrantFiled: March 5, 2013Date of Patent: April 21, 2015Assignee: JTEKT CorporationInventors: Hiromichi Ohta, Yasuharu Mukai, Kazuya Numazaki
-
Publication number: 20150105905Abstract: In an elastic-deformation-compensation control device (10), a first dynamic characteristic calculation unit (300) performs filtering processing with respect to a motor-angle command value (?mc) outputted from a motor-angle-command-value calculation unit (600), and outputs a processed motor-angle target value (?md). A second dynamic characteristic calculation unit (400) is provided with a high-frequency cutoff characteristic having a cutoff frequency which is lower than that of the first dynamic characteristic calculation unit (300), performs filtering processing with respect to the output from an axial force torque calculation unit (200), and outputs a processed axial force torque compensation value (fd).Type: ApplicationFiled: May 30, 2013Publication date: April 16, 2015Applicant: Kabushiki Kaisha Kobe Seiko Sho (Kobe Steel, Ltd.)Inventors: Yoshiharu Nishida, Takashi Wada, Yoshihide Inoue, Shuichi Inada
-
Patent number: 9008842Abstract: A medical robotic system has a joint coupled to medical device or a slave manipulator or robotic arm adapted to hold and/or move the medical device for performing a medical procedure, and a control system for controlling movement of the joint according to user manipulation of a master manipulator. The control system includes at least one joint controller having a sliding mode control for reducing stick-slip behavior on its controlled joint during fine motions of the joint. The sliding mode control computes a distance to a sliding surface, computes a reaching law gain, and processes the distance and reaching law gain to generate a sliding mode control action that is in absolute value less that a maximum desired feedback control action. The sliding mode control action is then further processed to generate a feedback torque command for the joint motor.Type: GrantFiled: January 25, 2011Date of Patent: April 14, 2015Assignee: Intuitive Surgical Operations, Inc.Inventors: Giuseppe M. Prisco, David Q. Larkin
-
Patent number: 9002515Abstract: The present embodiments relate to a monitoring system for a medical device, wherein the medical device comprises a robot and an image recording part which can be moved by the robot. Provision is made for a radiation source which is attached to the medical device, and for a radiation receiver which is situated remotely from the medical device and is for receiving radiation that is emitted from the radiation source. A comparison entity compares the point of impact of radiation on the radiation receiver with one or more predetermined points of impact of radiation on the radiation receiver. The invention further relates to a corresponding method for monitoring a medical device.Type: GrantFiled: January 22, 2010Date of Patent: April 7, 2015Assignee: Siemens AktiengesellschaftInventors: Oliver Hornung, Donal Medlar
-
Patent number: 9002514Abstract: Methods and systems for positioning wafers using a dual side-by-side end effector robot are provided. The methods involve performing place moves using dual side-by-side end effector robots with active wafer position correction. According to various embodiments, the methods may be used for placement into a process module, loadlock or other destination by a dual wafer transfer robot. The methods provide nearly double the throughput of a single wafer transfer schemes by transferring two wafers with the same number of moves.Type: GrantFiled: November 30, 2007Date of Patent: April 7, 2015Assignee: Novellus Systems, Inc.Inventors: Damon Genetti, Shawn Hamilton, Rich Blank, Sheldon Templeton
-
Patent number: 9002516Abstract: A calibration method for calibration a tool center point for a robot manipulator includes the steps of: driving the tool to move above one of the inclined surfaces; defining a preset coordinate system TG; rotating the TCP relative to the UG-axis by about 180 degrees, calculating the value of ?w; updating the position parameters of the preset TCP, defining a new preset coordinate system TG?; rotating the TCP relative to the UG?-axis by about 90 degrees, calculating the value of ?v; updating the position parameters of the new preset TCP, defining a new preset coordinate system TG?; driving the tool to move above a planar horizontal surface; rotating the TCP relative to a axis by about 30 degrees, calculating the value of ?u; repeating the aforementioned steps until the deviation ?P (?w, ?v, ?u) is less than or equal to a maximum allowable deviation of the robot manipulator.Type: GrantFiled: October 10, 2012Date of Patent: April 7, 2015Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.Inventors: Long-En Chiu, Yong Wu
-
Patent number: 8996166Abstract: A touch screen testing platform may be used to perform repeatable testing of a touch screen enabled device using a robotic device tester and a controller. Prior to running a test, the controller and/or robot may be calibrated to determine a planar surface of the touch screen and to establish a relative coordinate system across the touch screen. The controller may then be programmed to allow a robot to engage the touch screen using known input zones designated using the coordinate system. The platform may employ object recognition to determine and interact with content rendered by the device. The platform may use various types of tips that engage the touch screen, thereby simulating human behavior. The platform may perform multi-touch operations by employing multiple tips that can engage the touch screen simultaneously.Type: GrantFiled: December 9, 2010Date of Patent: March 31, 2015Assignee: T-Mobile USA, Inc.Inventor: David Ross Jenkinson
-
Publication number: 20150088311Abstract: A robot calibrating apparatus calibrating a command value for a robot body 2 whose position and orientation is controlled based on the command value, includes an operating unit configured to calculate a calibrating function of calibrating the command value, based on the difference between an ideal position and orientation of the robot body 2 and an actual position and orientation of the robot body 2. The ideal position and orientation is operated based on a command value RHTcom for calibration used during calibration or on a control result value which is a result of control according to the command value. The actual position and orientation is operated based on a measurement value RHT?meas for calibration acquired by a camera 3 arranged at a prescribed relative position and orientation with respect to the robot body 2 during the robot body 2 being controlled according to the command value for calibration.Type: ApplicationFiled: September 16, 2014Publication date: March 26, 2015Inventors: Hideaki Suzuki, Shingo Amano
-
Patent number: 8989898Abstract: A robot mechanism for controlling the position of a machine tool in a large-scale manufacturing assembly includes six rotary axes and one linear axis. Secondary feedback systems are included on at least several of the axes. A controller receives secondary feedback information and uses it to control the position of the machine tool within an accuracy of ±0.3 mm.Type: GrantFiled: October 22, 2009Date of Patent: March 24, 2015Assignee: Electroimpact, Inc.Inventor: Russell C. DeVlieg
-
Patent number: 8983660Abstract: Aspects of the present disclosure describe a robot which has a controller, actuators, encoders, and mechanical components. The robot may produce motion about an X, Z, RU, RL, and Theta axes. Movements of the robot are controlled by the controller. The repeatability of the robot is improved by designing the robot such that a control cycle frequency of the controller is 50 times or more greater than a vibrational frequency of one or more of the mechanical components. In order to reduce the release of particulates, a baffled enclosure may be used. It is emphasized that this abstract is provided to comply with the rules requiring an abstract that will allow a searcher or other reader to quickly ascertain the subject matter of the technical disclosure. This abstract is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims.Type: GrantFiled: October 1, 2012Date of Patent: March 17, 2015Assignee: KLA-Tencor CorporationInventor: Yoram Hanfling
-
Patent number: 8965574Abstract: A method for controlling an automated work cell which includes at least one robot arm having at least three degrees of freedom controlled according to a plurality of control axes; a control center; a device for controlling the robot arm which includes a plurality of motor controllers each controlling operation of one motor and suitable for operating at least one portion of the robot arm; and a communication bus between the control center and the device for controlling the robot arm; wherein the method includes steps of: a) sending instructions emitted by the control center to control the control axes to a single arithmetic unit belonging to the device for controlling the robot; b) determining, within the arithmetic unit and according to instructions received from the orders for each of the motors controlled by a motor controller; and c) sending each motor controller an order, determined in step b), for the motor controlled by each motor controller.Type: GrantFiled: May 13, 2011Date of Patent: February 24, 2015Assignee: Staubli FavergesInventors: Luc Joly, Jean Michel Bonnet Des Tuves, François Pertin, Gérald Vogt
-
Publication number: 20150025683Abstract: A control apparatus calculates a calibration value based on a position in the robot coordinate system 41 and a position in the vision coordinate system 42, for at least three teaching points set within a calibration area. Markers 21 of two of the three teaching points have the same inclination in relation to an optical axis of a camera 3 as a visual sensor, and the two points are placed on different positions of the same plane normal to the optical axis. The remaining one of the three teaching points other than the two points is set such that the inclination of the marker 21 in relation to the optical axis is different from that of the two points. As a result, influence of a large quantization error in the optical axis direction as a measurement error of the camera 3 can be reduced.Type: ApplicationFiled: July 15, 2014Publication date: January 22, 2015Inventor: Shingo Amano
-
Patent number: 8935004Abstract: A robot control method includes gripping a work with a hand unit; transferring the work to the vicinity of a plane; dropping the work to the plane by reducing the grip force of the hand unit, and aligning the work with the plane; and re-gripping the work, which is aligned with the plane, again with the hand unit.Type: GrantFiled: March 27, 2012Date of Patent: January 13, 2015Assignee: Seiko Epson CorporationInventor: Izumi Iida
-
Patent number: 8930022Abstract: Methods and systems for determining a status of a component of a robotic device are provided. An example method includes triggering an action of a component of a robotic device, and responsively receiving information associated with the action of the component from a sensor. The method further includes a computing system having a processor and a memory comparing the information with calibration data and determining a status of the component based on the comparison. In some examples, the calibration data may include information derived from data received from a pool of one or more robotic devices utilizing same or similar components as the component. The determined status may include information associated with a performance of the component with respect to performances of same or similar components of the pool of robotic devices. In one example, the robotic device may self-calibrate the component based on the status.Type: GrantFiled: February 3, 2013Date of Patent: January 6, 2015Assignee: Google Inc.Inventors: James J. Kuffner, Jr., Ryan Hickman
-
Patent number: 8923602Abstract: Disclosed herein are embodiments and methods of a visual guidance and recognition system requiring no calibration. One embodiment of the system comprises a servo actuated manipulator configured to perform a function, a camera mounted on the face plate of the manipulator, and a recognition controller configured to acquire a two dimensional image of the work piece. The manipulator controller is configured to receive and store the face plate position at a distance “A” between the reference work piece and the manipulator along an axis of the reference work piece when the reference work piece is in the camera's region of interest. The recognition controller is configured to learn the work piece from the image and the distance “A”. During operation, a work piece is recognized with the system, and the manipulator is accurately positioned with respect to the work piece so that the manipulator can accurately perform its function.Type: GrantFiled: July 22, 2008Date of Patent: December 30, 2014Assignees: Comau, Inc., Recognition Robotics, Inc.Inventors: Simon Melikian, Maximiliano A. Falcone, Joseph Cyrek
-
Publication number: 20140379129Abstract: An example modular reconfigurable workcell for quick connection of peripherals is described. In one example, a modular reconfigurable workcell comprises modular docking bays on a surface of the workcell that support attachment of docking modules in a fixed geometric configuration, and respective modular docking bays include electrical connections for a variety of power and communication busses of the docking modules to be attached. The workcell also includes an electrical subsystem for coupling the communication busses between the modular docking bays and providing power circuitry to the modular docking bays, and structural features in the modular docking bays to enable insertion of the docking modules in the fixed geometric configuration. The workcell also includes a processor for determining a geometric calibration of attached peripherals based on a location and the orientation of corresponding docking modules attached to the modular docking bays and based on an identification of the attached peripherals.Type: ApplicationFiled: February 27, 2014Publication date: December 25, 2014Inventors: Aaron Edsinger, Anthony Sean Jules, Stefan Nusser, Advait Jain, James Nicholas Vines
-
Patent number: 8918211Abstract: A medical robotic system includes an entry guide with articulated instruments extending out of its distal end. A controller is configured to command manipulation of one of the articulated instruments towards a state commanded by operator manipulation of an input device while commanding sensory feedback to the operator indicating a difference between the commanded state and a preferred pose of the articulated instrument, so that the sensory feedback serves to encourage the operator to return the articulated instrument back to its preferred pose.Type: GrantFiled: February 12, 2010Date of Patent: December 23, 2014Assignee: Intuitive Surgical Operations, Inc.Inventors: Nicola Diolaiti, Paul E. Lilagan
-
Patent number: 8918209Abstract: A mobile robot that includes a drive system, a controller in communication with the drive system, and a volumetric point cloud imaging device supported above the drive system at a height of greater than about one feet above the ground and directed to be capable of obtaining a point cloud from a volume of space that includes a floor plane in a direction of movement of the mobile robot. The controller receives point cloud signals from the imaging device and issues drive commands to the drive system based at least in part on the received point cloud signals.Type: GrantFiled: February 22, 2011Date of Patent: December 23, 2014Assignee: iRobot CorporationInventors: Michael T. Rosenstein, Michael Halloran, Steven V. Shamlian, Chikyung Won, Mark Chiappetta
-
Patent number: 8918210Abstract: In a 6-axis robot, as an example, an inter-axis offset can be measured and calibrated. A light emitting diode is installed on an end effector, and the end effector is located on a plurality of target positions of movement on the axis X (Xb) of a robot coordinate. Then, the position of the light emitting diode is measured by a three-dimensional gauge, and an inter-axis offset F is detected based on an error between the target positions of movement and actually moved positions. For the inter-axis offset F, DH parameters are calibrated.Type: GrantFiled: March 19, 2012Date of Patent: December 23, 2014Assignee: Denso Wave IncorporatedInventor: Naoya Kagawa
-
Publication number: 20140365006Abstract: The visual datum reference tool calibration method includes a work object. The work object emits a pair of beam-projecting lasers acting as a crosshair, intersecting at a tool center point. The visual datum reference tool calibration method provides a calibration method which is simpler, which involves a lower investment cost, which entails lower operating costs than the prior art, and can be used for different robot tools on a shop floor without having to perform a recalibration for each robot tool. The visual datum reference tool is applicable to multiple robotic processes, including but not limited to, spot welders, material handlers, and MIG welders, assembly, cutting, painting and coating, and polishing and finishing.Type: ApplicationFiled: June 7, 2013Publication date: December 11, 2014Inventor: Matthew E. Trompeter
-
Publication number: 20140365007Abstract: The visual datum reference tool calibration method includes a work object. The work object emits a pair of beam-projecting lasers acting as a crosshair, intersecting at a tool center point. The visual datum reference tool calibration method provides a calibration method which is simpler, which involves a lower investment cost, which entails lower operating costs than the prior art, and can be used for different robot tools on a shop floor without having to perform a recalibration for each robot tool. The visual datum reference tool is applicable to multiple robotic processes, including but not limited to, spot welders, material handlers, and MIG welders, assembly, cutting, painting and coating, and polishing and finishing.Type: ApplicationFiled: September 11, 2013Publication date: December 11, 2014Inventor: Matthew E. Trompeter
-
Patent number: 8909374Abstract: A robot arm includes a grip part which is structured to be separated from an end effector attached to the robot arm. When the grip part is gripped by the user and shifted, the robot arm shifts tracking the grip part. Further, the grip part includes contact sensors, and a tracking control method is switched according to the value of the contact sensors.Type: GrantFiled: March 5, 2013Date of Patent: December 9, 2014Assignee: Panasonic CorporationInventors: Yudai Fudaba, Masaki Yamamoto, Yuko Tsusaka, Taichi Sato
-
Patent number: 8903549Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.Type: GrantFiled: March 15, 2013Date of Patent: December 2, 2014Assignee: Intuitive Surgical Opeations, Inc.Inventors: Brandon D. Itkowitz, Simon P. DiMaio, William C. Nowlin, Günter D. Niemeyer, David S. Mintz
-
Patent number: 8903546Abstract: An articulated instrument is controllably movable between areas of different work space limits, such as when it is extendable out of and retractable into a guide tube. To avoid abrupt transitions in joint actuations as the joint moves between areas of different work space limits, a controller limits error feedback used to control its movement. To provide smooth joint control as the instrument moves between areas of different work space limits, the controller imposes barrier and ratcheting constraints on each directly actuatable joint of the instrument when the joint is commanded to cross between areas of different work space limits.Type: GrantFiled: August 15, 2009Date of Patent: December 2, 2014Assignee: Intuitive Surgical Operations, Inc.Inventors: Nicola Diolaiti, Paul E. Lilagan
-
Publication number: 20140343727Abstract: In an example embodiment, a robot positioning device includes a first interface configured to communicate with a robot and a second interface configured to communicate with a location measuring system. The robot positioning device includes a calibrator, a modeler, and an instructor. The calibrator is configured to direct the location measuring system to determine robot calibration locations when robot joints are positioned in calibration joint positions. The modeler is configured to create a calibrated model relating robot joint positions to robot locations based at least in part on the robot calibration locations received from the location measuring system and associated calibration joint positions of the robot joints. The instructor is configured to receive a goal location from the robot. The instructor is further configured to transmit goal joint positions to the robot, the goal joint positions based at least in part on the goal location and the calibrated model.Type: ApplicationFiled: May 15, 2013Publication date: November 20, 2014Inventors: Joseph M. Calkins, Robert J. Salerno
-
Patent number: 8892255Abstract: A method for the automated control of a process robot with a controller performing movement and work sequences and with one or more sensors that record a work progress. A planning tool compares a recorded progress of work with an aimed-for processing objective and determines, from a difference between the processing objective and an actual value of the process that corresponds to the recorded progress of work, movement and work sequences with which the aimed-for processing objective is achieved. Then the determined movement and work sequences are converted into robot-executable control commands in real time or in-step with the process, and the process robot is controlled in such a way as to achieve the aimed-for processing objective.Type: GrantFiled: February 17, 2012Date of Patent: November 18, 2014Assignee: Convergent Information Technologies GmbHInventor: Christof Eberst