Using Jacobian Computation Patents (Class 700/263)
  • Patent number: 10335964
    Abstract: In a robot control system, the distance from an operating region of a robot arm to a person who is approaching the region is measured using a laser sensor. Information necessary to acquire a safety skill level that is stored in an RFID tag possessed by the person is acquired using an RFID reader. A controller classifies distances into a short distance, which is a distance within the operating region of the arm, a long distance, which is a distance that exceeds a movable region of the arm, and an intermediate distance, which is a distance between the short distance and the long distance. The motion of the arm is controlled by the controller, depending on the distance (i.e., the long distance, the intermediate distance, or the short distance) and the safety level.
    Type: Grant
    Filed: October 27, 2016
    Date of Patent: July 2, 2019
    Assignee: DENSO WAVE INCORPORATED
    Inventor: Akira Ogawa
  • Patent number: 10105847
    Abstract: Methods, apparatus, systems, and computer-readable media are provided for detecting a geometric change in a robot's configuration and taking responsive action in instances where the geometric change is likely to impact operation of the robot. In various implementations, a geometric model of a robot in a selected pose may be obtained. Image data of the actual robot in the selected pose may also be obtained. The image data may be compared to the geometric model to detect a geometric difference between the geometric model and the actual robot. Output may be provided that is indicative of the geometric difference between the geometric model and the actual robot.
    Type: Grant
    Filed: June 8, 2016
    Date of Patent: October 23, 2018
    Assignee: X DEVELOPMENT LLC
    Inventors: Craig Latimer, Umashankar Nagarajan
  • Patent number: 9931172
    Abstract: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include calculating weighted joint velocities using a weighting matrix within the joint space to anisotropically emphasize joint movement within a null-space to provide the desired movement of a first set of joints. Methods may include calculating joint velocities that achieve the desired end effector movement using a pseudo-inverse solution and adjusting the calculated joint velocities using a potential function gradient within the joint space corresponding to the desired movement of the first set of joints. Methods may include use of a weighted pseudo-inverse solution and also an augmented Jacobian solution. One or more auxiliary movements may also be provided using joint velocities calculated from the pseudo-inverse solution. Various configurations for systems utilizing such methods are provided herein.
    Type: Grant
    Filed: October 17, 2016
    Date of Patent: April 3, 2018
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Arjang M. Hourtash, Nitish Swarup
  • Patent number: 9416855
    Abstract: A wire connection apparatus includes a link unit and a drive unit configured to drive the link unit. The link unit includes a first link, a second link rotatably coupled to the first link, a third link rotatably coupled to the second link, a plurality of wires, each of which is fixed at one end thereof to the third link, and is fixed at the other end thereof to the drive unit, and through which a driving force is transmitted from the drive unit to the third link, a path forming structure to form a path of each of the wires between the drive unit and the third link, and a length holding structure to hold constant a length of each of the wires between the drive unit and the third link.
    Type: Grant
    Filed: May 6, 2014
    Date of Patent: August 16, 2016
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Young Bo Shim, Young Do Kwon, Byung June Choi, Yong Jae Kim, Kyung Shik Roh, Min Hyung Lee
  • Patent number: 9296104
    Abstract: Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein.
    Type: Grant
    Filed: March 18, 2014
    Date of Patent: March 29, 2016
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Nitish Swarup, Arjang Hourtash, Paul Mohr
  • Patent number: 9261872
    Abstract: A method controls redundant actuators of a machine based on a reference trajectory. The method determines a cost function representing operations of the redundant actuators and minimizes the cost function subject to constraints to produce a sequence of commands for each actuator. The redundant actuators are controlled according to the sequences of commands.
    Type: Grant
    Filed: January 19, 2012
    Date of Patent: February 16, 2016
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Vijay Shilpiekandula, Scott A. Bortoff
  • Patent number: 9259280
    Abstract: Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.
    Type: Grant
    Filed: August 14, 2013
    Date of Patent: February 16, 2016
    Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Samuel Kwok Wai Au, Raymond A. Bonneau, Nicola Diolaiti, Pushkar Hingwe, Arjang M. Hourtash, Amy E. Kerdok, Michael Turner
  • Patent number: 9248571
    Abstract: A method for operating a multi-axis, preferably six-axis, robot with axes that can be driven by drive means is proposed. The axes are possible to be moved separately and their movement is controlled by a control facility. Before the movement of the robot is executed, a control data record is created for controlling the movement of the robot as a function of initial and target information for the robot input by a user. The control facility performs a verification of the control data record in respect of at least one predefined basic condition relating to the operation of the robot stored in a memory. The control data record is adjusted based on the at least one basic condition while retaining the target information as a function of the result of the check.
    Type: Grant
    Filed: February 17, 2011
    Date of Patent: February 2, 2016
    Assignee: SIEMENS AKTIENGESELLSCHAFT
    Inventors: Jessica Amberg, Hayo Knoop, Kerstin Sonntag
  • Patent number: 9205555
    Abstract: A desired movement command (203) for a robotic device (100) having n joints (112) operating in an m degrees of freedom task space is analyzed to determine if it would cause any of the joint angular limits to be violated. In the case where a non-zero number L (241) of the joints (112) have angular limits that are violated, a revised movement command (254) is then constructed using Jmod (251), which includes all columns in a Jacobian matrix J (211) except for those columns corresponding to L actively limited joints.
    Type: Grant
    Filed: March 22, 2011
    Date of Patent: December 8, 2015
    Assignee: Harris Corporation
    Inventors: Paul M. Bosscher, Matthew D. Summer
  • Patent number: 9199374
    Abstract: In order to suppress fluctuations in specific components of posture angle in a target coordinate system while maintaining the position of the leading edge of the wrist, the velocity of movement of the leading edge of the wrist, and the permissible velocity of the shaft during velocity suppression, an articulated robot which moves while calculating the position in interpolated points on a teaching path, the posture and the angles in each axis is provided, wherein a judgment is made as to whether the velocity of the wrist shaft exceeds a permissible limit, and if the permissible limit is exceeded, a plurality of candidates for angle of the wrist shaft that maintain the velocity within permissible limits are calculated, and the candidate with the minimum fluctuation in the specific component of the posture angle of the weld line coordinate system is selected.
    Type: Grant
    Filed: March 2, 2012
    Date of Patent: December 1, 2015
    Assignee: Kobe Steel, Ltd.
    Inventors: Tsutomu One, Toshihiko Nishimura
  • Patent number: 9193573
    Abstract: A process for measuring and controlling the position and velocity of one moving part of a scissor lift device through the measurement of another moving part of the scissor lift device. The position and velocity of the moving part (e.g., a platform of the scissor lift device) are computed using kinematics and Jacobian functions that define the position and velocity in terms of the measured degree of freedom. The process provides continuous, closed-form computation of the position and velocity of a platform carried by a scissor linkage mechanism during the latter's extension, which enables applications for motion sensing and control of linkage extension types of systems.
    Type: Grant
    Filed: February 12, 2013
    Date of Patent: November 24, 2015
    Assignee: The Boeing Company
    Inventor: James J. Troy
  • Patent number: 9089352
    Abstract: The present invention relates to a surgical robot system having a tool for minimally invasive surgery. More specifically, the present invention relates to a surgical robot system that helps a user such as a surgeon control the tool for minimally invasive surgery in a dexterous and convenient manner.
    Type: Grant
    Filed: October 30, 2009
    Date of Patent: July 28, 2015
    Inventor: Chang Wook Jeong
  • Patent number: 9050724
    Abstract: A control method of a robot apparatus, the robot apparatus including a link and a pair of actuators, obtaining each driving force command value of each of the actuators, and controlling each of the actuators, the control method including: a torque command value calculation step of using the target stiffness, the target trajectory, angular velocity of the target trajectory, and angular acceleration of the target trajectory to calculate a torque command value; a determination step of determining whether each of the driving force command values is a value 0 or greater; a change step of performing at least one of a change of increasing the target stiffness and a change of reducing the angular acceleration; and a driving force command value calculation step of using the target stiffness and the torque command value to calculate each of the driving force command values.
    Type: Grant
    Filed: December 20, 2012
    Date of Patent: June 9, 2015
    Assignee: CANON KABUSHIKI KAISHA
    Inventor: Kiyoshi Takagi
  • Patent number: 9044860
    Abstract: A control method of a robot apparatus, the robot apparatus including a link and a pair of actuators, obtaining each driving force command value of each of the actuators, and controlling each of the actuators, the control method including: a torque command value computation step; a change computation step of computing a difference between the joint stiffness command value and a value and performing a computation of subtracting a value from the joint stiffness command value; an iterative step of iterating the computations of the torque command value computation step and the change computation step until the difference converges to a value equal to or smaller than a predetermined value; and a driving force command value computation step to compute each of the driving force command values when the difference is converged to a value equal to or smaller than the predetermined value.
    Type: Grant
    Filed: December 20, 2012
    Date of Patent: June 2, 2015
    Assignee: CANON KABUSHIKI KAISHA
    Inventor: Kiyoshi Takagi
  • Patent number: 9043030
    Abstract: 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: Grant
    Filed: June 11, 2012
    Date of Patent: May 26, 2015
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Jong Do Choi, Kyung Shik Roh, Young Bo Shim
  • Patent number: 8965582
    Abstract: A real-time method for controlling a system, the system including a plurality of controlling means each having at least one variable parameter (q) and a controlled element having a trajectory which is controlled by the controlling means, wherein the trajectory is related to the variable parameters by a variable matrix, the method comprising defining a control transfer matrix (K) relating the variable parameters dq to the trajectory dx, and using a feedback loop in which a feedback term is computed that is dependent on an error (e) which is the difference between the desired trajectory (dxd) which can have an arbitrary dimension specified as (m) and a current trajectory (dx).
    Type: Grant
    Filed: February 26, 2010
    Date of Patent: February 24, 2015
    Assignee: The University of Surrey
    Inventor: Alexandre Nikolov Pechev
  • Patent number: 8918210
    Abstract: 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: Grant
    Filed: March 19, 2012
    Date of Patent: December 23, 2014
    Assignee: Denso Wave Incorporated
    Inventor: Naoya Kagawa
  • Patent number: 8914139
    Abstract: A Robot includes a main body, a Portable device and a supporting structure. The supporting structure is disposed at the main body for detachably connecting the Portable device. The Portable device reads digital media data from the main body or the Portable device itself, and plays the digital media data as video. After the Portable device is detached from the supporting structure, the main body and the Portable device operate independently.
    Type: Grant
    Filed: May 7, 2012
    Date of Patent: December 16, 2014
    Assignee: Asustek Computer Inc.
    Inventors: Nilay C Badavne, Ming-Lu Lai, Tai-Ming Parng
  • Patent number: 8903546
    Abstract: 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: Grant
    Filed: August 15, 2009
    Date of Patent: December 2, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Nicola Diolaiti, Paul E. Lilagan
  • Patent number: 8886357
    Abstract: It is possible to perform robot motor learning in a quick and stable manner using a reinforcement learning apparatus including: a first-type environment parameter obtaining unit that obtains a value of one or more first-type environment parameters; a control parameter value calculation unit that calculates a value of one or more control parameters maximizing a reward by using the value of the one or more first-type environment parameters; a control parameter value output unit that outputs the value of the one or more control parameters to the control object; a second-type environment parameter obtaining unit that obtains a value of one or more second-type environment parameters; a virtual external force calculation unit that calculates the virtual external force by using the value of the one or more second-type environment parameters; and a virtual external force output unit that outputs the virtual external force to the control object.
    Type: Grant
    Filed: March 28, 2012
    Date of Patent: November 11, 2014
    Assignees: Advanced Telecommunications Research Institute International, Honda Motor Co., Ltd.
    Inventors: Norikazu Sugimoto, Yugo Ueda, Tadaaki Hasegawa, Soshi Iba, Koji Akatsuka
  • Patent number: 8855821
    Abstract: A bipedal robot having a pair of legs with 6 degrees of freedom and a control method thereof which calculate a capture point by combining the position and velocity of the center of gravity (COG) and control the capture point during walking to stably control walking of the robot. A Finite State Machine (FSM) is configured to execute a motion similar to walking of a human, and thus the robot naturally walks without constraint that the knees be bent all the time, thereby being capable of walking with a large stride and effectively using energy required while walking.
    Type: Grant
    Filed: May 30, 2012
    Date of Patent: October 7, 2014
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Kee Hong Seo, Joo Hyung Kim, Kyung Shik Roh
  • Patent number: 8849457
    Abstract: A robot displacement device for use with a robotic frame shaped to approximate and be coupleable to at least a portion of the human body and configured to mimic movement of the human body. The device employs a plurality of force sensors which are attached to the robotic frame which detect a baseline controlling interface force status relationship between the sensors and the extremities of the human operator. Based on the output force signal from the sensors and the force and direction of gravity relative to the robotic frame, the computation system calculates at least a rotational force required to maintain the controlling force status relationship. That system then generates and transmits an actuation signal to a drive system attached to the robotic frame which displaces a portion of the robotic frame in order to maintain the controlling force status relationship.
    Type: Grant
    Filed: July 16, 2007
    Date of Patent: September 30, 2014
    Assignee: Raytheon Company
    Inventors: Stephen C. Jacobsen, Marc X. Olivier
  • Publication number: 20140276952
    Abstract: Devices, systems, and methods for positioning an end effector or remote center of a manipulator arm by floating a first set of joints within a null-perpendicular joint velocity sub-space and providing a desired state or movement of a proximal portion of a manipulator arm concurrent with end effector positioning by driving a second set of joints within a null-space orthogonal to the null-perpendicular space. Methods include floating a first set of joints within a null-perpendicular space to allow manual positioning of one or both of a remote center or end effector position within a work space and driving a second set of joints according to an auxiliary movement calculated within a null-space according to a desired state or movement of the manipulator arm during the floating of the joints. Various configurations for devices and systems utilizing such methods are provided herein.
    Type: Application
    Filed: March 18, 2014
    Publication date: September 18, 2014
    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
    Inventors: Arjang Hourtash, Nitish Swarup
  • Publication number: 20140277741
    Abstract: A robot may include: a multi-tool module having redundancy, the multi-tool module including a guide tube and a plurality of tools configured to operate while interacting with the guide tube and extended from the guide tube; and/or a controller configured to generate a control signal regarding motion of the multi-tool module in a joint space based on motion instruction information regarding distal ends of the plurality of tools in a task space. The redundancy may reflect that a number of degrees of freedom of the multi-tool module in the joint space is greater than a number of degrees of freedom of the task space. The control signal may be generated using the redundancy.
    Type: Application
    Filed: March 18, 2014
    Publication date: September 18, 2014
    Applicant: Samsung Electronics Co., Ltd.
    Inventors: Woong KWON, Bok Man LIM, Gurel OGAN
  • Publication number: 20140277738
    Abstract: A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide relative to a remote center, and a controller configured to manage operation of the entry guide manipulator in response to operator manipulation of one or more input devices. As the entry guide manipulator approaches a yaw/roll singularity, the controller modifies its operation to allow continued movement of the entry guide manipulator without commanding excessive joint velocities while maintaining proper orientation of the entry guide.
    Type: Application
    Filed: June 2, 2014
    Publication date: September 18, 2014
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: NICOLA DIOLAITI, GIUSEPPE M. Prisco
  • Patent number: 8828021
    Abstract: A robotic catheter system is provided. The catheter system includes a housing, and the housing has a sidewall and a longitudinal axis. The catheter system includes a recess formed in the sidewall of the housing and a drive mechanism supported by the housing. The drive mechanism is configured to impart movement to a catheter device. The catheter system includes a first channel configured to receive a catheter device, and the first channel has a opening located within the recess.
    Type: Grant
    Filed: November 25, 2009
    Date of Patent: September 9, 2014
    Assignee: Corindus, Inc.
    Inventors: Tal Wenderow, Thomas Bromander, James J. Kennedy, III, Stanley O. Thompson, Jon B. Taylor, Jeffrey Lightcap
  • Patent number: 8825213
    Abstract: A gait generating device 32 includes a desired particular-site motion velocity value determining unit 45 that uses a quadratic evaluation function having a particular-site motion velocity vector ?Vb as a variable and a linear matrix inequality having ?Vb as a variable to sequentially determine, as a desired value ?Vb_cmd2 of ?Vb, a value of ?Vb that can minimize the value of the evaluation function within a range in which a restriction condition that the linear matrix inequality holds is satisfied, by arithmetic processing according to a solution method for a quadratic programming problem. The device then integrates ?Vb_cmd2 to sequentially determine desired values of the position and posture of the particular site (the body) 2 of the robot 1. The linear matrix inequality is set to satisfy a condition restricting the operations of the joints between the particular site 2 and the distal portion of each leg link 3.
    Type: Grant
    Filed: November 28, 2012
    Date of Patent: September 2, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventors: Masao Kanazawa, Shigeru Kanzaki
  • Patent number: 8792976
    Abstract: Artificial control of a prosthetic device is provided. A brain machine interface contains a mapping of neural signals and corresponding intention estimating kinematics (e.g. positions and velocities) of a limb trajectory. The prosthetic device is controlled by the brain machine interface. During the control of the prosthetic device, a modified brain machine interface is developed by modifying the vectors of the velocities defined in the brain machine interface. The modified brain machine interface includes a new mapping of the neural signals and the intention estimating kinematics that can now be used to control the prosthetic device using recorded neural brain signals from a user of the prosthetic device. In one example, the intention estimating kinematics of the original and modified brain machine interface includes a Kalman filter modeling velocities as intentions and positions as feedback.
    Type: Grant
    Filed: February 17, 2011
    Date of Patent: July 29, 2014
    Assignee: The Board of Trustees of the Leland Stanford Junior University
    Inventors: Vikash Gilja, Paul Nuyujukian, Cynthia A Chestek, John P Cunningham, Byron M. Yu, Stephen I Ryu, Krishna V. Shenoy
  • Publication number: 20140195054
    Abstract: A robot system includes a robot and a robot control device. The robot has a plurality of joint axes including a redundant axis. The robot control device includes a first command generator, a limit avoidance command generator, a posture optimization command generator, a null space matrix calculator, a second command generator and a controller. The first command generator generates a first joint angular speed command for the robot. The limit avoidance command generator generates a joint angular speed command A for the robot for avoiding a state in which the robot reaches an operating limit. The posture optimization command generator generates a joint angular speed command B for the robot for optimizing a posture of the robot. The null space matrix calculator calculates a null space matrix of a Jacobian matrix related to a control point. The second command generator generates a second joint angular speed command for the robot.
    Type: Application
    Filed: March 11, 2014
    Publication date: July 10, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Yosuke KAMIYA
  • Publication number: 20140188280
    Abstract: A method includes determining whether a robot is walking and a direction in which the robot is walking; measuring an amount of time taken for a sole of a foot of the robot to step on the ground; calculating an imaginary reaction force applied to the sole using a trigonometric function having, as a period, the measured amount of time taken for the sole to step on the ground; and applying the calculated imaginary reaction force to a Jacobian transposed matrix and converting the imaginary reaction force into a drive torque for a lower extremity joint of the robot.
    Type: Application
    Filed: March 16, 2013
    Publication date: July 3, 2014
    Applicant: Hyundai Motor Company
    Inventor: Hyundai Motor Company
  • Publication number: 20140188279
    Abstract: A method includes: forming an imaginary wall at a position spaced apart and outward from feet of the robot when the robot is in a double-leg-support state; kinetically calculating a variation in a distance between a body of the robot and the imaginary wall and a variation in a speed of the body of the robot relative to the imaginary wall using an angle of a joint and lengths of links of the robot; applying the variation in the distance and the variation in the speed to an imaginary spring-damper model formed between the body of the robot and the imaginary wall, and calculating an imaginary reaction force required by the body of the robot; and converting the calculated reaction force into a drive torque required by the body of the robot using a Jacobian transposed matrix.
    Type: Application
    Filed: March 15, 2013
    Publication date: July 3, 2014
    Applicant: Hyundai Motor Company
    Inventors: Seok Won LEE, Woo Sung Yang
  • Patent number: 8768516
    Abstract: A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide relative to a remote center, and a controller configured to manage operation of the entry guide manipulator in response to operator manipulation of one or more input devices. As the entry guide manipulator approaches a yaw/roll singularity, the controller modifies its operation to allow continued movement of the entry guide manipulator without commanding excessive joint velocities while maintaining proper orientation of the entry guide.
    Type: Grant
    Filed: June 30, 2009
    Date of Patent: July 1, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Nicola Diolaiti, Giuseppe M. Prisco
  • Publication number: 20140172172
    Abstract: A method of improving sensitivity of a robot which includes: a calculation step, an induction step and a conversion step. The calculation step calculates angular velocities of joints of a robot. The induction step determines induced accelerations at the end of the robot by converting the angular velocities of the joints into a velocity at the end of the robot, using a Jacobian matrix, and by differentiating the velocity. The conversion step determines forces at a middle portion of the robot by multiplying the induced accelerations at the middle portion of the robot by a weight of the robot, multiplies the forces by an enhancement ratio, and then converts results of the multiplication into necessary torque at the joints, using a Jacobian matrix.
    Type: Application
    Filed: March 18, 2013
    Publication date: June 19, 2014
    Applicant: Hyundai Motor Company
    Inventors: Jung Ho Seo, Woo Sung Yang
  • Publication number: 20140172171
    Abstract: A method of controlling two arms of a robot including: a finding-out step of finding out position differences in axial directions of an end of one arm and an end of the other arm; a generating step of generating a virtual force at the end of the other arm based on the position differences that have been found out; and a converting step of converting the generated virtual force into a driving torque for joints of the other arm, using a Jacobian matrix.
    Type: Application
    Filed: March 15, 2013
    Publication date: June 19, 2014
    Applicant: HYUNDAI MOTOR COMPANY
    Inventors: Jung Ho SEO, Woo Sung YANG
  • Patent number: 8731880
    Abstract: Methods for computing the inverse dynamics of multibody systems with contacts are disclosed. Inverse dynamics means computing external forces that cause a system to move along a given trajectory. Such computations have been used routinely for data analysis and control synthesis in the absence of contacts between rigid bodies. The disclosed inverse dynamics methods include the ability to handle contacts. The disclosed methods include the following steps: projecting the discrete-time equations of motion from joint space to contact space; defining the forward dynamics in contact space as the solution to an optimization problem; using the features of this optimization problem to obtain a unique inverse—which turns out to correspond to the solution to a dual optimization problem; solving the latter using standard methods for numerical optimization; projecting the solution from contact space back to joint space and finding the external forces.
    Type: Grant
    Filed: September 14, 2011
    Date of Patent: May 20, 2014
    Assignee: University of Washington through its Center for Commercialization
    Inventor: Emanuil V. Todorov
  • Patent number: 8725296
    Abstract: There is provided a gripping judgment apparatus including a plan unit that generates a target orbit for moving a gripping unit in a state in which an object as a gripping target is gripped by the gripping unit, an observation unit that measures movement of the gripping unit driven based on the target orbit, a gripping state judgment unit that judges whether or not an object as a gripping target is grippable based on a target value of the gripping unit derived from the target orbit and an actual measured value measured by the observation unit, and a gripping state change unit that changes a gripping state of an object gripped by the gripping unit based on a judgment result obtained by the gripping state judgment unit.
    Type: Grant
    Filed: February 9, 2011
    Date of Patent: May 13, 2014
    Assignee: Sony Corporation
    Inventors: Kenichiro Nagasaka, Toshimitsu Tsuboi, Atsushi Miyamoto, Yasunori Kawanami, Tetsuharu Fukushima, Kenta Kawamoto
  • Patent number: 8706299
    Abstract: A robotic system includes a dexterous robot and a controller. The robot includes a plurality of robotic joints, actuators for moving the joints, and sensors for measuring a characteristic of the joints, and for transmitting the characteristics as sensor signals. The controller receives the sensor signals, and is configured for executing instructions from memory, classifying the sensor signals into distinct classes via the state classification module, monitoring a system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the system state. A method for controlling the robot in the above system includes receiving the signals via the controller, classifying the signals using the state classification module, monitoring the present system state of the robot using the classes, and controlling the robot in the execution of alternative work tasks based on the present system state.
    Type: Grant
    Filed: August 2, 2011
    Date of Patent: April 22, 2014
    Assignees: GM Global Technology Operations LLC, The United States of America as Represented by the Administrator of the National Aeronautics and Space Administration
    Inventors: Adam M. Sanders, Robert J. Platt, Jr., Nathaniel Quillin, Frank Noble Permenter, Joseph Pfeiffer
  • Patent number: 8676380
    Abstract: There are provided a moving robot and a method of operating the same. A bottom surface is photographed to sense a moving distance and a moving direction based on input image data. The amount of light radiated to photograph the bottom surface is sensed to feedback control the light emission degree of a light source unit. The light source unit is controlled when errors are generated in sensing the image data. Therefore, the sensing ratio of the photographed image is improved so that correctness of calculating the position of the moving robot is improved.
    Type: Grant
    Filed: April 3, 2008
    Date of Patent: March 18, 2014
    Assignee: LG Electronics Inc.
    Inventors: Ho Seon Rew, Jeong Suk Yoon, Young Gyu Jung
  • Publication number: 20140052298
    Abstract: Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.
    Type: Application
    Filed: August 14, 2013
    Publication date: February 20, 2014
    Applicant: Intuitive Surgical Operations, Inc.
    Inventors: Arjang M. Hourtash, Samuel Kwok Wai Au, Raymond A. Bonneau, Nicola Diolaiti, Pushkar Hingwe, Amy E. Kerdok, Michael Turner
  • Patent number: 8600554
    Abstract: A method for robot trajectory generation with continuous acceleration, Receiving a user's motion command through a motion command interface, and sending the user's motion command to Cartesian trajectory generator; Converting the user's command to a trajectory path points of robot end effector in Cartesian space; Transforming the trajectory path points of robot end effector in Cartesian space into a robot trajectory path points in a joint space; Calculating positions, velocities and accelerations of robot joints in each motion servo cycle; Comparing the positions, velocities and accelerations of the robot joints generated by a joint Trajectory Interpolator with a velocity's limit value and an acceleration's limit value of each robot joint stored in a robot parameter database respectively.
    Type: Grant
    Filed: June 4, 2010
    Date of Patent: December 3, 2013
    Assignee: Institute of Automation, Chinese Academy of Sciences
    Inventors: Fengshui Jing, Min Tan, En Li, Zize Liang, Zengguang Hou, Degang Yang, Kailiang Zhang, Yanhui Qiang
  • Publication number: 20130310982
    Abstract: The The invention relates to a method for determining possible positions of a robot arm of a robot. The robot arm comprises a frame, numerous links, disposed successively, which can move in relation to one another, with respect to axes. First, a target position and target orientation in space for a robot arm or a tool center point assigned to an end effector attached to the robot arm, are defined, to which a reference coordinate system having polar coordinates is assigned. Subsequently, potential possible positions of the frame of the robot arm in space and in the polar coordinates of the reference coordinate system are determined on the basis of the geometry of the robot arm, such that the tool center point can assume the defined target position and target orientation.
    Type: Application
    Filed: April 18, 2013
    Publication date: November 21, 2013
    Applicant: KUKA Laboratories GmbH
    Inventors: Christian Scheurer, Uwe E. Zimmermann, Shashank Sharma
  • Patent number: 8583284
    Abstract: A decision mechanism is configured to decide on at least one prospective action of a robot from set of actions by: computing a prior probabilistic representation of a prior environment state; updating the prior probabilistic representation with targets of a new observation on reducing at least one uncertainty in a posterior probabilistic representation of a posterior environment state to be reached after an appliance of the at least one prospective action, the posterior probabilistic representation resulting from the updating; determining an information gain between the prior probabilistic representation and the posterior probabilistic representation by use of at least one information theoretic measure; evaluating the at least one prospective action by adding costs of executing the at least one prospective action to the information gain. Furthermore, an improved action planning for robots is provided and can be implemented in various robots investigating scenes for their actions.
    Type: Grant
    Filed: April 2, 2010
    Date of Patent: November 12, 2013
    Assignee: Siemens Aktiengesellschaft
    Inventors: Robert Eidenberger, Thilo Grundmann, Raoul Daniel Zöllner
  • Patent number: 8560123
    Abstract: Disclosed are a robot, which performs cooperative work with a plurality of robot manipulators through impedance control, and a method of controlling cooperative work of the robot. The method includes calculating absolute coordinate positions of end effectors, respectively provided at a plurality of manipulators to perform the work; calculating a relative coordinate position from the absolute coordinate positions of the end effectors; calculating joint torques of the plurality of manipulators using the relative coordinate position; and controlling the cooperative work of the plurality of manipulators according to the joint torques.
    Type: Grant
    Filed: February 10, 2009
    Date of Patent: October 15, 2013
    Assignee: Samsung Electronics Co., Ltd.
    Inventor: Jong Do Choi
  • Patent number: 8532824
    Abstract: A control device for a robot determines, as a desired driving force to be imparted to a joint, a component value corresponding to the displacement amount of each joint out of a desired generalized force vector ?cmd that satisfies the relationship indicated by expression 01 given below by using basic parameter group of M, N, and G, Jacobian matrixes Jc and Js, a desired value ?C of the motion acceleration of a contact portion representative element representing a motion of a contact portion of a robot 1, generalized variable observation information, and a desired value ?S? of a first-order differential value of a predetermine type of state amount, and then controls the operation of an actuator of the robot 1 on the basis of the determined desired driving force.
    Type: Grant
    Filed: December 27, 2010
    Date of Patent: September 10, 2013
    Assignee: Honda Motor Co., Ltd.
    Inventor: Atsuo Orita
  • Patent number: 8532825
    Abstract: A software compensation command is generated to command a linkage to move an end body in a work space. A manipulator Jacobian is computed given a nominal linkage command; and a normalized Jacobian is computed from the manipulator Jacobian, a joint space normalizing matrix Q, and an error space normalizing matrix E. The normalized Jacobian and the Q and E matrices are used to produce the software compensation command.
    Type: Grant
    Filed: August 25, 2010
    Date of Patent: September 10, 2013
    Assignee: The Boeing Company
    Inventor: Philip L. Freeman
  • Patent number: 8509951
    Abstract: The invention refers to a method for controlling the effector trajectory from a current state to a target state. First invariant control parameters of the trajectory are determined. The effector trajectory is then represented in a task description being void of the invariant control parameters. The effector trajectory is controlled on the basis of this task description. The invention further refers to a method for controlling the effector trajectory wherein the effector trajectory is calculated by mapping increments from a control parameter space on a configuration space. The dimensional difference between the configuration space and the control parameter space leaves redundant degrees of freedom of a Null space. The degrees of freedom of the Null space are increased using a task description being void of invariant control parameters.
    Type: Grant
    Filed: May 22, 2006
    Date of Patent: August 13, 2013
    Assignee: Honda Research Institute Europe GmbH
    Inventor: Michael Gienger
  • Patent number: 8483882
    Abstract: A robotic system includes a robot having manipulators for grasping an object using one of a plurality of grasp types during a primary task, and a controller. The controller controls the manipulators during the primary task using a multiple-task control hierarchy, and automatically parameterizes the internal forces of the system for each grasp type in response to an input signal. The primary task is defined at an object-level of control, e.g., using a closed-chain transformation, such that only select degrees of freedom are commanded for the object. A control system for the robotic system has a host machine and algorithm for controlling the manipulators using the above hierarchy. A method for controlling the system includes receiving and processing the input signal using the host machine, including defining the primary task at the object-level of control, e.g., using a closed-chain definition, and parameterizing the internal forces for each of grasp type.
    Type: Grant
    Filed: January 13, 2010
    Date of Patent: July 9, 2013
    Assignees: GM Global Technology Operations LLC, The United States of America as Represented by the Administrator of the National Aeronautics and Space Administration
    Inventors: Muhammad E. Abdallah, Robert Platt, Charles W. Wampler, II
  • Patent number: 8483879
    Abstract: A robotic system includes a robot adapted for moving a payload in proportional response to an input force from an operator, sensors adapted for measuring a predetermined set of operator input values, including the input force, and a controller. The controller determines a changing stiffness value of the operator using set of operator input values, and automatically adjusts a level of control sensitivity over the robot using the stiffness value. The input values include the input force, a muscle activation level of the operator, and a position of the operator. A method of controlling the robot includes measuring the operator input values using the plurality of sensors, processing the input values using the controller to thereby calculate the stiffness value, and automatically adjusting the level of control sensitivity over the robot using the stiffness value. A specific operator may be identified, with control sensitivity being adjusted based on the identity.
    Type: Grant
    Filed: November 30, 2009
    Date of Patent: July 9, 2013
    Assignee: GM Global Technology Operations LLC
    Inventors: Dalong Gao, Roland J. Menassa, Robin Stevenson
  • Patent number: 8463433
    Abstract: There is provided a control system which controls a link structure constructed by connecting a plurality of rigid body links and driven by making a joint actuator generate an actuator force. The control system includes a mechanical model including geometric parameters and dynamical parameters of the link structure, a virtual external force calculating means for calculating a virtual force acting on the mechanical model of the link structure, a contact part detecting means for detecting contact parts between the link structure and the outside, and an actual force converting means for converting the virtual force calculated by the virtual external force calculating means into an external force capable of existing actually and the actuator force of the joint actuator, using contact information detected by the contact part detecting means. The joint actuator is made to generate the actuator force output by the actual force converting means.
    Type: Grant
    Filed: October 9, 2008
    Date of Patent: June 11, 2013
    Assignee: Sony Corporation
    Inventor: Kenichiro Nagasaka
  • Publication number: 20130144441
    Abstract: A gait generating device 32 includes a desired particular-site motion velocity value determining unit 45 that uses a quadratic evaluation function having a particular-site motion velocity vector ?Vb as a variable and a linear matrix inequality having ?Vb as a variable to sequentially determine, as a desired value ?Vb_cmd2 of ?Vb, a value of ?Vb that can minimize the value of the evaluation function within a range in which a restriction condition that the linear matrix inequality holds is satisfied, by arithmetic processing according to a solution method for a quadratic programming problem. The device then integrates ?Vb_cmd2 to sequentially determine desired values of the position and posture of the particular site (the body) 2 of the robot 1. The linear matrix inequality is set to satisfy a condition restricting the operations of the joints between the particular site 2 and the distal portion of each leg link 3.
    Type: Application
    Filed: November 28, 2012
    Publication date: June 6, 2013
    Applicant: HONDA MOTOR CO., LTD.
    Inventor: Honda Motor Co., Ltd.