Having Particular Operator Interface (e.g., Teaching Box, Digitizer, Tablet, Pendant, Dummy Arm) Patents (Class 700/264)
  • Patent number: 8897920
    Abstract: A remote control station that accesses one of at least two different robots that each have at least one unique robot feature. The remote control station receives information that identifies the robot feature of the accessed robot. The remote station displays a display user interface that includes at least one field that corresponds to the robot feature of the accessed robot. The robot may have a laser pointer and/or a projector.
    Type: Grant
    Filed: April 17, 2009
    Date of Patent: November 25, 2014
    Assignee: Intouch Technologies, Inc.
    Inventors: Yulun Wang, Marco Pinter, Kevin Hanrahan, Daniel Steven Sanchez, Charles S. Jordan, David Bjorn Roe, James Rosenthal, Derek Walters
  • Patent number: 8892224
    Abstract: Continuous change of state directions are graphically provided on a display screen to assist a user in performing necessary action(s) for transitioning between operating modes in a medical robotic system or performing corrective action. A graphical representation of a target state of an element of the medical robotic system is displayed on a display screen viewable by the user. Current states of the element and indications directing the user to manipulate the element towards the target state are continuously determined and graphical representations of the continuously determined current states and indications are displayed on the display screen along with that of the target state.
    Type: Grant
    Filed: October 14, 2013
    Date of Patent: November 18, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Paul W. Mohr, David W. Robinson
  • Patent number: 8892260
    Abstract: A system including a mobile telepresence robot, a telepresence computing device in wireless communication with the robot, and a host computing device in wireless communication with the robot and the telepresence computing device. The host computing device relays User Datagram Protocol traffic between the robot and the telepresence computing device through a firewall.
    Type: Grant
    Filed: September 30, 2013
    Date of Patent: November 18, 2014
    Assignee: iRobot Corporation
    Inventors: Matthew Cross, Tony L. Campbell
  • Publication number: 20140336820
    Abstract: There is provided a display information acquiring unit for acquiring display information on a screen of a touch panel display, a touch pattern estimating unit for estimating a region on the screen likely to be touched by a person and a motion direction of the touch based on the display information, a load estimating unit for estimating a load or a torque to the display based on the estimated region and the motion direction, a stiffness parameter information generating unit for generating information for controlling the arm so that the position and the orientation of the display do not change along the touching direction at the time of touch panel input based on the estimated load or torque, and an arm control unit for controlling a stiffness parameter of the arm based on the generated information.
    Type: Application
    Filed: July 29, 2014
    Publication date: November 13, 2014
    Inventors: Yudai FUDABA, Yuko TSUSAKA, Jun OZAWA
  • Patent number: 8880223
    Abstract: A multisensory interface for a tele-robotic surgical control system. The invention allows the surgeon to use natural gestures and motions to control the actions of end effectors in the robotic surgical apparatus. Multiple feedback mechanisms are provided to allow the physician a more intuitive understanding of what is being controlled, along with a greater situational awareness. Prior art robotic end effectors are inserted into the patient through a small incision—as is already known in the art. The invention presents an improved method of controlling these effectors.
    Type: Grant
    Filed: July 16, 2012
    Date of Patent: November 4, 2014
    Assignee: Florida Institute for Human & Maching Cognition
    Inventors: Anil K. Raj, Adrien M. Moucheboeuf, Roger W. Carif, Timothy L. Hutcheson
  • Patent number: 8874261
    Abstract: A method and a system for operating a mobile robot comprise a range finder for collecting range data of one or more objects in an environment around the robot. A discriminator identifies uniquely identifiable ones of the objects as navigation landmarks. A data storage device stores a reference map of the navigation landmarks based on the collected range data. A data processor establishes a list or sequence of way points for the robot to visit. Each way point is defined with reference to one or more landmarks. A reader reads an optical message at or near one or more way points. A task manager manages a task based on the read optical message.
    Type: Grant
    Filed: October 9, 2007
    Date of Patent: October 28, 2014
    Assignee: Deere & Company
    Inventors: Thomas Kent Hein, Karl-Heinz O. Mertins, Daniel W. Mairet
  • Patent number: 8868301
    Abstract: A system and method for controlling a work machine system having a work machine and work tool. Operational characteristics of both the work machine and work tool are configured by a machine controller based upon the type of work tool attached to the work machine, the operating environment of the work machine, and the location of work site personnel or other observers relative to the machine or work tool. The operational characteristics of both the work machine and work tool may then be automatically altered during operation of the work machine system to limit or expand functions of the work machine system in response to changes in the operational environment or movement of personnel or observers relative to the work machine system.
    Type: Grant
    Filed: February 14, 2011
    Date of Patent: October 21, 2014
    Assignee: The Charles Machine Works, Inc.
    Inventors: Kelvin P. Self, Nathan Kiner
  • Patent number: 8868241
    Abstract: A system for developing distributed robot application-level software includes a robot having an associated control module which controls motion of the robot in response to a commanded task, and a robot task commander (RTC) in networked communication with the control module over a network transport layer (NTL). The RTC includes a script engine(s) and a GUI, with a processor and a centralized library of library blocks constructed from an interpretive computer programming code and having input and output connections. The GUI provides access to a Visual Programming Language (VPL) environment and a text editor. In executing a method, the VPL is opened, a task for the robot is built from the code library blocks, and data is assigned to input and output connections identifying input and output data for each block. A task sequence(s) is sent to the control module(s) over the NTL to command execution of the task.
    Type: Grant
    Filed: March 14, 2013
    Date of Patent: October 21, 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: Stephen W Hart, John D. Yamokoski, Brian J Wightman, Duy Paul Dinh, Dustin R Gooding
  • Publication number: 20140303778
    Abstract: An apparatus, method and system facilitate efficient creation of virtual places and provide tools for using the virtual places. The virtual places include a virtual real estate listing, newsworthy place and a virtual box seat. Tools are provided including an automatic declutter tool and a staging tool.
    Type: Application
    Filed: April 7, 2014
    Publication date: October 9, 2014
    Inventors: Gary Stephen Shuster, Brian Mark Shuster
  • Patent number: 8855815
    Abstract: A motion path search device which searches for a motion path of a movable part of a robot capable of being taught a motion by direct teaching in which the robot is directly moved by an operator includes: a first space identification unit which identifies a space swept through by the movable part of the robot in the direct teaching; a second space identification unit which identifies a space swept through by at least a portion of a body of the operator in the direct teaching; a space combining unit which calculates, as an accessible space, a union of the space identified by the first space identification unit and the space identified by the second space identification unit; and a path search unit which searches for a motion path of the movable part within the accessible space calculated by the space combining unit.
    Type: Grant
    Filed: April 23, 2012
    Date of Patent: October 7, 2014
    Assignee: Panasonic Corporation
    Inventor: Kenji Mizutani
  • Patent number: 8855823
    Abstract: A robot includes an angular velocity sensor that detects the vibration of a robot. A control device allows the robot to perform a trial operation and acquires the measurement result measured by the angular velocity sensor during the trial operation as vibration information and analyzes the acquired vibration information based on maker evaluating information that is stored in a database. In the maker evaluating information, vibration information and the operating speed appropriate to the installation situation of the robot at which the vibration information is measured are associated with each other. Then, the robot is operated at an operating speed selected based on the analysis result of the vibration information.
    Type: Grant
    Filed: April 27, 2012
    Date of Patent: October 7, 2014
    Assignee: Seiko Epson Corporation
    Inventor: Daisuke Kirihara
  • Publication number: 20140297035
    Abstract: The present invention relates to education robotics systems and methods. In particular, the present invention provides robotic systems comprising tangible and graphic programming interfaces suitable for use by young children.
    Type: Application
    Filed: April 1, 2014
    Publication date: October 2, 2014
    Applicant: Tufts University
    Inventors: Marina Umaschi Bers, Michael S. Horn
  • Patent number: 8849679
    Abstract: A remote controlled robot system that includes a mobile robot and a remote control station. The mobile robot is controlled by the remote control station and includes a robot monitor, and a robot camera that captures a robot image. The system also includes a medical image device that can be coupled to the robot. The remote control station includes a camera that captures a remote station image, and a monitor that displays the robot image captured by the robot camera in a robot view field, displays the remote station image in a station view field. The robot transmits the robot and medical images to the remote control station such that a larger portion of a network bandwidth is allocated for the medical image than the robot image.
    Type: Grant
    Filed: November 25, 2008
    Date of Patent: September 30, 2014
    Assignee: Intouch Technologies, Inc.
    Inventors: Yulun Wang, Charles S. Jordan, Marco Pinter
  • Patent number: 8849680
    Abstract: A robotic system that is used in a tele-presence session. For example, the system can be used by medical personnel to examine, diagnose and prescribe medical treatment in the session. The system includes a robot that has a camera and is controlled by a remote station. The system further includes a storage device that stores session content data regarding the session. The data may include a video/audio taping of the session by the robot. The session content data may also include time stamps that allow a user to determine the times that events occurred during the session. The session content data may be stored on a server that accessible by multiple users. Billing information may be automatically generated using the session content data.
    Type: Grant
    Filed: January 29, 2009
    Date of Patent: September 30, 2014
    Assignee: InTouch Technologies, Inc.
    Inventors: Timothy C. Wright, Fuji Lai, Marco Pinter, Yulun Wang
  • Patent number: 8843245
    Abstract: A robot cleaner has a camera to generate an image of a cleaning area, a controller to prepare a cleaning map based on the image and to drive a robot cleaner, and a communicator to transmit the image and cleaning map to an external device and to receive a control command from the external device. The image and map may be transmitted over a local or wide area network, and the external device may be a computer, television, smart phone, portable phone, or other type of wireless access device.
    Type: Grant
    Filed: April 25, 2011
    Date of Patent: September 23, 2014
    Assignee: LG Electronics Inc.
    Inventors: Suuk Choe, Younggie Kim, Jeongsuk Yoon, Seongsoo Lee, Junho Jang, Sangik Na, Yiebin Kim, Donghoon Yi, Seungmin Baek
  • Publication number: 20140277744
    Abstract: Adaptive controller apparatus of a robot may be implemented. The controller may be operated in accordance with a reinforcement learning process. A trainer may observe movements of the robot and provide reinforcement signals to the controller via a remote clicker. The reinforcement may comprise one or more degrees of positive and/or negative reinforcement. Based on the reinforcement signal, the controller may adjust instantaneous cost and to modify controller implementation accordingly. Training via reinforcement combined with particular cost evaluations may enable the robot to move more like an animal.
    Type: Application
    Filed: March 15, 2013
    Publication date: September 18, 2014
    Inventor: Olivier Coenen
  • Publication number: 20140277742
    Abstract: A system includes a robotic gripper and a grasp controller. The gripper, which has a sensory matrix that includes a plurality of sensors, executes selected grasp poses with respect to a component in the corresponding method to thereby grasp the component in response to a grasp command signal from the controller. The controller has a touch-screen or other interactive graphical user interface (GUI) which generates a jog signal in response to an input from a user. Sensory maps provide calibrated limits for each sensor contained in the sensory matrix for the selected grasp pose. The controller transmits the grasp command signal to the gripper in response to receipt of the jog signal from the GUI. The GUI may display a jog wheel having icons, including a hub corresponding to a neutral pose of the robotic gripper and icons corresponding to grasp poses arranged around a circumference of the jog wheel.
    Type: Application
    Filed: March 14, 2013
    Publication date: September 18, 2014
    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: JAMES W. WELLS, ROLAND J. MENASSA, OMER EINAV, NOAM PERLIS
  • Publication number: 20140277743
    Abstract: A system for developing distributed robot application-level software includes a robot having an associated control module which controls motion of the robot in response to a commanded task, and a robot task commander (RTC) in networked communication with the control module over a network transport layer (NTL). The RTC includes a script engine(s) and a GUI, with a processor and a centralized library of library blocks constructed from an interpretive computer programming code and having input and output connections. The GUI provides access to a Visual Programming Language (VPL) environment and a text editor. In executing a method, the VPL is opened, a task for the robot is built from the code library blocks, and data is assigned to input and output connections identifying input and output data for each block. A task sequence(s) is sent to the control module(s) over the NTL to command execution of the task.
    Type: Application
    Filed: March 14, 2013
    Publication date: September 18, 2014
    Applicants: The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Stephen W. Hart, John D. Yamokoski, Brian J. Wightman, Duy Paul Dinh, Dustin R. Gooding
  • Publication number: 20140257334
    Abstract: One exemplary user interface for a medical robotics system may include a control panel and one or more sliders that may be slidably carried by the control panel to actuate one or more motors for moving a surgical instrument of the medical robotics system. The sliders may be configured to actuate the motors to move the surgical instrument along a respective one of a plurality of degrees of freedom.
    Type: Application
    Filed: March 7, 2014
    Publication date: September 11, 2014
    Inventors: Serena H. Wong, Sean P. Walker, June Park, Richard Henderson
  • Patent number: 8831782
    Abstract: A patient-side surgeon interface provides enhanced capabilities in using a minimally invasive, teleoperated surgical system. The patient-side surgeon interface has components within the sterile surgical field of the surgery. The components allow a surgeon to control teleoperated slave surgical instruments from within the sterile surgical field. The patient-side surgeon interface permits a surgeon to be in the sterile surgical field adjacent a patient undergoing surgery. Controlling minimally invasive slave surgical instruments from within the sterile surgical field permits minimally invasive surgery combined with direct visualization by the surgeon. The proximity to the patient allows the surgeon to control a teleoperated slave surgical instrument in tandem with controlling manually controlled instruments such as a laparoscopic instrument. Also, the surgeon, from within the sterile surgical field, can use the patient-side surgeon interface to control at least one proxy visual in proctoring another surgeon.
    Type: Grant
    Filed: July 15, 2013
    Date of Patent: September 9, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Brandon Itkowitz
  • Patent number: 8831777
    Abstract: A program changing device includes a sequence interchanging unit for interchanging plural teaching points in a teaching sequence such that total movement time of a robot becomes smaller than that when the robot is moved in line with an initial teaching sequence of the teaching points, a calculating unit for calculating difference amounts between the initial teaching points and a trajectory of the robot that is obtained by executing an after-interchanged operational program by simulation, a position adjusting unit for adjusting positions of the teaching points of the after-interchanged operational program until the difference amounts become equal to or smaller than a predetermined allowable value, and a teaching point changing unit for changing the adjusted teaching points to be the initial teaching points when cycle time of the after-interchanged operational program including the adjusted teaching points is longer than initial cycle time.
    Type: Grant
    Filed: April 10, 2013
    Date of Patent: September 9, 2014
    Assignee: Fanuc Corporation
    Inventor: Yuuki Kimoto
  • Patent number: 8818554
    Abstract: An event execution method and system for a robot synchronized with a mobile terminal is provided for enabling a robot synchronized with a mobile terminal or a character displayed in the mobile terminal to execute an event on behalf of the mobile terminal and share experience points of the character displayed in the mobile terminal. The event execution system includes a mobile terminal and a robot synchronized with the mobile terminal.
    Type: Grant
    Filed: July 6, 2009
    Date of Patent: August 26, 2014
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Seung Jai Lee, Suk Ryun Son
  • Patent number: 8818560
    Abstract: A master-slave manipulator includes a remote manipulation device, a slave manipulator, and a control unit. The remote manipulation device as a master gives an operating command corresponding to a plurality of degrees of freedom. The slave manipulator includes a plurality of joints corresponding to the degrees of freedom. The slave manipulator includes a redundant joint among the joints. The control unit controls operations of the joints in accordance with the operating command. The control unit calculates an orientation change of the remote manipulation device from the operating command at predetermined time intervals and selects and drives one of the joints in redundancy relationship among the joints in accordance with the orientation change.
    Type: Grant
    Filed: March 29, 2011
    Date of Patent: August 26, 2014
    Assignee: Olympus Corporation
    Inventor: Kosuke Kishi
  • Publication number: 20140236356
    Abstract: In a teaching system including a display unit, an image generating unit generates a virtual image of a robot, a workpiece and a positioner for holding the workpiece. A display control unit controls the display unit to display the generated virtual image. Upon receiving an operator's operation of selecting a ridgeline of the workpiece of the virtual image, a work line generating unit extracts individual teaching target points of the ridgeline and generates a work line as a set of line segments each interconnecting the target points adjoining each other. A calculation unit calculates teaching values for positions and postures of the positioner on a point-by-point basis so that a vector direction of the work line at each target point becomes substantially parallel to a horizontal direction. A teaching program generating unit generates a teaching program for operating the positioner based on the calculated teaching values.
    Type: Application
    Filed: February 21, 2014
    Publication date: August 21, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Koichi KUWAHARA
  • Publication number: 20140229009
    Abstract: A handling device, which is in particular a robot, has a receiving device for receiving different instruments. To this end, the receiving device and the different instruments have mutually compatible connecting elements. In order to ensure error-free connection of the correctly selected instrument to the receiving device, the instruments have changeable indicator devices. The indicator devices are changed with the aid of a control device, for example on the basis of a schedule.
    Type: Application
    Filed: September 26, 2012
    Publication date: August 14, 2014
    Inventors: Florian Alexander Froehlich, Stefan Joerg
  • Patent number: 8805581
    Abstract: Methods and apparatus for procedural memory learning to control a robot by demonstrating a task action to the robot and having the robot learn the action according to a similarity matrix of correlated values, attributes, and parameters obtained from the robot as the robot performs the demonstrated action. Learning is done by an artificial neural network associated with the robot controller, so that the robot learns to perform the task associated with the similarity matrix. Extended similarity matrices can contain integrated and differentiated values of variables. Procedural memory learning reduces overhead in instructing robots to perform tasks. Continued learning improves performance and provides automatic compensation for changes in robot condition and environmental factors.
    Type: Grant
    Filed: February 21, 2012
    Date of Patent: August 12, 2014
    Assignee: GM Global Technology Operations LLC
    Inventors: Leandro G. Barajas, Adam M Sanders
  • Publication number: 20140222208
    Abstract: A compact, lightweight manipulation system that excels in operability and has a force feedback capability is provided. When automatic operation of a slave manipulator 105 that follows manual operation of a master manipulator 101 is bilaterally controlled by means of communication, the force acting on the slave manipulator is fed back to the master manipulator by operating the master manipulator primarily under electrically-driven speed control and the slave manipulator primarily under pneumatically-driven force control. Therefore, in the master manipulator, it is not necessary to compensate for the dynamics and the self-weight of the master manipulator in the motion range of a user, allowing highly accurate, broadband positional control, which is specific to an electrically-driven system, and in the slave manipulator, nonlinearity characteristics specific to a pneumatically-driven system presents passive softness, provides a high mass-to-output ratio, and produces a large force.
    Type: Application
    Filed: February 10, 2014
    Publication date: August 7, 2014
    Applicant: TOKYO INSTITUTE OF TECHNOLOGY
    Inventors: Kenji KAWASHIMA, Kotaro TADANO
  • Patent number: 8788096
    Abstract: Mobile self-balancing robots for telepresence are provided. The robots comprise a base, a head, and a shaft therebetween. The shaft can be telescoping to allow the head to be extended above the base to about the height of a normal sized person, or can be retracted to make the robot more compact for easier storage and transportation. The head includes components for telepresence such as cameras, a speaker, a microphone, a laser pointer, and a display screen, as well as protection from impacts and falls. The base provides locomotion and balance, and a narrow shaft between the head and base minimizes the robot's weight and reduces the likelihood of collisions with protrusions like table edges.
    Type: Grant
    Filed: November 5, 2012
    Date of Patent: July 22, 2014
    Assignee: Anybots 2.0, Inc.
    Inventors: John L. Sokol, Trevor Blackwell, Scott Wiley, Daniel Casner, Benjamin Holson
  • Patent number: 8780341
    Abstract: An inspecting system for inspecting a lens module includes an inspection device; and a transmitting and loading device. The transmitting and loading device includes a grasping assembly, a supporting assembly, a sliding assembly loaded on the supporting assembly, and a control unit for controlling the grasping assembly and the sliding assembly. The grasping assembly is configured to clamp the lens module and to load the lens module on the sliding assembly, and the sliding assembly is adapted to transfer the lens module to a testing position of the inspection device.
    Type: Grant
    Filed: October 30, 2012
    Date of Patent: July 15, 2014
    Assignee: Hon Hai Precision Industry Co., Ltd.
    Inventor: Cheng-Shiun Wu
  • Patent number: 8781629
    Abstract: A method of controlling a robot using a human-robot interface apparatus in two-way wireless communication with the robot includes displaying on a display interface a two-dimensional image, an object recognition support tool library, and an action support tool library. The method further includes receiving a selected object image representing a target object, comparing the selected object image with a plurality of registered object shape patterns, and automatically recognizing a registered object shape pattern associated with the target object if the target object is registered with the human-robot interface. The registered object shape pattern may be displayed on the display interface, and a selected object manipulation pattern selected from the action support tool library may be received. Control signals may be transmitted to the robot from the human-robot interface. Embodiments may also include human-robot apparatuses (HRI) programmed to remotely control a robot.
    Type: Grant
    Filed: September 22, 2010
    Date of Patent: July 15, 2014
    Assignee: Toyota Motor Engineering & Manufacturing North America, Inc.
    Inventor: Yasuhiro Ota
  • Patent number: 8781630
    Abstract: An imaging platform system that provides integrated navigation capabilities for surgical guidance. The system can include two robotic arm systems, one robotic arm system holding an imaging source, and the other holding an imaging sensor. These robotic arm systems are able to move and provide three-dimensional tomographic scans, static radiographic images, and dynamic fluoroscopic image sequences. A third robotic arm system can be included in the imaging platform system as a surgeon guided tool-holder to accurately implement an image-guided surgical plan. The robotic systems can manipulate imaging and surgical components into and out of the operative field as needed, enhancing the choreography between a surgical team and assistive technology. A handle can be included as part of a manual positioning control subsystem. The handle can be mounted to an imaging robotic system above and/or below an operating table, and also can be mounted to a tool-holding robotic system.
    Type: Grant
    Filed: October 14, 2009
    Date of Patent: July 15, 2014
    Assignee: University of Florida Research Foundation, Inc.
    Inventors: Scott Arthur Banks, Frank J. Bova
  • Patent number: 8774967
    Abstract: According to an embodiment, a target trajectory that takes into account the hardware constraints of a robot is generated, based on results obtained by calculating, temporally interpolating, and estimating image feature amounts from a captured image.
    Type: Grant
    Filed: September 13, 2011
    Date of Patent: July 8, 2014
    Assignee: Kabushiki Kaisha Toshiba
    Inventor: Junichiro Ooga
  • Publication number: 20140188281
    Abstract: A robot teaching system according to an embodiment includes a robot, a sensor, a screen generator, an adjuster, and a job generator. The sensor measures measured values relating to operations of the robot. The screen generator generates a teaching operation screen that includes guidance information intended for the teacher. The adjuster adjusts parameters for generating a job based on specified values relating to the operations of the robot and input in the teaching operation screen, and the measured values of the sensor associated with the specified values, the parameters defining an operation command including corrections of the operations of the robot. The job generator generates the job in which the parameters adjusted by the adjuster are incorporated.
    Type: Application
    Filed: December 25, 2013
    Publication date: July 3, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Ryoichi NAGAI, Yukiko HASHIGUCHI, Tetsuro IZUMI
  • Patent number: 8761932
    Abstract: A automation equipment control system comprises a general purpose computer with a general purpose operating system in electronic communication with a real-time computer subsystem. The general purpose computer includes a program execution module to selectively start and stop processing of a program of equipment instructions and to generate a plurality of move commands. The real-time computer subsystem includes a move command data buffer for storing the plurality of move commands, a move module linked to the data buffer for sequentially processing the moves and calculating a required position for a mechanical joint. The real-time computer subsystem also includes a dynamic control algorithm in software communication with the move module to repeatedly calculate a required actuator activation signal from a joint position feedback signal.
    Type: Grant
    Filed: June 18, 2013
    Date of Patent: June 24, 2014
    Assignee: C.H.I. Development Mgmt. Ltd. XXIV, LLC
    Inventor: John R. Lapham
  • Patent number: 8751044
    Abstract: A control system for controlling an industrial robot including a manipulator. The control system includes a plurality of modules adapted to handle various functions. A first of the modules is a drive module adapted to control the motors driving the movements of the manipulator. A second of the modules is a main computer module adapted to execute a program with instructions for the movements of the manipulator and to plan the movements of the manipulator based on the executed instructions. The control system is adapted to communicate with one or more external devices via an external network. The control system includes an internal network. Each of the modules is arranged as a node in the internal network and includes communication elements for communicating with the other nodes in the internal network. The internal network includes a first part adapted for normal communication and a second part adapted for time critical communication.
    Type: Grant
    Filed: November 21, 2007
    Date of Patent: June 10, 2014
    Assignee: ABB Ab
    Inventor: Peter Eriksson
  • Patent number: 8751049
    Abstract: In exemplary implementations of this invention, an input/output device (“Bulb”) is attached to on an articulated, actuated robotic arm. The robotic arm can move the Bulb by translating it along three axes and by rotating it about the arm's base. In addition, the I/O can rotate about its own vertical axis. The Bulb comprises at least a pico-projector, two cameras, a depth sensor and an onboard computer. The onboard computer controls actuators in the robotic arm and Bulb that move the Bulb. It also processes visual data captured by the cameras in order to recognize objects or events, and to respond to them. This response may include changing the position of the Bulb or changing the parameters of an image projected by the pico-projector.
    Type: Grant
    Filed: May 24, 2011
    Date of Patent: June 10, 2014
    Assignee: Massachusetts Institute of Technology
    Inventors: Natan Linder, Patricia Maes
  • Patent number: 8751063
    Abstract: A self-propelled device determines an orientation for its movement based on a pre-determined reference frame. A controller device is operable by a user to control the self-propelled device. The controller device includes a user interface for controlling at least a direction of movement of the self-propelled device. The self-propelled device is configured to signal the controller device information that indicates the orientation of the self-propelled device. The controller device is configured to orient the user interface, based on the information signaled from the self-propelled device, to reflect the orientation of the self-propelled device.
    Type: Grant
    Filed: January 3, 2012
    Date of Patent: June 10, 2014
    Assignee: Orbotix, Inc.
    Inventors: Ian H. Bernstein, Adam Wilson, Brian Keith Smith
  • Patent number: 8751042
    Abstract: A method of generating a behavior of a robot includes measuring input data associated with a plurality of user responses, applying an algorithm to the input data of the plurality of user responses to generate a plurality of user character classes, storing the plurality of user character classes in a database, classifying an individual user into a selected one of the plurality of user character classes by generating user preference data, selecting a robot behavior based on the selected user character class, and controlling the actions of the robot in accordance with the selected robot behavior during a user-robot interaction session. The selected user character class and the user preference data are based at least in part on input data associated with the individual user.
    Type: Grant
    Filed: December 14, 2011
    Date of Patent: June 10, 2014
    Assignees: Toyota Motor Engineering & Manufacturing North America, Inc., Massachusetts Institute of Technology
    Inventors: Haeyeon Lee, Yasuhiro Ota, Cynthia Breazeal, Jun Ki Lee
  • Patent number: 8738181
    Abstract: Methods, devices (such as computer readable media), and systems (such as computer systems) for defining and executing automated movements using robotic arms (such as robotic arms configured for use in performing surgical procedures), so that a remotely-located surgeon is relieved from causing the robotic arm to perform the automated movement through movement of an input device such as a hand controller.
    Type: Grant
    Filed: April 16, 2008
    Date of Patent: May 27, 2014
    Inventors: Alexander Greer, Garnette Sutherland, Tim Fielding, Perry Newhook
  • Patent number: 8731720
    Abstract: Systems and methods as described for providing visual telepresence to an operator of a remotely controlled robot. The robot includes both video cameras and pose sensors. The system can also comprise a head-tracking sensor to monitor the orientation of the operator's head. These signals can be used to aim the video cameras. The controller receives both the video signals and the pose sensor signals from the robot, and optionally receives head-tracking signals from the head-tracking sensor. The controller stitches together the various video signals to form a composite video signal that maps to a robot view. The controller renders an image to a display from that portion of the composite video signal that maps to an operator view. The relationship of the operator view to the robot view is varied according to the signals from the pose sensors and the head-tracking sensor.
    Type: Grant
    Filed: June 10, 2013
    Date of Patent: May 20, 2014
    Assignee: Anybots 2.0, Inc.
    Inventors: Trevor Blackwell, Daniel Casner, Scott Wiley
  • Publication number: 20140135991
    Abstract: System (100) and methods (500) for remotely controlling a slave device (102). The methods involve: using a Hybrid Hand Controller (“HHC”) as a full haptic controller to control the slave device when the HHC (406) is coupled to a docking station (460); detecting when the HHC is or is being physically de-coupled from the docking station; automatically and seamlessly transitioning an operational mode of at least the HHC from a full haptic control mode to a gestural control mode, in response to a detection that the HHC is or is being de-coupled from the docking station; and using at least the HHC as a portable gestural controller to control the slave device when the HHC is de-coupled from the docking station.
    Type: Application
    Filed: November 9, 2012
    Publication date: May 15, 2014
    Applicant: HARRIS CORPORATION
    Inventors: Matthew D. Summer, Paul M. Bosscher
  • 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: 8706302
    Abstract: In a method for the offline programming of an NC-controlled manipulator which follows at least one real trajectory, possibly in a sensor-supported manner, with tool center point thereof in the real working mode, a kinematic manipulator model and, possibly, an environmental model are stored in an offline programming environment with user interface, at least one virtual trajectory of the manipulator and a virtual tolerance zone assigned to said trajectory are defined using the offline programming environment in a definition routine, and the offline programming environment is used to check, in a check routine, the previously defined tolerance zone at least in part in terms of kinematic singularities of the manipulator, the occurrence of which prompts a singularity routine to be executed.
    Type: Grant
    Filed: July 26, 2011
    Date of Patent: April 22, 2014
    Assignee: Broetje Automation GmbH
    Inventor: Dirk Eickhorst
  • Patent number: 8694160
    Abstract: An NC machine tool system includes an NC machine tool (10), a first operation panel (22) and a second operation panel (24) for the NC machine tool, a multi-joint robot (40), a memory (450), and a robot controller (50). The multi-joint robot (40) is disposed above the NC machine tool. The memory (450) stores a wait position return program by which the multi-joint robot (40) is operated. The robot controller (50) controls the multi-joint robot (40) in accordance with the program. Operation panels (22, 24) are respectively provided with switch keys (22c, 24c) operated to execute the wait position return program stored in the memory (450) so as to operate the multi-joint robot (40).
    Type: Grant
    Filed: August 24, 2011
    Date of Patent: April 8, 2014
    Assignee: Yamazaki Mazak Corporation
    Inventors: Nobuyasu Yasue, Hironobu Ishihara, Kikuo Hattori, Tsuyoshi Hattori
  • Patent number: 8694134
    Abstract: Interface (101) for converting human control input gestures to telematic control signals. The interface includes a plurality of articulating arms (107a, 107b, 108a, 108b, and 109a, 109b) each mounted at a base end (113, 115, 117) to an interface base and coupled at an opposing end to a housing (106). The articulating arms are operable to permit linear translational movement of the housing in three orthogonal directions. At least one sensor (116) of a first kind is provided for measuring the linear translational movement. A pivot member (201) is disposed in the housing and is arranged to pivot about a single pivot point. A grip (102) is provided and is attached to the pivot member so that a user upon grasping the grip can cause the pivot to rotate within the housing.
    Type: Grant
    Filed: May 5, 2011
    Date of Patent: April 8, 2014
    Assignee: Harris Corporation
    Inventors: Paul M. Bosscher, Matthew D. Summer, John B. Rust, Loran J. Wilkinson, William S. Bowman
  • Patent number: 8688276
    Abstract: There is provided a teaching method for a transfer robot which is capable of quickly performing teaching at high reliability. Relative to a transfer robot which, in a state in which a substrate to be processed in a plurality of processing chambers is supported, transfers the substrate to a predetermined position by turning and telescopic action on the same plane, teaching is made of the transfer actions. At this time, by using at least one detection means that is disposed so as to detect the substrate when the substrate is transferred among the processing chambers, the transfer robot is caused to perform transfer action. At least one index part provided in advance on an operating part of the transfer robot is detected by the detection means. From this detection position, a reference position which serves as an origin of at least one of the turning action and the telescopic action is taught.
    Type: Grant
    Filed: July 29, 2009
    Date of Patent: April 1, 2014
    Assignee: Ulvac, Inc.
    Inventor: Yoshinori Fujii
  • Patent number: 8682489
    Abstract: In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.
    Type: Grant
    Filed: September 21, 2010
    Date of Patent: March 25, 2014
    Assignee: Intuitive Sugical Operations, Inc.
    Inventors: Brandon D. Itkowitz, Simon P. DiMaio, Tao Zhao, Karlin Y. Bark
  • Patent number: 8682486
    Abstract: A robotic system that includes a mobile robot linked to a plurality of remote stations. One of the remote stations includes an arbitrator that controls access to the robot. Each remote station may be assigned a priority that is used by the arbitrator to determine which station has access to the robot. The arbitrator may include notification and call back mechanisms for sending messages relating to an access request and a granting of access for a remote station.
    Type: Grant
    Filed: July 17, 2013
    Date of Patent: March 25, 2014
    Assignee: InTouch Technologies, Inc.
    Inventors: Yulun Wang, Charles S. Jordan, Keith Phillip Laby, Jonathan Southard
  • Publication number: 20140074294
    Abstract: A dual system component-based industrial robot controller having a standard operating system, a real-time operating system, a route management module, a soft bus, a driver management module, a motion control module, a PLC module, an IO module, a teach pendent interface module and a protocol stack module. The controller employs a component-based structure and the components are operated respectively under a non real-time standard operating system and a real-time operating system, and supports distributed processing. The communications and function calls among the components are carried out by the route management module and the soft bus. The components in communication are managed through the route management module. The driver management module provides communications among other modules with a consistent interface which accords to the DS402 standard, and a servo driver that accords to this interface standard can be readily integrated into the controller.
    Type: Application
    Filed: March 4, 2013
    Publication date: March 13, 2014
    Applicants: NANJING ESTUN AUTOMATION CO., LTD., NANJING ESTUN ROBOTICS CO., LTD.
    Inventors: Bo Wu, Jiegao Wang, Jihu Wang, Jijun Yu
  • Publication number: 20140067128
    Abstract: An apparatus for providing haptic feedback to a teach pendant including a teach pendant having a housing and a processor disposed therein. The processor is in signal communication with a robot controller and is configured to monitor and control a robot. At least one haptic device is disposed on the teach pendant. The haptic device is in signal communication with the processor and configured for providing haptic feedback through the teach pendant to a user upon the occurrence of a haptic event.
    Type: Application
    Filed: September 5, 2013
    Publication date: March 6, 2014
    Inventors: Gary Kowalski, Matthew F. Denio, H. Dean McGee