Having Particular Operator Interface (e.g., Teaching Box, Digitizer, Tablet, Pendant, Dummy Arm) Patents (Class 700/264)
  • Patent number: 8660690
    Abstract: A robot control system has a portable operating device TP and a robot control device RC. The portable operating device TP is actuated by a rechargeable secondary battery and used to operate a robot R. The robot control device RC is capable of wireless communication with the portable operating device TP and performs automatic operation of the robot R based on teaching data provided by the portable operating device TP. The robot control system causes an emergency stop of the robot R when the wireless communication between the portable operating device TP and the robot control device RC is interrupted. The robot control system further includes a charging device CU, a connection monitoring section 12, and an automatic operation continuing section 11. The charging device CU charges the secondary battery by electrically connecting the portable operating device TP to the robot control device RC.
    Type: Grant
    Filed: March 17, 2009
    Date of Patent: February 25, 2014
    Assignees: Daihen Corporation, Nachi-Fujikoshi Corp.
    Inventors: Nobuhiro Tani, Yasuhiro Koujina, Yuji Nakatsugawa
  • Patent number: 8661100
    Abstract: A method for configuring a network device includes activating a sensor of the network device to receive data. The data from the sensor is analyzed to determine physical location information indicated thereby. A network address is automatically assigned to the network device based on the physical location information indicated by the data from the sensor. Related methods, systems, and apparatus are also discussed.
    Type: Grant
    Filed: August 17, 2012
    Date of Patent: February 25, 2014
    Assignee: Parata Systems, LLC
    Inventor: Gary M. Owen
  • Patent number: 8660696
    Abstract: A robot and a method of controlling the same are disclosed. The robot determines a presence or absence of a non-registration object if a registered object is not present in a photographing area, obtains an object name by communicating with a user if the presence of the non-registration object is decided, and additionally registers the object name in a database. Therefore, the robot recognizes the non-registration object present in the photographing area.
    Type: Grant
    Filed: December 11, 2009
    Date of Patent: February 25, 2014
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Ji Hyo Lee, Woo Sup Han
  • Patent number: 8639386
    Abstract: An interface (101) for converting human control input gestures to telematic control signals includes a plurality of articulating arms (107, 108, 109) 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. A button (118) is provided to switch between at least two modes, wherein when in a first mode control signals are used to control a vehicle base (502), and when in the second mode control signals are used to control a robotic arm (504) coupled to the vehicle base (502).
    Type: Grant
    Filed: May 20, 2011
    Date of Patent: January 28, 2014
    Assignee: Harris Corporation
    Inventors: Matthew D. Summer, Paul M. Bosscher, Loran J. Wilkinson, William S. Bowman, John B. Rust
  • Patent number: 8634969
    Abstract: The invention relates to a teleoperation method and a human robot interface for remote control of a machine by a human operator (5) using a remote control unit, particularly for remote control of a drone, wherein a vestibular feedback is provided to the operator (5) to enhance the situational awareness of the operator (5), wherein the vestibular feedback represents a real motion of the remote-controlled machine.
    Type: Grant
    Filed: March 17, 2009
    Date of Patent: January 21, 2014
    Assignee: Max-Planck-Gesellschaft zur Foerderung der Wissenschaften e.V.
    Inventors: Heinrich H. Buelthoff, Paolo Robuffo Giordano
  • Publication number: 20140018960
    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: Application
    Filed: July 15, 2013
    Publication date: January 16, 2014
    Applicant: Intuitive Surgical Operations, Inc.
    Inventor: Brandon Itkowitz
  • Publication number: 20140012420
    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: Application
    Filed: August 24, 2011
    Publication date: January 9, 2014
    Applicant: YAMAZAKI MAZAK CORPORATION
    Inventors: Nobuyasu Yasue, Hironobu Ishihara, Kikuo Hattori, Tsuyoshi Hattori
  • Publication number: 20130345872
    Abstract: In accordance with various embodiments, a user interface embedded into a robot facilitates robot training via direct and intuitive physical interactions.
    Type: Application
    Filed: September 17, 2012
    Publication date: December 26, 2013
    Applicant: Rethink Robotics, Inc.
    Inventors: Rodney Brooks, Bruce Blumberg, Noelle Dye, Paula Long
  • Publication number: 20130331989
    Abstract: A robot cell according to an aspect of the embodiments includes a first surface part and a second surface part. A robot that performs a work by performing a predetermined operation is arranged on the first surface part. In the second surface part, a plurality of fixing portions that are used to fix a working unit used in the work by the robot is arranged at a predetermined position, and the working unit is fixed to the second surface part by using a fixing portion selected from the fixing portions.
    Type: Application
    Filed: February 18, 2013
    Publication date: December 12, 2013
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Makoto UMENO, Takashi SUYAMA, Osamu YOSHIDA
  • Patent number: 8606405
    Abstract: The invention relates to an apparatus for the operation of a robot having a product gripper which is designed to represent at least one approach position of the product gripper for the picking up and/or placing down of a product, in particular of a food product, as a graphical element on a display device. The apparatus is designed so that the respective graphical element can be directly displaced on the display device for the setting of the coordinates of the respective approach position, with the coordinates of the respective approach position being changed automatically in response to such a displacement of the graphical element in accordance with the displacement.
    Type: Grant
    Filed: March 4, 2010
    Date of Patent: December 10, 2013
    Assignee: Weber Maschinenbau GmbH
    Inventor: Guenther Weber
  • Publication number: 20130325182
    Abstract: A robotic arm module includes a chassis having at least one arm pod. At least one arm connected to the chassis is movable between a stowed position within the at least one arm pod and a deployed position extending from the at least one arm pod. Each arm has a gripping mechanism for gripping articles of work. An attachment structure is configured to allow a host robot to grip and manipulate the robotic arm module. An electrical interface is configured to receive electronic signals in response to a user moving remote manipulators. The electronic signals cause the at least one arm to mimic the movement of the user moving the remote manipulators.
    Type: Application
    Filed: May 31, 2013
    Publication date: December 5, 2013
    Applicant: NORTHROP GRUMMAN SYSTEMS CORPORATION
    Inventors: MARK SETRAKIAN, Peter Abrahamson, Randall Adam Yates, Shi-ping Hsu
  • Patent number: 8600552
    Abstract: An apparatus executes movement control that causes a robot arm equipped with a camera to move up to an object, thereby enabling a manipulator to move to an object quickly, accurately, and stably as a control system. Specifically, when the object is not detected, the apparatus executes teaching playback control to cause a manipulator to move along a path up to a target position set in advance based on a position of the object. When the object is detected, the apparatus defines a position closer to the object than the target position as a new target position, sets a new path up to the new target position, executes teaching playback control to cause the manipulator to move along the new path until a switching condition for switching the movement control is fulfilled. When the switching condition is fulfilled, the apparatus executes visual servo control.
    Type: Grant
    Filed: October 27, 2010
    Date of Patent: December 3, 2013
    Assignee: Honda Motor Co., Ltd.
    Inventors: Ryo Nakajima, Hideari Kamachi, Gentoku Fujii
  • Patent number: 8600555
    Abstract: A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.
    Type: Grant
    Filed: January 5, 2011
    Date of Patent: December 3, 2013
    Assignee: FANUC Ltd
    Inventors: Ryo Nihei, Tetsuaki Kato, Hiroji Nishi
  • Patent number: 8588972
    Abstract: A method for creating low-cost interactive entertainment robots is disclosed. The cost of the robots is reduced by using a commodity computing device: smart phone, and by having robotic bodies use a decoder of a set of movement commands that facilitates the interoperability between a variety of smart phones and a variety of robotic bodies. Smart phones are equipped with powerful CPU, touch screen, USB, camera, microphone, Bluetooth, WI-FI, etc. They are fit for being the robot control units with the relevant robot applications installed. The cost of robotic bodies can be reduced by minimizing the amount of processing and sensing there and having them focus on mechanical movements. Furthermore, by defining and using a set of movement commands that promotes interoperability between a variety of robot control units and a variety of robotic bodies, the cost of robotic bodies can be reduced through mass production.
    Type: Grant
    Filed: April 17, 2011
    Date of Patent: November 19, 2013
    Inventor: Hei Tao Fung
  • Patent number: 8588971
    Abstract: Provided is a locomotive performance testing apparatus capable of testing the locomotive performance of a test subject while keeping the test subject at a suitable position on a treadmill. According to the locomotive performance testing apparatus (1), a robot (2) is moving its legs (22) toward a second direction on a plurality of endless belts (11) which are rotationally driven by a plurality of motors (12), respectively. In this situation, a positional deviation or the like of the robot (2) from a first desired position in a first direction different from a second direction is determined as a first deviation. Moreover, motions of the plurality of motors (12) are individually controlled to offset the first deviation.
    Type: Grant
    Filed: October 2, 2007
    Date of Patent: November 19, 2013
    Assignee: Honda Motor Co., Ltd.
    Inventor: Kenro Udono
  • Patent number: 8588977
    Abstract: An apparatus in an example comprises a manipulator, a force sensor, a signal modulator, and a visual indicator. The manipulator is employed by a user. The force sensor determines a force signal from a force applied by the manipulator on a part of an environment of the user. The signal modulator is adjustable by the user to select a switch point for the visual indicator based on relative fragility of the part of the environment. The signal modulator employs the force signal and the switch point to control the visual indicator for the user.
    Type: Grant
    Filed: November 20, 2009
    Date of Patent: November 19, 2013
    Assignee: University of Utah Research Foundation
    Inventors: Erik Daniel Engeberg, Sanford G. Meek
  • Patent number: 8588974
    Abstract: A work apparatus sets a virtual target point on an image plane in an imaging apparatus, and obtains a plurality of coordinate values of a moving unit at which a work reference point of a work unit and the virtual target point are caused to match in an image captured by the imaging apparatus. Further, the work apparatus obtains, in the image, coordinate values of the moving unit at which a position of light projection by a distance information obtaining unit and the virtual target point are caused to match, and a plurality of pieces of distance information obtained from the distance information obtaining unit at those coordinate positions. Then, the work apparatus calculates, based on the plurality of coordinate values and the plurality of pieces of distance information obtained through the above processing, a calibration parameter for the moving unit and the distance information obtaining unit.
    Type: Grant
    Filed: December 17, 2009
    Date of Patent: November 19, 2013
    Assignee: Canon Kabushiki Kaisha
    Inventors: Masato Aoba, Shunta Tate
  • Patent number: 8588981
    Abstract: A system of manipulators including several manipulators, namely robots and/or external axes, such as workstations or transport tracks, whereby each manipulator is controlled by a control system via communication means and is programmed to carry out a plurality of tasks. The system of manipulators is movable in a first coordinate system. A second coordinate system is defined for each manipulator, so that one part of the manipulator, e.g. its tool center point, stands still in the second coordinate system, which is movable relative to the first coordinate system.
    Type: Grant
    Filed: March 16, 2005
    Date of Patent: November 19, 2013
    Assignee: ABB AB
    Inventors: Håkan Fortell, Henrik Jerregård
  • Patent number: 8583274
    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 18, 2012
    Date of Patent: November 12, 2013
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Paul W. Mohr, David W. Robinson
  • Publication number: 20130288560
    Abstract: There is provided a self-propelled electronic device for use on a base surface. The electronic device includes a chassis disposable over the base surface. The chassis includes a first surface facing the base surface when the chassis is disposed thereover. A light meter is configured to detect light incident toward the first surface and determine a luminance level thereof the detected light. A light source is configured to transition between an ON and OFF states dependent on the luminance level of the detected light. A line sensor is coupled to the chassis and is configured to sense a line segment on the base surface. A movement mechanism is coupled to the chassis and is placeable on the base surface. The movement mechanism is in operative communication with the line sensor to move on the base surface in a pattern corresponding to the line sensed on the base surface.
    Type: Application
    Filed: October 4, 2012
    Publication date: October 31, 2013
    Inventor: Nader Abou-Hamda
  • Patent number: 8571714
    Abstract: The invention proposes a method for imitation-learning of movements of a robot, wherein the robot performs the following steps: observing a movement of an entity in the robot's environment, recording the observed movement using a sensorial data stream and representing the recorded movement in a different task space representations, selecting a subset of the task space representations for the imitation learning and reproduction of the movement to be imitated.
    Type: Grant
    Filed: February 22, 2010
    Date of Patent: October 29, 2013
    Assignee: Honda Research Institute Europe GmbH
    Inventors: Michael Gienger, Manuel Muehlig, Jochen Steil
  • Patent number: 8565923
    Abstract: A robot includes: a moving mechanism; a position recognition section that recognizes a current position of the robot within a guide zone having at least one guide location; and a movement control section that moves the robot to each of guide locations in the guide zone by using the moving mechanism, while causing the position recognition section to recognize the current position. The robot further includes a transmission section that transmits, every time the robot moves to each of the guide locations, contents information corresponding to the guide location to a mobile receive terminal held by a person to be guided near the robot.
    Type: Grant
    Filed: December 11, 2009
    Date of Patent: October 22, 2013
    Assignee: Fujitsu Limited
    Inventors: Miwa Okabayashi, Keiju Okabayashi
  • Publication number: 20130268120
    Abstract: The invention relates to collaborative robotic equipment comprising a supporting structure (1) supporting an arm (2) that can be moved along at least one axis and the end of which is equipped with a tool (6), characterized in that said arm comprises a first horizontal portion (21), able to move on a vertical axis (X) and connected to the supporting structure by a first pivot (211), a second pivot (212) providing the rotary connection of a second horizontal portion (22) to the first portion (21), an end fitting (3) providing connection between the second portion and a motorized tool-holding linear actuator (4) which is fitted with a manual-control stick (5) collaborating with a main force sensor (54) to control the vertical movement of the tool (6) and amplify the manual effort.
    Type: Application
    Filed: June 1, 2011
    Publication date: October 10, 2013
    Applicant: ROBOTIQUES 3 DIMENSIONS
    Inventors: Serge Grygorowicz, Ludovic Surgot
  • Publication number: 20130268119
    Abstract: Robots, robot systems, and methods may interact with users. Data from a sensor may be received by a processor associated with a robot. The processor may determine a user input based on the data from the sensor. The processor may send the user input to a remote service via a communication device. The processor may receive command data from the remote service via the communication device. The processor may cause an expressive element to perform an action corresponding to the command data.
    Type: Application
    Filed: October 26, 2012
    Publication date: October 10, 2013
    Inventors: GIL WEINBERG, IAN CAMPBELL, GUY HOFFMAN, ROBERTO AIMI
  • Patent number: 8554368
    Abstract: Methods, devices, and systems for controlling movement of a slave manipulator by an operator controlling a master manipulator in a way that the motion of that slave manipulator can be presented via a display to the operator such that the displayed position of the slave manipulator is intuitive to the operator, regardless of the actual position and orientation of the slave manipulator. Methods, devices, and systems relating to force feedback associated with medical robotic procedures.
    Type: Grant
    Filed: April 16, 2008
    Date of Patent: October 8, 2013
    Inventors: Tim Fielding, Perry Newhook
  • Patent number: 8554367
    Abstract: Disclosed herein is a robot, which has a simple structure and makes a gesture in a curved shape. The robot includes a body part, at least one cam member symmetrically arranged at both sides of the inside of the body part, an outer cover member surrounding the at least one cam member, and a linear moving device to linearly move the at least one cam member. The shape of the outer cover member is varied, under the condition that the outer cover member is adhered closely to the at least one cam member, according to the movement of the at least one cam member.
    Type: Grant
    Filed: January 20, 2010
    Date of Patent: October 8, 2013
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Hong Won Kim, Woo Sup Han, Yong Jae Kim
  • Patent number: 8527091
    Abstract: A robotic system implements a collision avoidance scheme and includes a first robotic manipulator and a first controller configured to control the first robotic manipulator for movement along a first pre-planned actual path. A second controller is configured to control movement of a second robotic manipulator for movement along a second pre-planned intended path and deviating therefrom to move in a dodging path away from the first pre-planned actual path based upon determining a potential collision with the first robotic manipulator without prior knowledge of the first pre-planned actual path.
    Type: Grant
    Filed: February 6, 2013
    Date of Patent: September 3, 2013
    Assignee: Harris Corporation
    Inventors: Paul Michael Bosscher, Daniel Ryan Hedman
  • Publication number: 20130226346
    Abstract: A method for controlling a robot includes the step of controlling operation of the robot with a robot controller executing a control program having a plurality of process instructions. Associated process data for each of predetermined ones of the process instructions executed by the robot controller is then collected. The collected process data is subsequently stored in a form uniquely identified by at least one unique identifier. The at least one unique identifier may include both the program identifier and the process instruction identifier. The collected process data may be stored on the robot controller.
    Type: Application
    Filed: February 27, 2012
    Publication date: August 29, 2013
    Inventors: Scott Dreslinski, Bradley O. Niederquell
  • Patent number: 8521331
    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: November 13, 2009
    Date of Patent: August 27, 2013
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Brandon Itkowitz
  • Publication number: 20130218346
    Abstract: A remote control device able to connect to a communications network generates robot control messages are used for the remote control of a robot also able to be connected to the communications network. The remote control device creates a robot control file and an indirect reference to the robot control file which a user can select for inclusion in a robot control message. Once selected, the indirect reference to a robot control file causes the indirectly referenced robot control file to be included in a message generated by the remote control device. The remote control device establishes a communications link with the communications network, and sends the message, with the robot control file, to the robot also connected to the communications network. The robot receives the robot control message and performs at least one action according to the instruction included in the robot control message.
    Type: Application
    Filed: August 21, 2012
    Publication date: August 22, 2013
    Inventor: TIMOTHY D. ROOT
  • Patent number: 8513560
    Abstract: A spot welding system including a spot welding gun having a pair of electrodes disposed opposite to each other, and a servo motor for allowing the pair of electrodes to approach each other and separate from each other; a robot for movably holding either a spot welding gun or a workpiece so that a workpiece is disposed between the pair of electrodes of the spot welding gun; a physical quantity detection section for detecting a physical quantity correlative to torque or velocity of the servo motor; a position detection section for detecting positions of the pair of electrodes; a mode switching section for switching, by a switching command, an operation mode of the spot welding system between a spot welding mode for spot-welding the workpiece and a position correction mode for correcting a spot welding position of the workpiece; and a processing section for performing a spot welding process in the spot welding mode and a position correction process in the position correction mode.
    Type: Grant
    Filed: November 11, 2010
    Date of Patent: August 20, 2013
    Assignee: Fanuc Corporation
    Inventors: Hiromitsu Takahashi, Masanobu Hatada, Toshimichi Aoki, Akinori Nishimura
  • Patent number: 8515577
    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: November 5, 2007
    Date of Patent: August 20, 2013
    Inventors: Yulun Wang, Charles S. Jordan, Keith Phillip Laby, Jonathan Southard
  • Publication number: 20130211597
    Abstract: A control system that guides a robot or articulated device with a laser distance meter for 3D motion, or guides a robot or articulated device with a computer pointing device (such as a mouse) for 2D or 3D motion. User needs to point to a desired physical location of the end point, and then the difficult work of finding the right joint angles to get there is done by a computer. System works like hand eye coordination. The hand goes wherever the eye is pointed so long as the eye is pointed within the reachable boundary of the jointed arm or articulated device.
    Type: Application
    Filed: December 12, 2012
    Publication date: August 15, 2013
    Inventor: Jerry Neil SOMMERVILLE
  • Publication number: 20130211594
    Abstract: A system for controlling a human-controlled proxy robot surrogate is presented. The system includes a plurality of motion capture sensors for monitoring and capturing all movements of a human handler such that each change in joint angle, body posture or position; wherein the motion capture sensors are similar in operation to sensors utilized in motion picture animation, suitably modified to track critical handler movements in near real time. A plurality of controls attached to the proxy robot surrogate is also presented that relays the monitored and captured movements of the human handler as “follow me” data to the proxy robot surrogate in which the plurality of controls are configured such that the proxy robot surrogate emulates the movements of the human handler.
    Type: Application
    Filed: August 24, 2012
    Publication date: August 15, 2013
    Inventor: Kenneth Dean Stephens, JR.
  • Patent number: 8504199
    Abstract: A robot control system includes a start position storage that stores a start position or orientation in a manual operation, a redundancy trajectory storage that successively stores a position or orientation of optimized redundancy during the manual operation, and a reverse movement controller which performs movement control for changing the position or orientation of a robot hand, which have been changed by the manual operation, in a reverse direction from the current position or orientation to the start position or orientation. The reverse movement controller also performs movement control for reversely changing the position or orientation of the redundancy by following the position or orientation of the redundancy that have been successively stored in the redundancy trajectory storage.
    Type: Grant
    Filed: November 8, 2010
    Date of Patent: August 6, 2013
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventor: Ken'ichi Yasuda
  • Patent number: 8494677
    Abstract: A motion path search device includes a motion space identification unit which identifies, as first spaces, three-dimensional spaces passed through by a movable part in direct teaching operations performed by an operator, and a spatial difference calculation unit that calculates a first differential space that is a part of one of the first spaces identified as a result of one of the direct teaching operations and that has no overlap with another of the first spaces identified as a result of another of the direct teaching operations that precedes the one of the direct teaching operations. A feedback unit provides the operator with information regarding the first differential space, and a path search unit searches for a motion path of the movable part within a first accessible space resulting from combining the first spaces after the direct teaching operations.
    Type: Grant
    Filed: May 29, 2012
    Date of Patent: July 23, 2013
    Assignee: Panasonic Corporation
    Inventor: Kenji Mizutani
  • Publication number: 20130184871
    Abstract: A robot arm includes a grip part which is structured to be separated from an end effector attached to the robot arm. When the grip part is gripped by the user and shifted, the robot arm shifts tracking the grip part. Further, the grip part includes contact sensors, and a tracking control method is switched according to the value of the contact sensors.
    Type: Application
    Filed: March 5, 2013
    Publication date: July 18, 2013
    Applicant: PANASONIC CORPORATION
    Inventor: Panasonic Corporation
  • Patent number: 8489235
    Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
    Type: Grant
    Filed: December 3, 2010
    Date of Patent: July 16, 2013
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Frederic H. Moll, David J. Rosa, Andris D. Ramans, Steven J. Blumenkranz, Gary S. Guthart, Gunter D. Niemeyer, William C. Nowlin, J. Kenneth Salisbury, Jr., Michael J. Tierney
  • 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: 8473101
    Abstract: A coordinated action robotic system may include a plurality of robotic vehicles, each including a platform and at least one manipulator movable relative thereto. The robotic system may also include a remote operator control station that may include a respective controller for each manipulator. The remote operator control station may also include a mapping module to map movement of each manipulator relative to its platform. Operation of the controllers for manipulator movement in a given direction produces corresponding movement of the respective manipulators in the given direction such that the robotic vehicles may be controlled as if they were one robotic vehicle. The coordinated movement may result in increased operational efficiency, increased operational dexterity, and increased ease of controlling the robotic vehicles.
    Type: Grant
    Filed: August 21, 2009
    Date of Patent: June 25, 2013
    Assignee: Harris Corporation
    Inventor: Matthew D. Summer
  • Publication number: 20130151010
    Abstract: A robot system includes a robot, a robot controller, and a portable remote operating device. The portable remote operating device includes a display unit, an acquiring unit, and a display switching unit, and is connected to the robot controller. The acquiring unit acquires a reception/transmission process and a customized screen, which are created by a user. The display switching unit switches between the customized screen and a previously-prepared standard screen at a predetermined time during the operation of the robot.
    Type: Application
    Filed: May 1, 2012
    Publication date: June 13, 2013
    Applicant: KABUSHIKI KAISHA YASHAWA DENKI
    Inventors: Yumie Kubota, Seishiro Sakaguchi
  • Patent number: 8457786
    Abstract: An industrial robot system has at least one robot (1) having a robot coordinate system (xr1, yr1, zr1) and a positioner (2) having a positioner coordinate system (xp, yp, zp) and adapted to hold and change orientation of a workpiece by rotating about a rotational axis. Target points for the robot are programmed with respect to an object coordinate system (xo1, yo1, zo1). A robot controller (3), at least three calibration objects (24a-c) arranged on the positioner, and a calibration tool (26) held by the robot are provided. The positions of the calibration objects are determined for at least three different angles of the rotational axis of the positioner, to determine the direction of the rotational axis of the positioner and relation between the object coordinate system and the positioner coordinate system by performing a best fit between known and determined positions of the calibration objects.
    Type: Grant
    Filed: November 25, 2008
    Date of Patent: June 4, 2013
    Assignee: ABB Technology Ltd
    Inventor: Bjorn E. Andersson
  • Patent number: 8457787
    Abstract: The invention relates to a method for the targeted reaction in the event of contact between an element (4, 6) pertaining to a machine and an object (5, 7), and a corresponding control device (14). Upon identification of contact between the machine element (4, 6) and the object (5, 7), if the machine axle is shifted into rapid displacement mode in an automated manner during the contact by means of a control device (14), further displacement of the machine axle (3, 41, 42, 43) is stopped by the drive (42, 43) of the machine (3, 41, 42, 43) being immediately cut off. Upon identification of contact, if the machine axle is shifted into slow displacement mode in an automated manner during the contact by means of a control device (14), collision detection is carried out, further displacement of the machine axle (3, 41, 42, 43) being stopped if a collision is detected.
    Type: Grant
    Filed: March 29, 2006
    Date of Patent: June 4, 2013
    Assignee: Siemens Aktiengesellschaft
    Inventors: Robert Gliβmann, Michael Kaever, Stephan Platen
  • Patent number: 8447428
    Abstract: The invention relates to a method of editing movements of a robot on the basis of computer equipment able to communicate with the robot, the method comprising steps in which: —a plurality of reference positions of the robot are generated; —at least one time sequence of positions is generated, the time sequence of positions comprising the plurality of reference positions, and transitional movements between two successive reference positions; and the robot is made interdependent with the displacement means included in the computer equipment and causing the displacement of the robot. The robot is a real robot and/or a virtual robot displayed on a screen of the computer equipment.
    Type: Grant
    Filed: July 1, 2008
    Date of Patent: May 21, 2013
    Assignee: Aldebaran Robotics S.A.
    Inventors: Bruno Maisonnier, Jèróme Monceaux
  • Publication number: 20130116828
    Abstract: A method and an apparatus for displaying three-dimensional workcell data includes a hand-held pendant that is provided with 3-D workcell data representing a model of a machine and associated components in a workcell. The hand-held pendant has a display that generates a 3-D visual representation of the workcell data. The pendant can be operated by a user to manipulate the visual representation to change a user viewpoint and to show motion of the machine with associated process information.
    Type: Application
    Filed: November 2, 2012
    Publication date: May 9, 2013
    Applicant: FANUC ROBOTICS AMERICA CORPORATION
    Inventor: FANUC ROBOTICS AMERICA CORPORATION
  • Publication number: 20130103199
    Abstract: Disclosed herein is a surgical robot control apparatus, in which a control stick member is connected to an upper surface of a base member, pivots and rotates around a connection portion, and is provided with a rotary button control member, a mode switching button member, and a control member which can be operated with the thumb Thus, the surgical robot control apparatus can realize multiple functions. A surgeon can grasp the control stick member to easily control operation of a surgical robot and can perform other work using the other hand. Thereby, when performing surgery, the surgical robot control apparatus remarkably reduces the fatigue of the surgeon, thereby providing a surgical environment that is convenient and safe and provides maximized efficiency. Further, the surgical robot control apparatus can increase the safety of a patient using a safety device based on a buttons and software while performing surgery.
    Type: Application
    Filed: August 14, 2012
    Publication date: April 25, 2013
    Applicant: SNU R&DB FOUNDATION
    Inventors: Sungwan KIM, Youdan KIM, Hyeonhoe KIM, Hee Chan KIM, Chan Gook PARK, Choonghee LEE, Chiwon LEE, Yong Hyun PARK, Seungwoo NOH, Chiyul YOON
  • Publication number: 20130096719
    Abstract: A control interface for inputting data into a controller and/or controlling a robotic system is displayed on a human-to-machine interface device. The specific configuration of the control interface displayed is based upon the task to be performed, the capabilities of the robotic system, the capabilities of the human-to-machine interface device, and the level of expertise of the user. The specific configuration of the control interface is designed to optimize the interaction between the user and the robotic system based upon the above described criteria.
    Type: Application
    Filed: October 13, 2011
    Publication date: April 18, 2013
    Applicants: The U.S.A. As Represented by the Administrator of the National Aeronautics and Space Administration, GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Adam M. Sanders, Matthew J. Reiland, Douglas Martin Linn, Nathaniel Quillin
  • Patent number: 8423185
    Abstract: A robot system includes a robot control device connected to a plurality of robots each having a plurality of joints and a robot teaching device configured to communicate with the robot control device so as to teach and operate the robots. The robot control device automatically select one of the robots to be operated in accordance with a change in a display state of a display of the robot teaching device.
    Type: Grant
    Filed: August 7, 2009
    Date of Patent: April 16, 2013
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Seishiro Sakaguchi, Toshiaki Iimori
  • Publication number: 20130085510
    Abstract: The systems and methods disclosed herein generally involve a robotically-assisted surgical system in which a platform for supporting a patient is physically and operatively coupled to a surgical robot and an associated controller. As a result, the position of the patient can be controlled remotely using the robot, and the controller can have an awareness of the position and orientation of the patient with respect to the operating room and with respect to various components of the robot. Such systems can thus maintain a fixed frame of reference between the patient and one or more end effectors of the surgical robot, eliminating the need for recalibration of the system due to patient movement.
    Type: Application
    Filed: September 30, 2011
    Publication date: April 4, 2013
    Applicant: ETHICON ENDO-SURGERY, INC.
    Inventors: David Stefanchik, Omar J. Vakharia
  • Patent number: 8412379
    Abstract: A robot system having a manual guide device connected to the robot in wireless data communication with a portable terminal for use in programming the robot.
    Type: Grant
    Filed: November 11, 2009
    Date of Patent: April 2, 2013
    Assignee: Comau S.p.A.
    Inventors: Gian Paolo Gerio, Luca Lachello, Fabrizio Romanelli, Bruno Cicciarello, Michele Fraccaroli, Lorenzo Molinari Tosatti, Diego Parazzoli, Ettore Scari, Matteo Danesi