Including Velocity Or Acceleration Control Patents (Class 700/63)
  • Patent number: 11116460
    Abstract: An X-ray imaging apparatus includes a controller configured or programmed to perform control to change an amount of assist from a drive in manually moving a moving body based on at least one of operation of an operation button configured to receive an operation for moving the moving body or an operation for aligning the moving body and a current position and target position of the moving body.
    Type: Grant
    Filed: October 10, 2019
    Date of Patent: September 14, 2021
    Assignee: Shimadzu Corporation
    Inventors: Ken Shirota, Junpei Sakaguchi, Hiroshi Okumura
  • Patent number: 10611024
    Abstract: Described is a method and device of a computational motion engine iteratively computing a numerical “jerk,” the motion derivative of acceleration, using real-time feedback from a system under motion control, to reach both a desired position and desired velocity of a next waypoint. Output from the motion engine is only desired acceleration, which is then passed to a motor driver, free of intermediate computations of either position or velocity. A second, inside feedback loop maintains desired acceleration or torque at the motor shaft based on the acceleration output of the motion engine, which may use non-linear correction tables. Waypoints comprising both position and velocity are inputs to the motion engine. Time to next waypoint is computed rather than provided as an input. Optimization of moves to the next waypoint is based on smoothest velocity change during the move. Embodiments include mechanical, two-axis SCARA arm motion systems.
    Type: Grant
    Filed: April 26, 2017
    Date of Patent: April 7, 2020
    Assignee: Polarworks AS
    Inventors: Simen Skogsrud, Thomas Boe-Wiegaard
  • Patent number: 10457382
    Abstract: A system and method is disclosed for providing dynamic tactile feedback. A tactile feedback generator is mounted in each vehicle in a group of vehicles and is coupled to provide a controllable tactile feedback signal to an operator of each vehicle in the group of vehicles upon receipt of an activation signal. A tactile feedback control device is mounted in each vehicle in the group of vehicles and is coupled to the tactile feedback generator for selectively providing an activation signal and a tactile feedback characteristic signal thereto. An accelerometer is positioned within each vehicle in the group of vehicles. A turbulence processing unit is coupled to receive accelerometer data from each accelerometer. The turbulence processing unit processes the accelerometer data to identify characteristics of a current level of turbulence-induced vibration, and, based thereon, selects and provides updated tactile feedback characteristics to each tactile feedback control device.
    Type: Grant
    Filed: April 13, 2017
    Date of Patent: October 29, 2019
    Assignee: THE BOEING COMPANY
    Inventors: Katie M. Reid, Jason W. Clark, Andres Chapiro Fermon
  • Patent number: 9904261
    Abstract: A drive controller includes a speed compensation unit that performs a speed compensation for an object based on a result of comparison made by a speed comparator that compares a current speed of the drive object with a speed indicated by a speed command. The speed compensation unit includes a position-information-based speed gain setting unit that sets a position-information-based variable gain based on position-information-based speed gain information representing a relationship between a position of the object and position-information-based variable gain that varies depending on a load torque of the motor when the object is present at a predetermined position, and a speed compensation processor that performs a speed compensation based on a result of the comparison in the speed comparator and the position-information-based variable gain set by the position-information-based speed gain setting unit.
    Type: Grant
    Filed: January 19, 2015
    Date of Patent: February 27, 2018
    Assignee: MITUTOYO CORPORATION
    Inventor: Shiro Igasaki
  • Patent number: 9833896
    Abstract: There are provided a wearable robot and a method of controlling the same. The method includes obtaining a joint angle and a joint angular velocity of a plurality of joints, calculating a target joint angle of one joint among the plurality of joints using a joint angle and a joint angular velocity of at least one joint among the other joints, calculating assistive torque to be applied to the one joint using the calculated target joint angle, and outputting the calculated assistive torque to the one joint.
    Type: Grant
    Filed: December 1, 2014
    Date of Patent: December 5, 2017
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Ji Min Kim, Gyung Rock Kim, Jong Do Choi, Tae Sin Ha
  • Patent number: 9740197
    Abstract: A motor control apparatus includes a detection unit detecting a motor rotational frequency, a storage unit storing an allowable torque at the motor rotational frequency detected by detection unit, a first torque offset generated in a direction opposite to a moving direction of a movable body, a second torque offset generated in one direction regardless of the moving direction of the movable body, a rotor inertia moment, a load inertia moment, and a conversion factor for converting a motor rotation angle in rotary motion of the motor to a moving distance in linear motion of the movable body, and an acceleration calculation unit calculating an acceleration command of the motor for each moving direction of the movable body and each acceleration operation and deceleration operation using the allowable torque, the first torque offset, the second torque offset, the rotor inertia moment, the load inertia moment, and the conversion factor.
    Type: Grant
    Filed: November 4, 2015
    Date of Patent: August 22, 2017
    Assignee: Fanuc Corporation
    Inventor: Hidetoshi Uematsu
  • Patent number: 9604718
    Abstract: A method and device for generating at least one set point from a flight control set point, a motor control set point and an aircraft guidance set point, a related computer program product and an aircraft are disclosed. In one aspect, the method includes acquiring a mechanical property relative to at least one corresponding primary control member and computing at least one set point from among one or more primary set points and one or more secondary set points. The method also includes generating at least one of the computed set point(s) and switching, based on the mechanical property acquired for the corresponding primary control member, between a first mode in which one or more primary set points are generated and a second mode in which one or more secondary set points are generated.
    Type: Grant
    Filed: June 15, 2015
    Date of Patent: March 28, 2017
    Assignee: THALES
    Inventors: Sylvain Lissajoux, Eric Guillouet, Thibaut Debard
  • Patent number: 9026235
    Abstract: An automation and motion control system for theatrical objects, such as theatrical props, cameras, stunt persons, lighting, scenery, drapery or other similar types of devices or items, is provided to coordinate the movement of the objects on a large scale and/or to control the operation of the objects.
    Type: Grant
    Filed: December 13, 2013
    Date of Patent: May 5, 2015
    Assignee: Tait Towers Manufacturing LLC
    Inventor: Scott Fisher
  • Patent number: 9020618
    Abstract: The present disclosure generally relates to techniques for controlling a device to perform a function, for example, window washing. A controller device may be adapted to control a controlled device. In response to hand movement, an accelerometer in the controller may obtain acceleration and/or angle signals. The signals may be processed in order to identify a command that may be used to control the controlled device. The controlled device may be secured to, for example, a window. Upon identifying command(s) initiated from the controller device, the controlled device may respond to the commands. The controlled device may include, for example, a cleaning unit. The command(s) may be instructions for the controlled device to move about the window and activate the cleaning system.
    Type: Grant
    Filed: April 26, 2010
    Date of Patent: April 28, 2015
    Assignee: Empire Technology Development LLC
    Inventors: Xin Wu, Liang Gao, Kewan Chen
  • Patent number: 9020617
    Abstract: A control system includes a clustered architecture having a master controller, a central control section including one or more first remote controllers under direct control of the master controller, and a distributed control section including a cluster controller controlled by the master controller. The cluster controller controls the activities of one or more second remote controllers. Each of the first and second remote controllers are utilized to drive one or more axes.
    Type: Grant
    Filed: January 24, 2011
    Date of Patent: April 28, 2015
    Assignee: Brooks Automation, Inc.
    Inventors: Martin Hosek, Stuart Beale, Roumen Botev, Matthew Coady, Christopher Hofmeister, Mark Ives, Jairo Moura, Robert Caveney
  • Patent number: 8922335
    Abstract: A weapons container for releasing a defense weapon includes a cabinet, a cabinet door, and an interior securing the defense weapon. Upon detection of a fingerprint input by a biometric sensor, a surveillance camera captures video and an audio intercom provides communication with a central command center. A recording system saves the video and audio to a storage database. A delay release lock secures the defense weapon for an amount of time and releases the defense weapon depending on a signal from the central command center. A communications system is connected over a network to the central command center, a local authority, and an emergency responder. The communications system notifies the local authority or the emergency responder upon detection of the fingerprint input and streams the video and audio to the central command center and at least one of the local authority and the emergency responder over the Internet.
    Type: Grant
    Filed: June 4, 2014
    Date of Patent: December 30, 2014
    Inventors: Timothy Deweese, Brandon Delibro
  • Patent number: 8901870
    Abstract: A synchronous control apparatus capable of switching cam curves with ease and without delay is provided. A cam curve storing unit stores a representation of a first cam curve and a representation of a second cam curve. Before switch-over of the cam curves, a control unit finds a position command value to a driven-side member, after the switch-over of the cam curves, the control unit finds the position command value, and in a switch-over period of the cam curves, the control unit finds the position command value to the driven-side member based on a value obtained by utilizing first data based on the first cam curve or a position of the driven shaft and second data based on the second cam curve to provide a weighted average at each control timing.
    Type: Grant
    Filed: July 12, 2012
    Date of Patent: December 2, 2014
    Assignee: Omron Corporation
    Inventors: Takaaki Yamada, Hiroshi Sawaragi, Junji Shimamura
  • Patent number: 8897901
    Abstract: A positive & negative jerk interval parameter setting section divides an acceleration & deceleration interval of an acceleration command curve into an acceleration increasing interval, a constant acceleration interval, and an acceleration decreasing interval, and sets the length of time of each interval independently of each other. A positive & negative jerk interval trigonometric command generating section employs an acceleration command curve generated based on a trigonometric function of a ½ cycle, thereby generating a position command or a speed command.
    Type: Grant
    Filed: April 21, 2010
    Date of Patent: November 25, 2014
    Assignee: Mitsubishi Electric Corporation
    Inventors: Kiyoshi Maekawa, Yuko Takehana, Masahiko Hirano
  • Patent number: 8862276
    Abstract: A method for the automatic irrigation of plants, wherein the temporal progression of soil moisture is determined from measured soil moisture values, and said progression is used for the calculation of an optimized irrigation time duration, such that both water excess in the soil and soil drying are avoided as much as possible. Preferably, the time duration of irrigation is constantly evaluated and optimized using comparisons of measured values with prespecified moisture- and dryness threshold values (GWmoist, GWdry), and automatically adjusted to changing environmental conditions and/or plant requirements.
    Type: Grant
    Filed: August 19, 2009
    Date of Patent: October 14, 2014
    Assignee: Plantcare AG
    Inventors: Walter Schmidt, Yucel Toprak
  • Publication number: 20140236317
    Abstract: A controller that controls a device on the basis of a time chart, which controls a servo axis on the basis of a velocity chart that plots a velocity of the servo axis and/or a position chart that plots a position of the servo axis, with respect to a time axis; executes return operation for returning the servo axis to an initial position set in the time chart in advance after operation described in the time chart has been executed; and executes regress operation for regressing to a start point of the time chart, and repetitively executing the time chart after the return operation has been completed.
    Type: Application
    Filed: February 17, 2014
    Publication date: August 21, 2014
    Applicant: Kabushiki Kaisha Yaskawa Denki
    Inventors: Takeshi NAGATA, Koji HARA, Yasufumi YOSHIURA, Kenichi HIROSE
  • Patent number: 8621745
    Abstract: A stretch film sleeve label applicator for separating a stretchable sleeve label from a web of such labels and applying the label to an item, such as a container, is disclosed. The applicator is particularly useful for applying high stretch labels to highly contoured containers. The applicator is configured to receive a series of labels in an elongated, continuous web of flat, 2-ply sleeve labels, open the continuous sleeve of labels, separate an individual label from a next successive label, stretch the label to permit its application to an item to be labeled, such as a container, and apply the label in an accurate and precise location on the container. The applicator comprises three primary components: a label feeding assembly, a label separating assembly and a label stretching assembly. Various embodiments of the label feeding assembly, label separating assembly and label stretching assembly are disclosed.
    Type: Grant
    Filed: December 12, 2007
    Date of Patent: January 7, 2014
    Assignee: CCL Label GmbH
    Inventors: Indarjit Deonarine, Gerard B. Doyle, Alfred Werzi
  • Publication number: 20140005804
    Abstract: A set of costs representing operations of a machine along a set of trajectories connecting a set of exit and entry points on contours of a pattern is determined. Each trajectory represents an operation of the machine proceeding from an exit point with an exit velocity to an entry point with an entry velocity according to dynamics of the machine. The set of trajectories includes at least one trajectory representing the operation along a contour with non-zero velocities at corresponding exit and entry points, and at least one trajectory representing the operation between different contours with non-zero velocities at the corresponding exit and entry points. A sequence of the trajectories optimizing a total cost of operation of the machine tracking the pattern is determined based on the costs, and a set of instructions for controlling the machine is determined according to the sequence.
    Type: Application
    Filed: June 27, 2012
    Publication date: January 2, 2014
    Inventor: Matthew Brand
  • Patent number: 8583271
    Abstract: An apparatus may comprise a nondestructive evaluation system and a cutting system. The nondestructive evaluation system may be configured to inspect a processed portion of a structure. The nondestructive evaluation system may be configured to determine whether an inconsistency is present in the processed portion. The nondestructive evaluation system may also be configured to generate information about a location of the inconsistency. The cutting system may be configured to cut a number of parts out of the processed portion of the structure in which the inconsistency may be at least substantially excluded from the number of parts.
    Type: Grant
    Filed: March 16, 2009
    Date of Patent: November 12, 2013
    Assignee: The Boeing Company
    Inventors: Roger W. Engelbart, Steven J. Burpo, Michael P. Renieri
  • Publication number: 20130261771
    Abstract: The present invention reuses an accelerometer, or, more precise, sensed accelerations of a body sensor for user control of the body sensor. This is achieved by detecting predefined patterns in the acceleration signals that are unrelated to other movements of the patient. These include tapping on/with the sensor, shaking, and turning the sensor. New procedures are described that make it possible to re-use the acceleration sensing for reliable gesture detection without introducing many false positives due to non-gesture movements like respiration, heart beat, walking, etc.
    Type: Application
    Filed: December 14, 2011
    Publication date: October 3, 2013
    Applicant: KONINKLIJKE PHILIPS ELECTRONICS N.V.
    Inventor: Warner Ten Kate
  • Patent number: 8485681
    Abstract: A smart safety glove, wristband, method and kit is shown and described. In one embodiment, the glove or wristband includes an enclosing shell, a printed circuit board and a light configured to indicate intentions to traffic. In particular embodiments, the glove is in a sleep mode in a substantially horizontal position and the light is illuminated in a substantially vertical position. A method of hand signaling using a smart safety glove includes positioning the smart glove from the substantially horizontal sleep position to a predefined substantially vertical signaling position.
    Type: Grant
    Filed: September 13, 2011
    Date of Patent: July 16, 2013
    Inventor: Lars Richter
  • Patent number: 8414469
    Abstract: A medical robotic system includes an entry guide with articulatable instruments extending out of its distal end, an entry guide manipulator providing controllable four degrees-of-freedom movement of the entry guide, and a controller configured to limit joint velocities in the entry guide manipulator so as to prevent movement of tips of the articulatable instruments from exceeding a maximum allowable linear velocity when the entry guide manipulator is being used to move the entry guide.
    Type: Grant
    Filed: June 27, 2008
    Date of Patent: April 9, 2013
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Nicola Diolaiti
  • Patent number: 8392007
    Abstract: This disclosure is directed to providing audio playback to a mobile device user. According to one aspect of this disclosure, a mobile device may be to modify audio playback in response to detecting an inclination of the mobile device (and thereby a user) with respect to a reference plane. According to another aspect of this disclosure, a mobile device may be configured to automatically identify an audible sound that may be motivational to a user, and store an indication of the audible sound in response to the identification. According to another aspect of this disclosure, a mobile device may automatically play back a previously identified motivational song in response to detection of user movement.
    Type: Grant
    Filed: September 30, 2011
    Date of Patent: March 5, 2013
    Assignee: Google Inc.
    Inventors: Tomas Izo, Gal Chechik
  • Patent number: 8386069
    Abstract: A method of synchronizing a pickup of a handling device, a computer readable medium and a control device are disclosed. During movement, a pickup of a multi-axis handling device is synchronized with an object to be picked up which is carried along by a conveyor device. Furthermore, the pickup is synchronized with a moving conveyor device in order to put the object down onto the conveyor device. The pickup is synchronized along a computationally-determined polynomial path of at least the 3rd order between a starting point and a destination point.
    Type: Grant
    Filed: July 7, 2009
    Date of Patent: February 26, 2013
    Assignee: Siemens Aktiengesellschaft
    Inventors: Guido Hartmann, Tino Heber, Andre Heydenreich, Holger Hüfner, Raimund Kram
  • Patent number: 8364289
    Abstract: In a method and apparatus for moving a free-swinging load that is suspended relative to a suspension point, a first path along which the load should be moved from a starting point to a destination, with a first location-dependent velocity, is provided to a processor. In the processor, a second path is automatically determined along which the suspension point should be moved with a second location-dependent velocity to cause the load to move along the first path from the starting point to the destination with the first location-dependent velocity. A movement-imparted mechanism, connected to the suspension point, is automatically controlled from the processor to move the freely-suspended load from the starting point to the destination by moving the suspension point along the second path with the second location-dependent velocity.
    Type: Grant
    Filed: November 8, 2007
    Date of Patent: January 29, 2013
    Assignee: Kuka Roboter GmbH
    Inventor: Uwe Zimmermann
  • Patent number: 8244387
    Abstract: A method of controlling an operation of an operating member from a first position to a second position, wherein an operating speed of the operating member is initially increased from zero while an acceleration value of the operating member is first increased from zero and then decreased to zero, and the operating speed is subsequently decreased while the acceleration value is first decreased from zero and then increased to zero, and wherein a derivative of the acceleration value of the operating member is controlled such that the derivative during an acceleration increasing time and the derivative during an acceleration decreasing time are asymmetric with respect to each other. Also disclosed in an operating device including the operating member and a control device having an asymmetric control portion configured to practice the control method.
    Type: Grant
    Filed: August 25, 2009
    Date of Patent: August 14, 2012
    Assignee: Fuji Machine Mfg. Co., Ltd.
    Inventor: Ye JianMing
  • Patent number: 8175725
    Abstract: Adapting move constraints for position based moves in a trajectory generator. Specification of a trajectory may be received. The specification may include a geometry of the trajectory, where the geometry specifies a desired trajectory length. A plurality of constraints for the trajectory may be received. The plurality of constraints may include one or more of a velocity, acceleration, or jerk constraint. A motion control profile may be generated based on the plurality of constraints. The method may include determining if a distance of the motion control profile exceeds the desired trajectory length. If the distance of the motion control profile exceeds the desired trajectory length, one or more values of the plurality of constraints may be decreased to make the distance of the motion control profile less than or equal to the desired trajectory length.
    Type: Grant
    Filed: September 8, 2008
    Date of Patent: May 8, 2012
    Assignee: National Instruments Corporation
    Inventor: Sundeep Chandhoke
  • Patent number: 8155781
    Abstract: In order to improve movement control in an automation system for movement control, profiles for movement control are freely defined via functions. Polynomial interpolations or spline interpolations are used for the defined functions, the interpolations being of a higher degree. The profile for movement control has a command variable and a secondary variable, at least one of which is time-based or position-related.
    Type: Grant
    Filed: December 27, 2002
    Date of Patent: April 10, 2012
    Assignee: Siemens Aktiengesellschaft
    Inventors: Johannes Birzer, Tino Heber, Raimund Kram
  • Patent number: 8121711
    Abstract: Controlling movement of movable arms on motion shafts of a measurement machine is disclosed. Each motion shaft of the measurement machine are divided into different motion ranges. The movable arms move in different motion ranges at different speeds. Motion direction of the movable arms is associated with an operation direction of a joystick.
    Type: Grant
    Filed: June 30, 2009
    Date of Patent: February 21, 2012
    Assignees: Hong Fu Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventors: Chih-Kuang Chang, Hua-Wei Yang
  • Patent number: 8090474
    Abstract: An apparatus and a method for controlling at least one machine, such as an industrial robot, having drives, safety peripheral components and a controller for a machine, and also having a safety controller. In this arrangement, the safety controller has superordinate access over the respective machine controller both to the machine drives and to the safety peripherals. This achieves the most easily configurable integration of the safety control loop into the operating control loops.
    Type: Grant
    Filed: December 20, 2006
    Date of Patent: January 3, 2012
    Assignee: KUKA Laboratories GmbH
    Inventor: Bernd Fiebiger
  • Patent number: 8050780
    Abstract: A servo-controlled system is disclosed for providing simulated feel equivalent to that of traditional mechanical hand controllers. Processed position and force sensor signals are used in a feedback loop that controls the motor mechanically connected to the stick. The feedback loop comprises a low-level motor feedback loop, and high-level force feel loop. The latter comprises static and dynamic performance components. The system allows variable and additional force cues to be specified externally to the system and felt by the operator, and/or external signal to backdrive the stick to follow a specified motion. The control framework permits the electronic coupling of the motion and applied forces by pilots in a dual arrangement while retaining the above-mentioned features. It simulates cross-coupling mechanical compliance due to force fight between pilots, detents and asymmetric force feel gradients. Parameters associated with loops and performance components can be specified independently.
    Type: Grant
    Filed: November 6, 2002
    Date of Patent: November 1, 2011
    Inventors: Claude Tessier, Jonathan Martineau
  • Patent number: 8040087
    Abstract: A control device for driving a motor which includes a rotor and a stator is provided. The control device includes a Hall detector and driving circuit. The Hall detector detects magnetic flux variation when the rotor rotates and generates a first detection signal and a second detection signal. The first and second detection signals represent current rotation location when the rotor rotates. The driving circuit generates a driving signal to drive the stator. The driving circuit turns on or off the driving signal according to a control signal and the relationship between the first and second detection signals.
    Type: Grant
    Filed: October 9, 2008
    Date of Patent: October 18, 2011
    Assignee: Princeton Technology Corporation
    Inventors: Che-Wei Hsu, Chi-Lin Hsu
  • Patent number: 8032605
    Abstract: A method of causing movement of at least one target device based on at least one of a plurality of motion programs stored on a content server connected to a network. At least one identified characteristic of the at least one target device is identified. At least one selected motion program is selected from the plurality of motion programs stored on the content server. The at least one identified characteristic and the at least one selected motion program are transferred to the motion server. A motion media data set is generated at the motion server for the target motion device based on the at least one identified characteristic of the target device and the at least one selected motion program. The motion media data set is transferred from the motion server to the target motion device to cause the target device to perform the desired sequence of movements.
    Type: Grant
    Filed: April 1, 2003
    Date of Patent: October 4, 2011
    Assignee: Roy-G-Biv Corporation
    Inventors: David W. Brown, Jay S. Clark
  • Patent number: 8024069
    Abstract: A method for mapping a motion of a first object within a first motion path defined by a path planner based on a second motion path of a second object. The method includes creating the first motion path for the first object using the path planner, initializing a start position of the first object within the first motion path, determining a value for an initial condition for each segment of a plurality of segments in the first motion path created by the path planner, and calculating an elapsed time between a current sample call time to the path planner and a last sample call time to the path planner.
    Type: Grant
    Filed: January 28, 2009
    Date of Patent: September 20, 2011
    Assignee: GE Intelligent Platforms, Inc.
    Inventors: Daniel H. Miller, William Lindsay Morrison
  • Patent number: 8005554
    Abstract: This device for controlling at least one operating variable of a regulated system comprising: a filter module for filtering at least one setpoint input to the control device, the module using a first order integrator; and a correction module for correcting the variable by servo-control, the module taking account of a measurement of the variable and of the setpoint as filtered by the filter module in order to generate at least one command for the system; a control module suitable for generating a gain control factor ? on the basis of at least one parameter of the system and of an operating limit value associated with the parameter; and weighting means for weighting the gain of the filter module as a function of the factor and of the residue between the setpoint and its filtered value.
    Type: Grant
    Filed: February 20, 2009
    Date of Patent: August 23, 2011
    Assignee: SNECMA
    Inventor: Serge Le Gonidec
  • Patent number: 7856282
    Abstract: A member of a machine, such as a boom on construction equipment for example, is pivoted by a first actuator and has a length that is alterable by a second actuator. A control method allows an operator of the machine to command a point on the member to move along a straight line path. The operator command specifies velocities along two orthogonal axes and those velocities are transformed into an angular velocity and a length velocity for the member. The angular velocity and a length velocity then are converted into individual velocities for the first and second actuators. Each actuator is operated at its respective velocity to achieve the commanded movement of the member.
    Type: Grant
    Filed: March 26, 2004
    Date of Patent: December 21, 2010
    Assignee: INCOVA Technologies, Inc.
    Inventor: Keith A. Tabor
  • Patent number: 7818073
    Abstract: A method of obtaining improved feedforward data for a feedforward control system to move a component through a setpoint profile is presented. The setpoint profile includes a plurality of target states of the component each to be substantially attained at one of a corresponding sequence of target times. The method includes moving the component with the feedforward control system according to the setpoint profile using a first set of feedforward data; measuring a state of the component at a plurality of times during the movement; comparing the measured states with corresponding target states defined by the setpoint profile to obtain a set of errors; filtering the set of errors with a non-linear filter; generating improved feedforward data based on the filtered errors, the improved feedforward data being usable by the feedforward control system to move the component more accurately through the setpoint profile.
    Type: Grant
    Filed: April 20, 2006
    Date of Patent: October 19, 2010
    Assignees: ASML Netherlands B.V., Koninklijke Philips Electronics N.V.
    Inventor: Marcel François Heertjes
  • Patent number: 7801700
    Abstract: Some embodiments of the present invention provide a system that generates a simulated vibration pattern in a computer subsystem. During operation, a vibration pattern is monitored at a location in the computer subsystem, wherein the vibration pattern is monitored while the computer subsystem is incorporated into the computer system and the computer system is operating. Then, the vibrations of the computer subsystem are mimicked by generating the simulated vibration pattern at the same location in the computer subsystem based on the monitored vibration pattern.
    Type: Grant
    Filed: August 5, 2008
    Date of Patent: September 21, 2010
    Assignee: Oracle America, Inc.
    Inventors: Kenny C. Gross, Anton A. Bougaev, Aleksey M. Urmanov
  • Publication number: 20100234977
    Abstract: An apparatus may comprise a nondestructive evaluation system and a cutting system. The nondestructive evaluation system may be configured to inspect a processed portion of a structure. The nondestructive evaluation system may be configured to determine whether an inconsistency is present in the processed portion. The nondestructive evaluation system may also be configured to generate information about a location of the inconsistency. The cutting system may be configured to cut a number of parts out of the processed portion of the structure in which the inconsistency may be at least substantially excluded from the number of parts.
    Type: Application
    Filed: March 16, 2009
    Publication date: September 16, 2010
    Applicant: THE BOEING COMPANY
    Inventors: Roger W. Engelbart, Steven J. Burpo, Michael P. Renieri
  • Patent number: 7778716
    Abstract: A command generating device includes a command shape calculating unit for calculating an nth derivative command shape which is a fixed multiple of the nth derivative with respect to time of a position command for causing a machine to reach a target position at a positioning time so that a convolution of a velocity command which is the first derivative with respect to time of the position command and the impulse response of a transfer function determined from the frequency of a vibration which occurs in the machine becomes equal to zero, the convolution being calculated over the time period from the positioning time onward, and an associating processing unit for integrating the nth derivative command shape n times with respect to time, and for multiplying the integral result by a constant which associates the position command at the positioning time with the target position so as to determine the position command.
    Type: Grant
    Filed: December 9, 2008
    Date of Patent: August 17, 2010
    Assignee: Mitsubishi Denki Kabushiki Kaisha
    Inventors: Koichiro Ueda, Hidetoshi Ikeda, Kiyoshi Maekawa
  • Patent number: 7693587
    Abstract: Methods and apparatus are described for control of friction at the nanoscale. A method of controlling frictional dynamics of a plurality of particles using non-Lipschitzian control includes determining an attribute of the plurality of particles; calculating an attribute deviation by subtracting the attribute of the plurality of particles from a target attribute; calculating a non-Lipschitzian feedback control term by raising the attribute deviation to a fractionary power ?=(2m+1)/(2n+1) where n=1, 2, 3 . . . and m=0, 1, 2, 3 . . . , with m strictly less than n and then multiplying by a control amplitude; and imposing the non-Lipschitzian feedback control term globally on each of the plurality of particles; imposing causes a subsequent magnitude of the attribute deviation to be reduced.
    Type: Grant
    Filed: February 3, 2004
    Date of Patent: April 6, 2010
    Assignee: UT-Battelle, LLC
    Inventors: Jacob Barhen, Yehuda Y. Braiman, Vladimir Protopopescu
  • Patent number: 7689300
    Abstract: When causing manual movement of a moving section of a machine tool, shape data of the moving section is made to move in a movement direction that has been input manually, and it is confirmed whether there is no interference with shape data of a surrounding interfering object. If interference occurs, a position returned a specified distance from the position where interference occurs is made a stop position, the moving section is moved to this stop position, and stopped at that position.
    Type: Grant
    Filed: August 16, 2005
    Date of Patent: March 30, 2010
    Assignee: Okuma Corporation
    Inventors: Yuji Naganawa, Yasushi Fukaya, Yoshiichi Ichikawa, Mamoru Yamashita
  • Patent number: 7672741
    Abstract: A position/force control device includes position detectors on a master 1 side and on a slave 3 side. Reaction force estimation observers 2 and 4 estimate reaction force based on outputs of the position detectors. A position control part 5 generates acceleration signals apm, aps for controlling positions on the master side and on the slave side on the basis of the position signals outputted by the position detectors. The operation force control part 6 generates acceleration signals afm, afs for controlling forces applied to the master side and to the slave side based upon the outputs from reaction force estimation observers 2 and 4. The acceleration composition part 7 composes the two sets of acceleration signals apm, aps, and afm, afs, and outputs the driving signals for the master side and the slave side.
    Type: Grant
    Filed: July 21, 2004
    Date of Patent: March 2, 2010
    Assignee: Keio University
    Inventors: Kouhei Ohnishi, Masaki Kitajima, Yasuhide Morikawa, Souji Ozawa, Toshiharu Furukawa, Toshiyuki Murakami, Kazuo Nakazawa, Wataru Iida, Tomoko Yano
  • Patent number: 7627387
    Abstract: A command generating device includes a command shape calculating unit for calculating an nth derivative command shape which is a fixed multiple of the nth derivative with respect to time of a position command for causing a machine to reach a target position at a positioning time so that a convolution of a velocity command which is the first derivative with respect to time of the position command and the impulse response of a transfer function determined from the frequency of a vibration which occurs in the machine becomes equal to zero, the convolution being calculated over the time period from the positioning time onward, and an associating processing unit for integrating the nth derivative command shape n times with respect to time, and for multiplying the integral result by a constant which associates the position command at the positioning time with the target position so as to determine the position command.
    Type: Grant
    Filed: October 14, 2005
    Date of Patent: December 1, 2009
    Assignee: Mitsubishi Denki Kabushiki Kaisha
    Inventors: Koichiro Ueda, Hidetoshi Ikeda, Kiyoshi Maekawa
  • Patent number: 7603188
    Abstract: An electronic cam using a servo motor is controlled such that its motion including its acceleration will be connected between synchronized and non-synchronized control sections. A controlled object is moved at a fixed speed during the synchronized control section. A fifth-order function for position control of the electronic cam, a fourth-order function for speed control of the electronic cam and a third-order function for acceleration control of the electronic cam are used in the non-synchronized control section such that operation of the electronic cam at transition points between the synchronized control section and the non-synchronized control section is smoothly controlled.
    Type: Grant
    Filed: November 15, 2005
    Date of Patent: October 13, 2009
    Assignee: OMRON Corporation
    Inventor: Hiroyuki Maeda
  • Patent number: 7598697
    Abstract: A motor and a method for serves finding the position of an armature in relation to a stator of the motor.
    Type: Grant
    Filed: June 26, 2007
    Date of Patent: October 6, 2009
    Assignee: Festo AG & Co.
    Inventors: Christian Welk, Michael Apel, Ralf Hartramph
  • Patent number: 7567879
    Abstract: A device for driving a plant such as a beam scanner includes a memory, drive-signal generator, and a calibrator. The memory stores data corresponding to the drive signal, and the generator generates the drive signal from the data and couples the drive signal to the plant. The calibrator measures a response of the plant to the drive signal, calculates a difference between the measured response and a corresponding target response, and reduces the difference by altering the drive signal. Such a device can force the output response of the driven plant to equal a target output response, or to be sufficiently close to the target response for a particular application, while the device is operating in an open-loop configuration. Furthermore, while operating in an open-loop configuration, such a device often has a greater stability margin and greater noise immunity than a comparable device that operates in a closed-loop configuration.
    Type: Grant
    Filed: November 2, 2005
    Date of Patent: July 28, 2009
    Assignee: Microvision, Inc.
    Inventors: John R. Lewis, William Standing, Gary Mansouri, Tze Siu, Jari Honkanen
  • Publication number: 20090177296
    Abstract: A command generating device includes a command shape calculating unit for calculating an nth derivative command shape which is a fixed multiple of the nth derivative with respect to time of a position command for causing a machine to reach a target position at a positioning time so that a convolution of a velocity command which is the first derivative with respect to time of the position command and the impulse response of a transfer function determined from the frequency of a vibration which occurs in the machine becomes equal to zero, the convolution being calculated over the time period from the positioning time onward, and an associating processing unit for integrating the nth derivative command shape n times with respect to time, and for multiplying the integral result by a constant which associates the position command at the positioning time with the target position so as to determine the position command.
    Type: Application
    Filed: December 9, 2008
    Publication date: July 9, 2009
    Applicant: MITSUBISHI DENKI KABUSHIKI KAISHA
    Inventors: Koichiro Ueda, Hidetoshi Ikeda, Kiyoshi Maekawa
  • Patent number: 7519441
    Abstract: Systems, methods and apparatus are provided through which movement of a medical imaging device is detected and the movement is assisted in magnitude by an external force.
    Type: Grant
    Filed: September 30, 2005
    Date of Patent: April 14, 2009
    Assignee: General Electric Company
    Inventor: Jonathon Carl Boomgaarden
  • Patent number: 7519440
    Abstract: A position of a motion control axis is monitored and an output device responsive to the position of the motion control axis is controlled. The controlling further includes latching an electronic cam element that controls the output device, and unlatching the cam element that controls the output device. The manner in which the latching is performed and the manner in which the unlatching is performed are configurable in a programming interface. The programming interface is capable of receiving a latch position for the cam element and an unlatch position for the cam element. The programming interface is further capable of receiving additional configuration information to configure the manner in which the latching is performed and different additional configuration information to separately configure the manner in which the unlatching is performed.
    Type: Grant
    Filed: August 8, 2006
    Date of Patent: April 14, 2009
    Assignee: Rockwell Automation Technologies, Inc.
    Inventors: Juergen K. Weinhofer, Jacob S. Baker, Kendal R. Harris
  • Patent number: 7353135
    Abstract: The invention is an apparatus and process for obtaining values for one or more alignment quantities using one or more transportable devices. The process consists of establishing and maintaining a transportable device in a reference position and a reference orientation, then establishing and maintaining the transportable device in a fixed position and orientation with respect to a target object, then determining the transportable object's position and orientation with respect to the target object from measurements of acceleration and angular velocity of the transportable device as it moves from the reference position and orientation to the fixed position and orientation with respect to the target object, determining the position and orientation of the target object from the position and orientation of the transportable device, repeating the preceding steps as required to obtain position and orientation data for other target objects, and finally determining the values of the alignment quantities.
    Type: Grant
    Filed: March 7, 2006
    Date of Patent: April 1, 2008
    Inventor: Robert Malm