Arm Movement (spatial) Patents (Class 901/14)
  • Patent number: 9043017
    Abstract: Provided are a home network system and a method for an autonomous mobile robot to travel along a shortest travel route. The home network system capable of home automation includes a plurality of beacons for sensing a user located in a cell coverage area and for transmitting resulting sensing information of the user; an autonomous mobile robot for executing travel to reach the user based on provided travel route information; and a home server for calculating a travel route along which the autonomous mobile robot can easily reach the user based on the sensing information of the user transmitted from the beacons, and for providing the travel route to the autonomous mobile robot. Therefore, the autonomous mobile robot may reach the user by the shortest travel route and thus reducing energy loss.
    Type: Grant
    Filed: March 9, 2007
    Date of Patent: May 26, 2015
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Hee-Won Jung, Jong-Hee Kim, Seung-Gun Park
  • Patent number: 9033644
    Abstract: Boom drive apparatus for substrate transport systems and methods are described. The boom drive apparatus is adapted to drive one or more multi-arm robots rotationally mounted to the boom to efficiently put or pick substrates. The boom drive apparatus has a boom including a hub, a web, a first pilot above the web, and a second pilot below the web, a first driving member rotationally mounted to the first pilot, a second driving member rotationally mounted to the second pilot, a first driven member rotationally mounted to the boom above the a web, a second driven member rotationally mounted to the boom below the a web, and a first and second transmission members coupling the driving members to driven members located outboard on the boom. Numerous other aspects are provided.
    Type: Grant
    Filed: June 21, 2013
    Date of Patent: May 19, 2015
    Assignee: Applied Materials, Inc.
    Inventors: Jeffrey C. Hudgens, Izya Kremerman, Jeffrey A. Brodine
  • Patent number: 9023060
    Abstract: A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.
    Type: Grant
    Filed: December 6, 2012
    Date of Patent: May 5, 2015
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, Stephen J. Blumenkranz, Gary S. Guthart, David J. Rosa
  • Patent number: 9022714
    Abstract: A substrate processing system and substrate transferring method capable of transferring a substrate bi-directionally through the use of substrate transferring device provided between two rows of processing chambers arranged linearly, thereby improving the substrate-transferring efficiency, the substrate processing system includes a transfer chamber having at least one bi-directional substrate transferring device for bi-directionally transferring a substrate; and a plurality of processing chambers for applying a semiconductor-manufacturing process to the substrate, wherein the plurality of processing chambers are linearly arranged along two rows confronting each other, and the transfer chamber is interposed between the two rows of the processing chambers, wherein the bi-directional substrate transferring device have a moving unit inside the transfer chamber, and horizontally moved by a linear motor; and a bi-directional substrate transferring unit in the moving unit, the bi-directional substrate transferring u
    Type: Grant
    Filed: January 12, 2010
    Date of Patent: May 5, 2015
    Assignee: Jusung Engineering Co., Ltd.
    Inventors: Kyoo Hwan Lee, Duck Won Moon, Jae Wook Choi
  • Publication number: 20150120059
    Abstract: In an axis angle determination method, an angle or a position of each axis of a six-axis robot is determined. The robot is capable of taking an attitude of a singular point being a state in which rotation axes of fourth and sixth axes match. Based on teaching results of a position and attitude of a hand by point-to-point teaching, the method judges whether an attitude of the robot in which the angle or the position of each angle is to be determined next is a singular point. If judged that the attitude is the singular point, angles of the fourth and sixth axes required for the six-axis robot to move to the singular point are determined such that an angle of one of the fourth and sixth axes is fixed to a current value and an angle of the other axis is determined based on the fixed angle.
    Type: Application
    Filed: September 15, 2014
    Publication date: April 30, 2015
    Inventors: Satoshi IDE, Naoya KAGAWA, Daisuke KAWASE
  • Publication number: 20150120042
    Abstract: A robot includes a tool shaft, a first supporting mechanism attached to one portion of the tool shaft and tiltably supporting the tool shaft, a second supporting mechanism attached to a different portion of the tool shaft and tiltably supporting the tool shaft, a first in-plane movement mechanism that moves the first supporting mechanism in a first plane, a second in-plane movement mechanism that moves the second supporting mechanism in a second plane, and a controller that controls an in-plane position and an inclination angle of the tool shaft to control the first in-plane movement mechanism and the second in-plane movement mechanism. The first supporting mechanism or the second supporting mechanism supports the tool shaft movably in an axial direction.
    Type: Application
    Filed: January 9, 2015
    Publication date: April 30, 2015
    Inventor: IKUO TAKEDA
  • Patent number: 9003919
    Abstract: A ceiling-mounted SCARA robot includes: a base, a first arm that is connected to the lower side of the base via a first coupling part centering around a first articulated shaft and that can pivotally move around the first articulated shaft within a horizontal plane, a second arm that is connected to the lower side of the first arm via a second coupling part centering around a second articulated shaft and that can pivotally move around the second articulated shaft within a horizontal plane, a working shaft that is mounted on the second arm, a second articulated shaft motor and a second articulated shaft reducer for driving the second arm, and a working-shaft rotation motor that rotates the working shaft. The second articulated shaft reducer is provided on the second coupling part, and the working-shaft rotation motor is arranged directly below the second articulated shaft reducer.
    Type: Grant
    Filed: September 3, 2010
    Date of Patent: April 14, 2015
    Assignee: Mitsubishi Electric Corporation
    Inventors: Yoshitaka Kumagai, Mitsuhiro Fukatsu
  • Patent number: 9002514
    Abstract: Methods and systems for positioning wafers using a dual side-by-side end effector robot are provided. The methods involve performing place moves using dual side-by-side end effector robots with active wafer position correction. According to various embodiments, the methods may be used for placement into a process module, loadlock or other destination by a dual wafer transfer robot. The methods provide nearly double the throughput of a single wafer transfer schemes by transferring two wafers with the same number of moves.
    Type: Grant
    Filed: November 30, 2007
    Date of Patent: April 7, 2015
    Assignee: Novellus Systems, Inc.
    Inventors: Damon Genetti, Shawn Hamilton, Rich Blank, Sheldon Templeton
  • Patent number: 8996166
    Abstract: A touch screen testing platform may be used to perform repeatable testing of a touch screen enabled device using a robotic device tester and a controller. Prior to running a test, the controller and/or robot may be calibrated to determine a planar surface of the touch screen and to establish a relative coordinate system across the touch screen. The controller may then be programmed to allow a robot to engage the touch screen using known input zones designated using the coordinate system. The platform may employ object recognition to determine and interact with content rendered by the device. The platform may use various types of tips that engage the touch screen, thereby simulating human behavior. The platform may perform multi-touch operations by employing multiple tips that can engage the touch screen simultaneously.
    Type: Grant
    Filed: December 9, 2010
    Date of Patent: March 31, 2015
    Assignee: T-Mobile USA, Inc.
    Inventor: David Ross Jenkinson
  • Publication number: 20150076131
    Abstract: A robot according to an embodiment includes a flange, a wrist arm, a forearm, a feeder, and a power cable. The flange configured so that a welding torch is attached thereto and configured to rotate about a T axis. The wrist arm configured to rotate about a B axis substantially perpendicular to the T axis and configured to support the flange. The forearm configured to support the wrist arm. The feeder attached to a position between a base end and a tip end of the forearm and configured to feed a welding wire. The power cable is a supply route of electricity to the welding torch and is provided separately from a feeding route of the welding wire.
    Type: Application
    Filed: September 18, 2014
    Publication date: March 19, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Atsushi TERADA, Kazuhiro YASUTOMI
  • Patent number: 8983659
    Abstract: A robot system according to the embodiments includes a robot that includes a hand including a gripping mechanism that grips a thin plate-shaped work and an arm that moves the hand, and a robot control apparatus that controls the robot. The robot control apparatus, when causing the robot to transfer the work at a predetermined work transfer position by controlling the robot, performs a presence/absence confirmation of the work by operating the gripping mechanism while causing the hand to retract after the hand reaches the work transfer position.
    Type: Grant
    Filed: November 14, 2012
    Date of Patent: March 17, 2015
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventor: Yoshiki Kimura
  • Patent number: 8965575
    Abstract: In a robot simulator, a central processing unit (CPU) determines whether or not a portion of an operable area set for each of a right-hand system and a left-hand system of a robot overlaps. If it is determined that the portion of the operable area overlaps and that an obstacle is positioned within the operable areas, the CPU color-codes and displays an image of the operable area of each of the right-hand system and the left-hand system reset in adherence to the obstacle in a display. As a result the operable areas in a periphery of the obstacle, differing for each of the right-hand system and the left-hand system, are displayed in a clearly discernable state.
    Type: Grant
    Filed: January 29, 2009
    Date of Patent: February 24, 2015
    Assignee: Denso Wave Incorporated
    Inventor: Koji Kamiya
  • Publication number: 20150039125
    Abstract: A robot includes: a stage unit; a rotation base connected to the stage unit in a rotatable manner around a predetermined rotating axis; an arm unit connected to the rotation base and having a base end rotatable around a first rotation axis that is substantially orthogonal to the rotating axis; a first attachment unit provided to the rotation base, arranged in an outside, in a rotation radius direction, of the rotation base and nearer to the stage unit than the first rotation axis, and formed so that one part of a balancer is attached thereto; and a second attachment unit provided to the arm unit and formed so that another part of the balancer is attached thereto.
    Type: Application
    Filed: July 29, 2014
    Publication date: February 5, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Shingi TAKAHASHI, Tomoyuki SHIRAKI, Masato ITO, Kaori SAKAKI
  • Publication number: 20150032256
    Abstract: To enable simple loading of an appropriate operation control program into a robot controller, provided is a robot system, including: a robot management computer; and robot controllers for controlling robots, respectively, in which the robot management computer includes: a robot information receiving unit for receiving set-up location information about a set-up location of each of the robots; a storage for storing an operation control program of the each of the robots in association with the set-up location information; and an operation control program transmitting unit for transmitting, to each of the robot controllers, the operation control program that is associated with the set-up location information received from the robot information receiving unit.
    Type: Application
    Filed: July 24, 2014
    Publication date: January 29, 2015
    Inventors: Yukio HASHIGUCHI, Shinji MURAI, Tomoyuki SHIRAKI
  • Publication number: 20150027996
    Abstract: A tool welding system is disclosed that includes a table that heats a tool. A multi-axis robot includes a welding head that is moved relative to the table in response to a command. A controller is in communication with the robot and generates the command in response to welding parameters. The weld parameters are based upon a difference between an initial tool shape and a desired tool shape. The difference between the initial tool shape and the desired tool shape corresponds to a desired weld shape. The desired weld shape is adjusted based upon initial tool shape variations, which includes thermal growth of the tool. The tool is welded to provide the desired weld shape to achieve a desired tool shape.
    Type: Application
    Filed: October 14, 2014
    Publication date: January 29, 2015
    Inventor: Ariel Andre Waitzman
  • Publication number: 20150032257
    Abstract: To enable a recovery control program to be executed quickly by a robot controller without needing to equip the robot controller with a large-capacity storage device, provided is a robot system, including a first robot controller for controlling a first robot. The first robot controller includes a posture information obtaining unit for obtaining information indicating a posture of the first robot when an anomaly occurs in the first robot. The robot system further includes a recovery control program generating unit for generating, by computing, based on the posture of the first robot, a recovery control program for changing the posture of the first robot to a given standby posture.
    Type: Application
    Filed: July 24, 2014
    Publication date: January 29, 2015
    Inventors: Yukio HASHIGUCHI, Shinji MURAI, Tomoyuki SHIRAKI
  • Publication number: 20150025682
    Abstract: A robot controller includes an input unit that receives operation instruction information, a database that stores grasp pattern information, and a processing unit that performs control processing based on information from the input unit and information from the database, and the input unit receives first to N-th operation instructions as operation instruction information, the processing unit loads i-th grasp pattern information that enables execution of the i-th operation instruction and j-th grasp pattern information that enables execution of the j-th operation instruction as the next operation instruction to the i-th operation instruction from the database, and performs control processing based on the i-th grasp pattern information and the j-th grasp pattern information.
    Type: Application
    Filed: October 10, 2014
    Publication date: January 22, 2015
    Inventors: Kaori SATO, Hiroshi HASEGAWA
  • Publication number: 20150005936
    Abstract: Provided is a control method for a robot system including: working units; and a robot having unit related processes that include moving between two of the working units and executing work. The control method includes: determining, in a case of detecting a first working unit that has come into a work required condition, whether an operation of the robot is stopped on a way from a current position to a position of a second working unit; stopping the operation of the robot on the way if determining that the operation of the robot is stopped on the way; and selecting a unit related process corresponding to a working unit other than the first working unit, moving the robot until the robot arrives at a position, and stopping the operation of the robot at the position, if determining that the operation of the robot is not stopped on the way.
    Type: Application
    Filed: June 16, 2014
    Publication date: January 1, 2015
    Inventor: Keisuke Ito
  • Patent number: 8924009
    Abstract: A haptic device for telerobotic surgery, including a base; a linkage system having first and second linkage members coupled to the base; a motor that provides a motor force; a transmission including first and second driving pulleys arranged such that their faces form an angle and their axes form a plane, first and second idler pulleys offset from the plane and arranged between the first and second driving pulleys such that their axes divide the angle between the first and second driving pulleys, and a cable that traverses the first and second driving pulleys and the set of idler pulleys and transfers the motor force to the linkage system; an end effector coupled to distal ends of the first and second linkage members and maneuverable relative to the base; and a controller that modulates the motor force to simulate a body part at a point portion of the end effector.
    Type: Grant
    Filed: March 11, 2010
    Date of Patent: December 30, 2014
    Assignees: The Board of Trustees of the Leland Stanford Junior University, Sandia Corporation
    Inventors: Curt Salisbury, J. Kenneth Salisbury, Jr.
  • Patent number: 8904899
    Abstract: A delta robot includes a stationary housing, in which at least three drives are installed, at least three upper arms, at least three pairs of elongate and mutually parallel lower arms, and a movable parallel plate. Each of the upper arms is connected to one of the drives. Each lower arm comprises a corrosion-resistant metal tube having a first end connected to a free end of one of the upper arms through a ball joint and a second end connected to the movable parallel plate through a ball joint. Each ball joint includes a ball head and a ball socket, one of which is attached to the first or second end of one of the tubes.
    Type: Grant
    Filed: January 27, 2010
    Date of Patent: December 9, 2014
    Assignee: Schneider Electric Automation GmbH
    Inventors: Jens Bunsendal, Christian Hombach
  • Patent number: 8903546
    Abstract: An articulated instrument is controllably movable between areas of different work space limits, such as when it is extendable out of and retractable into a guide tube. To avoid abrupt transitions in joint actuations as the joint moves between areas of different work space limits, a controller limits error feedback used to control its movement. To provide smooth joint control as the instrument moves between areas of different work space limits, the controller imposes barrier and ratcheting constraints on each directly actuatable joint of the instrument when the joint is commanded to cross between areas of different work space limits.
    Type: Grant
    Filed: August 15, 2009
    Date of Patent: December 2, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Nicola Diolaiti, Paul E. Lilagan
  • Patent number: 8899124
    Abstract: An industrial robot includes a support body, a moving platform, a pivot shaft, a plurality of driving devices, a plurality of transfer branch joints, and a base. The support body includes a main body, and an installing portion opposite to the main body; the pivot shaft is rotatably connected with the main body and the moving platform; the driving devices are positioned at a bottom of the main body; each transfer branch joint is movably connected with the moving platform and one corresponding driving device; the installing base includes a bottom base, and two supporting arms extending from opposite sides of the bottom base; the bottom base and the two supporting arms cooperatively forming a receiving space; the bottom base and the two supporting arms are detachable in relation to the installing portion and the main body; the main body is received in the receiving space.
    Type: Grant
    Filed: April 2, 2012
    Date of Patent: December 2, 2014
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventors: Zhen-Xing Liu, Xiao-Ming Xu
  • Patent number: 8857877
    Abstract: A reconfigurable end-effector attachable to a robotic arm, includes a master boom, a first branch assembly and a second branch assembly, a dual articulation mechanism. The dual articulation mechanism includes a first clutch attached to the first branch assembly and is configured to articulate the first branch assembly relative to the second branch assembly. The dual articulation mechanism further includes a second clutch attached to the master boom, the second branch assembly and the first clutch and is configured to simultaneously articulate the first and second branch assemblies relative to the master boom. The first and second branch assemblies each have limbs connected to branches supporting a plurality of tool modules. Each tool module includes an end element configurable to interact with a workpiece.
    Type: Grant
    Filed: May 4, 2011
    Date of Patent: October 14, 2014
    Assignee: GM Global Technology Operations LLC
    Inventors: Yhu-Tin Lin, Andrew L. Bartos, Roland J. Menassa, Hyunshik Shin, Shinho Kang, Yong-Hyun Ju, Ki-Beom Kim, Sang-Yul Ju
  • Publication number: 20140288706
    Abstract: A robot system includes a robot, a control device, and a projection device. The control device is configured to receive area information on an area defining an operation of the robot. The projection device is configured to project the area onto an object adjacent to the robot based on the area information received by the control device.
    Type: Application
    Filed: March 19, 2014
    Publication date: September 25, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Takefumi ASAHI, Yukiko SAWADA
  • Patent number: 8834489
    Abstract: A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.
    Type: Grant
    Filed: July 11, 2012
    Date of Patent: September 16, 2014
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, Stephen J. Blumenkranz, Gary S. Guthart, David J. Rosa
  • 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: 20140222198
    Abstract: The invention is a modular and autonomously reconfigurable manipulator system which introduces a new dimension to the versatility of robot manipulation for diverse tasks. The hardware component is a redundant mechanism which can lock any number of its joints at any relative position to form a particular configuration with a certain number of degrees of freedom and specific values for kinematic, dynamic and control parameters, optimum for a given task to be performed. The process of identifying the optimum configuration for a given task and implementing it on the manipulator is done autonomously through the system software. Therefore, no manual interaction is required to form a new configuration most suitable for a given task. The kinematic, dynamic and control parameters of the system can vary continuously enabling the manipulator to form virtually an infinite number of configurations.
    Type: Application
    Filed: January 24, 2013
    Publication date: August 7, 2014
    Inventors: Mohammad Reza Emami, Jason Alexander Kereluk
  • Publication number: 20140222201
    Abstract: A directional position control method uses an instructor device and a controller to control motion of a robot, and a directional-control starter is used to actuate a directional control function. The directional-control starter controls the controller to drive the robot to move according to the instructor direction reference by converting the coordinate of the robot into the coordinate of the instructor. The directional position control method allows the movement direction reference of the robot to be defined manually or automatically, so that the robot can be moved based on the instructor direction reference of the instructor, allowing the operator to operate the robot by intuition without too much discretion, consequently reducing difficulty and error in operating the robot. Besides, the operator can control the robot by staying at the location where the instructor is located, without standing close to the robot, therefore, improving safety of operating the robot.
    Type: Application
    Filed: February 3, 2013
    Publication date: August 7, 2014
    Applicant: HIWIN TECHNOLOGIES CORP.
    Inventors: Wen-Chia WU, Yan-Yu CHEN
  • Patent number: 8794098
    Abstract: A parallel robot includes a fixed platform, a movable platform, and a plurality of links positioned in parallel between the fixed platform and the movable platform. Each link includes a first connecting member, a second connecting member, a first ball joint, and a second ball joint. The first connecting member connects to the second connecting member with a prismatic joint. The first connecting member connects to the fixed platform via the first ball joint, and the second connecting member connects to the movable platform via the second ball joint. Each of the first and second ball joints includes a ball member, a socket member, and a resilient pressing mechanism. The ball member couples with the socket member. The resilient pressing mechanism is positioned between the ball member and the socket member, applying compression to cause the ball member to tightly contact the socket member.
    Type: Grant
    Filed: July 29, 2011
    Date of Patent: August 5, 2014
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventor: Bo Long
  • Patent number: 8798794
    Abstract: An object is highly precisely moved by an industrial robot to an end position by the following steps, which are repeated until the end position is reached within a specified tolerance: Recording a three-dimensional image by means of a 3-D image recording device. Determining the present position of the object in the spatial coordinate system from the position of the 3-D image recording device the angular orientation of the 3-D image recording device detected by an angle measuring unit, the three-dimensional image, and the knowledge of features on the object. Calculating the position difference between the present position of the object and the end position. Calculating a new target position of the industrial robot while taking into consideration the compensation value from the present position of the industrial robot and a value linked to the position difference. Moving the industrial robot to the new target position.
    Type: Grant
    Filed: May 26, 2010
    Date of Patent: August 5, 2014
    Assignee: Leica Geosystems AG
    Inventors: Bernd Walser, Bernhard Metzler, Beat Aebischer, Knut Siercks, Bo Pettersson
  • Patent number: 8783127
    Abstract: A parallel-kinematical machine includes at least three length adjusting setting devices that are connected to a positioning head and a base. The positioning head is movable in response to manuvering of the setting devices. At least movable two reinforcing beams are connected to the positioning head via beam rotation bearings having one degree of freedom, and are adapted to slide transversely in the beam bearings with adjustments of the setting devices. Each beam bearing is connected to the base via a beam-universal-joint. The beam bearing of at least one movable reinforcing beam is connected to an inner gyro element mounted in an outer gyro element, and rotatable about inner and outer gyro axes of the inner and outer gyro elements, so as to be partly rotatable about an axis that parallels the longitudinal axis of the movable reinforcing beam.
    Type: Grant
    Filed: November 3, 2005
    Date of Patent: July 22, 2014
    Assignee: Eexchon AB
    Inventor: Karl-Erik Neumann
  • Publication number: 20140152584
    Abstract: One aspect of the invention relates to an exemplary method for measuring latency of display response of a touch screen on a touch screen based device, comprising recording, by a video camera, an interaction with the touch screen, correlating, by a processor in operative communication with the video camera, data retrieved from the recording to the interaction; and determining, by the processor, a latency of the response of the touch screen to the first contact. An interaction may comprise at least a first contact between a member and the touch screen, and a response of the touch screen to the first contact, including at least a first change of a frame of a display of the touch screen.
    Type: Application
    Filed: December 3, 2012
    Publication date: June 5, 2014
    Applicant: Apkudo, LLC
    Inventors: Joshua Scott Matthews, David Michael Teitelbaum, Benjamin Kou-An Tseng
  • 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
  • Publication number: 20140119636
    Abstract: Systems and methods for identifying defective individual packaged modules are presented. A Printed Circuit Board (PCB) having a set of individual module substrates can be received. Further, capturing an image of the PCB and loading a PCB recipe associated with the PCB can be performed. The image of the PCB can be captured by an image capture module that can include one or more cameras. For each individual module substrate, a portion of the image corresponding to the individual module substrate can be compared to the PCB recipe. In addition, it can be determined based on the comparison whether the individual module substrate matches the PCB recipe within a degree of tolerance. In response to determining that the individual module substrate does not match the PCB recipe within the degree of tolerance, a location of the individual module substrate within a map of the PCB can be stored.
    Type: Application
    Filed: September 27, 2013
    Publication date: May 1, 2014
    Inventors: Carlos Fabian NAVA, Viviano ALMONTE
  • Patent number: 8701518
    Abstract: A sustaining manipulator arm capable of being set on a ground includes a first linkage set. The first linkage set includes a first link, a second link, a first ball joint, a second ball joint, a third link, and a first elastic element. A first end of the first link is connected to a first revolution element, and the first revolution element has a first revolution direction. A first end of the second link is connected to a second revolution element. The second revolution element has a second revolution direction. The first revolution direction and the second revolution direction are the same direction, and the first revolution element and the second revolution element are on a first plane. The first ball joint is set in the first link. The second ball joint is set in the second link. A first end of the third link is connected to the first ball joint. A second end of the third link is connected to the second ball joint, and the third link is parallel to the first plane.
    Type: Grant
    Filed: January 28, 2011
    Date of Patent: April 22, 2014
    Assignee: National Taiwan University
    Inventors: Dar-Zen Chen, Po-Yang Lin, Wen-Bin Hsieh
  • Publication number: 20140088754
    Abstract: A system and method for machining a work-piece in restrictive access operating position is disclosed. The system includes a robot arm adapted to access the bottom face of the work-piece; a computation means adapted to compute a central line on the bottom face while ascertaining an area of overlap that is accessible from all sides of the work-piece; and a robot controller adapted to sequentially maneuver the robot arm from one side of the work-piece to other side of the work-piece on the bottom face. Other embodiments are also disclosed.
    Type: Application
    Filed: November 11, 2011
    Publication date: March 27, 2014
    Applicant: Plazma Technologies Pvt. Ltd.
    Inventors: Hughen Gerrard Thomas, Arjun Mendhi
  • Publication number: 20140074293
    Abstract: A control input for controlling a driving force of an actuator (5), by a control processing of the sliding-mode control using a switching function configured from a first variable component, which is a deviation between an observed value of a secondary power imparted to a secondary element (3) from a primary element (2) via an elastic deformation member (4), and a second variable component which is a temporal change rate of the deviation, so as to converge the first variable component to zero on the switching hyperplane. A gradient of the switching hyperplane is preliminarily determined based on a response characteristics data satisfying a predetermined requirement.
    Type: Application
    Filed: August 29, 2013
    Publication date: March 13, 2014
    Applicant: Honda Motor Co., Ltd.
    Inventor: Atsuo Orita
  • Publication number: 20140010625
    Abstract: Boom drive apparatus for substrate transport systems and methods are described. The boom drive apparatus is adapted to drive one or more multi-arm robots rotationally mounted to the boom to efficiently put or pick substrates. The boom drive apparatus has a boom including a hub, a web, a first pilot above the web, and a second pilot below the web, a first driving member rotationally mounted to the first pilot, a second driving member rotationally mounted to the second pilot, a first driven member rotationally mounted to the boom above the a web, a second driven member rotationally mounted to the boom below the a web, and a first and second transmission members coupling the driving members to driven members located outboard on the boom. Numerous other aspects are provided.
    Type: Application
    Filed: June 21, 2013
    Publication date: January 9, 2014
    Inventors: Jeffrey C. Hudgens, Izya Kremerman, Jeffrey A. Brodine
  • Patent number: 8621955
    Abstract: A robot arm assembly includes a first robot arm and a second robot arm rotatably connected to the first. The first robot arm includes a first input shaft and a second input shaft. The second robot arm includes a sleeve and an output shaft partially received in the sleeve. The sleeve of the second robot arm is rotated relative to the first robot arm via a pair of bevel gears. The output shaft is rotated relative to the sleeve via a plurality of bevel gears which cooperatively form a polygon.
    Type: Grant
    Filed: October 26, 2010
    Date of Patent: January 7, 2014
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventor: Bo Long
  • Publication number: 20140005817
    Abstract: Methods and apparatus are disclosed for using multi-axis articulating robot to manipulate plastic molded parts through a series of processing steps on one or more processing machines that are relatively stationary with respect to the parts and/or the robot.
    Type: Application
    Filed: March 14, 2013
    Publication date: January 2, 2014
    Inventors: Michael A. Brewer, James B. Riddle
  • Publication number: 20130333153
    Abstract: A robot cleaner and a method for controlling a robot cleaner are provided. The method may include sensing a stored value of a pulse width modulation (PWM) duty ratio based on a voltage of a battery; comparing a measured value of the PWM duty ratio with the stored value to calculate a difference between the measured value and the stored value; upon determining that the difference between the measured value and the stored value is equal to or greater than a first set value, calculating a distributed value of acceleration on a substantially vertically extending axis of the robot cleaner; and, upon determining that the distributed value of acceleration deviates from a range of a second set values, increasing a force to suction foreign matter.
    Type: Application
    Filed: March 14, 2013
    Publication date: December 19, 2013
    Inventors: Chulmo SUNG, Hyungsuk KANG, Inbo SHIM
  • Patent number: 8594847
    Abstract: A manipulator for an industrial robot includes a plurality of actuators associated with a plurality of motion axes. An axis sensor is associated with each of the plurality of motion axes. Each axis sensor is configured to determine a single axis value for the corresponding axis of the plurality of motion axes. A redundant sensor arrangement is configured to ascertain an overall manipulator value. A control is configured to balance the overall manipulator value and the single axis values acquired by the axis sensors. A method of controlling the manipulator is also provided. Axis values are acquired by the axis sensors associated with each of the plurality of motion axes. A redundant manipulator value is acquired by the redundant sensor arrangement. The redundant manipulator value and the axis values acquired by the axis sensors are balanced, and a signal corresponding to the result of the balancing is output.
    Type: Grant
    Filed: October 17, 2008
    Date of Patent: November 26, 2013
    Assignee: KUKA Laboratories GmbH
    Inventors: G√ľnter Schreiber, Ulrich Hagn
  • Patent number: 8585854
    Abstract: The present invention involves a cover for a moveable spraying device of a robot which is formed from a polymer with enhanced residue retention properties. The polymer may be processed to increase the surface energy of the polymer. For example, the polymer may be subjected to a corona treatment in order to increase its surface energy. The corona treatment process may be performed on the polymer as received, prior to cutting or otherwise manipulating the polymer. Also, the polymer may be embossed to provide the enhancement. To assemble the polymer into a robot cover, the polymer as received may be cut into individual sections for assembly. The sections may then be assembled to one another by heat sealing the sections together. The heat sealing provides a bond between the individual sections of polymer that secures the individual sections together to create the robot cover.
    Type: Grant
    Filed: March 27, 2007
    Date of Patent: November 19, 2013
    Assignee: Butterworth Industries, Inc.
    Inventor: Frank L. Butterworth, III
  • Patent number: 8532819
    Abstract: Provided is a manipulator with at least one camera capable of observing an end effector from a direction suitable for work. A rotating portion rotatable coaxially with the end effector is provided to a link adjacent to a link located at a manipulator tip end. At least one camera for recognizing a work piece as an object is arranged on the rotating portion through a camera platform. An actuator for controlling a rotation angle of the rotating portion is driven according to a rotation angle of the link located at the manipulator tip end, and thus the camera is arranged in a direction perpendicular to a plane where the end effector can move when the end effector performs a grip work. In an assembly work, the rotating portion is rotated such that the camera is arranged in a direction parallel to the plane where the end effector can move.
    Type: Grant
    Filed: August 21, 2012
    Date of Patent: September 10, 2013
    Assignee: Canon Kabushiki Kaisha
    Inventor: Kota Tani
  • Patent number: 8516918
    Abstract: A biomimetic mechanical joint for generating a variable torque between support members of a biomimetic robotic device, including a base support member, a rotary support member rotatably coupled to the base support member, and a variable-radius pulley operably coupled between the base support member and rotary support member. The variable-radius pulley comprises a sheave body having a variable radius and one or more tendon grooves formed in the circumferential outer surface. The mechanical joint further includes one or more flexible tendons and antagonistic actuator pairs, with each actuator pair being coupled to one or more tendons and configured to operate the tendon around the variable-radius pulley in either direction to create a variable torque between the base and rotary support members.
    Type: Grant
    Filed: August 28, 2009
    Date of Patent: August 27, 2013
    Assignee: Raytheon Company
    Inventors: Stephen C. Jacobsen, Marc X. Olivier, Brian J. Maclean
  • Patent number: 8516919
    Abstract: A robot includes a base a movable platform, a plurality of control arms, a first actuator, a plurality of second actuators, and a rotation mechanism. The plurality of control arms are rotatably connected to the base and the movable platform respectively. The second actuators are configured to respectively drive the control arms to swing. The rotation mechanism includes a shaft rotated by the first actuator. The shaft is rotatable relative to the base and the movable platform is positioned around at least two axes. The at least two axes include two axes substantially perpendicular to each other. The shaft is slidable relative to the base.
    Type: Grant
    Filed: July 3, 2012
    Date of Patent: August 27, 2013
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventor: Yong Feng
  • Patent number: 8511199
    Abstract: A robot arm assembly includes a support arm, a connecting arm, and an end arm. The support arm is rotatably assembled with the connecting arm along a first axis, and is located at one end of the connecting arm. The end arm is rotatably assembled to the other end of the connecting arm along a second axis substantially perpendicular to the first axis, such that the connecting arm is rotatably assembled between the support arm and the end arm.
    Type: Grant
    Filed: December 22, 2010
    Date of Patent: August 20, 2013
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventor: Bo Long
  • Patent number: 8506555
    Abstract: A robotic surgical system for performing minimally invasive medical procedures includes a robot manipulator for robotically assisted handling of a laparoscopic instrument having a manipulator arm, a manipulator wrist supported by the arm and an effector unit supported by the wrist, wherein the manipulator arm provides three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for robotically positioning the wrist, the wrist providing two degrees-of-freedom by means of a fourth joint and a fifth revolute joint having an associated actuator, for robotically setting the yaw angle and the pitch angle of the effector unit respectively; the effector unit includes a laparoscopic instrument actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for robotically setting the roll angle of the LIA which includes a seat, with an associated coupling mechanism for mounting an instrument stem adaptor to the ef
    Type: Grant
    Filed: February 2, 2007
    Date of Patent: August 13, 2013
    Assignee: The European Atomic Energy Community (Euratom)
    Inventor: Emilio Ruiz Morales
  • Patent number: 8491603
    Abstract: The present invention provides a surgical manipulator including a manipulator arm, an end-effector held by the robotic arm, surgical tools held by the end-effector and manipulator joints, particularly right-angle drive devices for transmitting rotational motion in one axis to a perpendicular axis.
    Type: Grant
    Filed: June 14, 2007
    Date of Patent: July 23, 2013
    Assignee: MacDonald Dettwiller and Associates Inc.
    Inventors: Benny Hon Bun Yeung, Dennis Gregoris, Bronislaw Bednarz, Michael A. Gray
  • Patent number: 8489237
    Abstract: Methods correcting wafer position error are provided. The methods involve measuring wafer position error on a robot during transfer to an intermediate station. This measurement data is then used by a second robot to perform wafer pick moves from the intermediate station with corrections to center the wafer. Wafer position correction may be performed at only one location during the transfer process. Also provided are systems and apparatuses for transferring wafers using an intermediate station.
    Type: Grant
    Filed: September 23, 2011
    Date of Patent: July 16, 2013
    Assignee: Novellus Systems, Inc.
    Inventors: Chris Gage, Damon Genetti