With Provision For Altering Speed Of Driven Element Patents (Class 901/20)
  • Publication number: 20150068349
    Abstract: A joint driving device includes: a reduction gear output shaft that transmits a torque to a second link; a transmission shaft that transmits reaction of the torque to a first link; a transmission shaft outer cylinder arranged on the outer circumference of the transmission shaft and connected to the transmission shaft; a reduction gear output shaft outer cylinder arranged in the outer circumference of the reduction gear output shaft and connected to the reduction gear output shaft; and a wire body arranged between the first link and the second link and including at least one of a wire and a pipe. The transmission shaft includes the motor frame as at least a part. The wire body is housed in a space between the transmission shaft outer cylinder and the transmission shaft, and a space between the reduction gear output shaft outer cylinder and the reduction gear output shaft.
    Type: Application
    Filed: September 9, 2014
    Publication date: March 12, 2015
    Inventor: Tomokazu HIRABAYASHI
  • Patent number: 8950064
    Abstract: In a component mounting device (1) which has a first mounting lane (L1) and a second mounting lane (L2) and which is structured so as to be able to select either an independence mounting mode or an alternation mounting mode, when device type changing operation is performed with change of the type of boards which are the mounted objects, if a tape feeder float detecting sensor (17) that is provided in proximity of an opening (19) through which a part of the body or the foreign object enters in the component supplying part is, detects a part of the body such as a finger (26) of the operator or the foreign object, operation of the component mounting mechanism which belong to the mounting lane opposite to the mounting lane to which the component supplying part, in which the optical sensor is provided, belongs is stopped.
    Type: Grant
    Filed: January 19, 2012
    Date of Patent: February 10, 2015
    Assignee: Panasonic Corporation
    Inventors: Yoshiyuki Kitagawa, Shuzo Yagi, Takeyuki Kawase
  • Patent number: 8909374
    Abstract: A robot arm includes a grip part which is structured to be separated from an end effector attached to the robot arm. When the grip part is gripped by the user and shifted, the robot arm shifts tracking the grip part. Further, the grip part includes contact sensors, and a tracking control method is switched according to the value of the contact sensors.
    Type: Grant
    Filed: March 5, 2013
    Date of Patent: December 9, 2014
    Assignee: Panasonic Corporation
    Inventors: Yudai Fudaba, Masaki Yamamoto, Yuko Tsusaka, Taichi Sato
  • Patent number: 8881383
    Abstract: In a component mounting device (1) which includes a first mounting lane (L1) and a second mounting lane (L2) and for which an independence mounting mode and an alternation mounting mode are selectable, a first limited movable area (R1A) and a first limited movable area (R1B) in which the movements in the horizontal direction of a first mounting head (13A) and a second mounting head (13B) of the mounting lanes are permitted in the independence mounting mode, are set as areas different from second limited movable areas in the alternation mounting mode, to prevent the mounting head of the mounting lane which is continuously operating from entering into the area of the mounting lanes for which the device type changing operation is being performed.
    Type: Grant
    Filed: January 19, 2012
    Date of Patent: November 11, 2014
    Assignee: Panasonic Corporation
    Inventors: Yoshiyuki Kitagawa, Shuzo Yagi, Takeyuki Kawase
  • Patent number: 8886360
    Abstract: A motor velocity control apparatus and method in which the velocity of a motor to drive a joint of a robot is controlled.
    Type: Grant
    Filed: September 29, 2011
    Date of Patent: November 11, 2014
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Ki Moon Lee, Chi Gun An, Duke Kimm
  • Patent number: 8881384
    Abstract: When performing the device type changing operation with the change of the board type to undergo mounting, the component mounting device, which has a first mounting lane and a second mounting lane and which is structured so as to be able to select either an independent mounting mode or an alternate mounting mode, moves a mounting head of the mounting lane to and thereafter positions and fixes to a previously-set predetermined withdraw position [P] where entry of a portion of a body of an operator by way of an opening (19) formed in a protective cover (18a) can be prevented and where safety of the operator is not impaired even if a mounting head of a mounting lane on the other side has undergone collision.
    Type: Grant
    Filed: January 19, 2012
    Date of Patent: November 11, 2014
    Assignee: Panasonic Corporation
    Inventors: Yoshiyuki Kitagawa, Shuzo Yagi, Takeyuki Kawase
  • Patent number: 8690516
    Abstract: Provided is a method of adjusting a velocity of a transfer arm in a transfer member. The method includes, accelerating the transfer arm from a start point to a first point where a movement velocity reaches a preset reference velocity, dividing a division from the first point to a second point into movement divisions to move the transfer arm in any one of a deceleration motion, an acceleration motion, and a uniform motion according to the respective movement divisions, and decelerating the transfer arm from the second point to a target point. The motion of the transfer arm in the current movement division is different from that in the movement division just before the current movement division. Thus, a different impulse from that in the precedent movement division is applied to a substrate loaded on the transfer arm. Accordingly, the impulse response superposition cancels residual vibration of the substrate, so as to improve transfer efficiency of the transfer member.
    Type: Grant
    Filed: April 6, 2009
    Date of Patent: April 8, 2014
    Assignee: Semes Co., Ltd.
    Inventors: Kwang-Jin Hong, Sang-Eun Jun
  • Publication number: 20140046483
    Abstract: According to one embodiment, a robotic control apparatus includes a physical parameter switching unit, an observer unit, and a state feedback unit. The physical parameter switching unit switches a physical parameter set in accordance with a value of a mass of an end effector load of a robotic arm. The observer unit estimates an angular velocity of a link based on a simulation model of a motor angular velocity control system which undergoes gain proportional-integral control equivalent to a proportional-integral control of the angular velocity control system. The state feedback unit calculates an axial torsional angular velocity based on a difference between the angular velocity of the motor, and the angular velocity of the link, and feed the calculated axial torsional angular velocity back to the angular velocity control system.
    Type: Application
    Filed: August 6, 2013
    Publication date: February 13, 2014
    Applicant: KABUSHIKI KAISHA TOSHIBA
    Inventor: Junji Oaki
  • Publication number: 20130218332
    Abstract: A method for executing a manipulator process with at least two manipulator poses with a manipulator, in particular a robot, wherein the manipulator comprises at least one drive means having a motor and a brake, comprising the steps of: (S10) Assuming a manipulator pose; (S20) Stopping at least one drive means; (S30) Closing at least one brake of this drive means; (S40) Reduction of the energy supply to the drive means; (S50) Increasing the energy supply to the drive means; (S60) Opening the closed brake; (S70) Assuming another manipulator pose.
    Type: Application
    Filed: February 18, 2013
    Publication date: August 22, 2013
    Applicant: KUKA ROBOTER GMBH
    Inventor: KUKA ROBOTER GMBH
  • Patent number: 8511187
    Abstract: A deceleration mechanism comprises a driving member, a driven member, an actuator device connected to the driving member, and a transmission member coiling around the driving member and the driven member. The transmission member comprises a positioning portion and a coiling portion extending from opposite sides of the positioning portion. The position portion is fixed to the driving member, the coiling portion coils a plurality of windings on the driving member, and then coils on the driven member. The number of windings of the transmission member coiled around the driving member is equal to or more than the transmission ratio of the deceleration mechanism.
    Type: Grant
    Filed: May 18, 2010
    Date of Patent: August 20, 2013
    Assignees: Hong Fu Jin Precision Industry (ShenZhen) Co., Ltd., Hon Hai Precision Industry Co., Ltd.
    Inventors: Guo-Qing Zhang, Zhi-Ming Zhao
  • Patent number: 8434992
    Abstract: A first decelerator is placed in an arm base such that a lower end of a decelerator shaft is bared in the arm base. A first arm has a hermetic space which becomes equal in pressure to a hermetic space of the arm base when an upper end of the hollow decelerator shaft is inserted thereinto, and is secured to a first decelerator output shaft. A second decelerator is placed on a distal end of the first arm, and has an input shaft connected to the decelerator shaft. A second arm is secured to an output shaft of the second decelerator, and has no hermetic space formed therein. A link mechanism follows the first and second arms.
    Type: Grant
    Filed: November 10, 2010
    Date of Patent: May 7, 2013
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Fumihiro Tara, Nobuyuki Furukawa, Kensuke Ohni
  • Patent number: 8395342
    Abstract: A medical robotic system includes a surgical instrument, a robotic arm assembly, an input device, and a processor. The surgical instrument has an end effector and a sensor for sensing a force exerted by the end effector, and is operatively mounted on the robotic arm assembly. The processor is configured to receive commanded movement of the end effector from the input device, receive information of the force from the sensor, determine a reduced velocity of the commanded movement that would inhibit damage causing motion of the end effector, and control robotic manipulation of the surgical instrument in response to the commanded movement of the end effector while restricting the velocity of the commanded movement to the reduced velocity.
    Type: Grant
    Filed: September 30, 2010
    Date of Patent: March 12, 2013
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Giuseppe Maria Prisco
  • Publication number: 20130060383
    Abstract: The invention relates to an industrial robot having an apparatus for driving an attachable/detachable four-bar link mechanism, comprising: a base frame having a rotating joint for a robot body; a pivot frame which is coupled to the rotating joint and which has a rotating joint; a column frame which is coupled to the rotating joint of the pivot frame, and which has a straight-line joint; a motor arranged in the pivot frame to rotate the column frame; a decelerator attachably/detachably mounted on the rotating joint of the pivot frame or directly on the pivot frame to receive driving force from the motor; and a four-bar link installed between an output shaft of the decelerator and the column frame.
    Type: Application
    Filed: April 4, 2011
    Publication date: March 7, 2013
    Applicant: SAMSUNG HEAVY IND. CO., LTD.
    Inventors: Hie Yong Jeong, Dong Soo Kang, Eun Jung Kim, Young Jun Park
  • Publication number: 20130025399
    Abstract: A robot according to an aspect of an embodiment includes: an articulated arm; and a speed reducer that is provided in a joint of the articulated arm. The articulated arm performs a multi-axis operation. The speed reducer has rigidity for which an acquisition value obtained by acquiring a deflection amount of a predetermined representative position at the articulated arm for each dimension of a three-dimensional coordinate system is not more than a threshold corresponding to a target precision of the articulated arm.
    Type: Application
    Filed: February 8, 2012
    Publication date: January 31, 2013
    Applicant: KABISHIKI KAISHA YASKAWA DENKI
    Inventors: Kaori SAKAKI, Takahiro UMEZAKI, Atsushi ICHIBANGASE
  • Patent number: 8260453
    Abstract: A numerical controller for controlling a five-axis machining apparatus, in which a tool orientation command is corrected to thereby attain a smooth machined surface and a shortened machining time. The numerical controller includes command reading device that successively reads a tool orientation command, tool orientation command correcting device that corrects the tool orientation command so that a ratio between each rotary axis motion amount and a linear axis motion amount is constant in each block, interpolation device that determines respective axis positions at every interpolation period based on the tool orientation command corrected by the tool orientation command correcting device, a motion path command, and a relative motion velocity command such that a tool end point moves along a commanded motion path at a commanded relative motion velocity, and device that drives respective axis motors such that respective axis positions determined by the interpolation device are reached.
    Type: Grant
    Filed: December 1, 2008
    Date of Patent: September 4, 2012
    Assignee: Fanuc Ltd
    Inventors: Toshiaki Otsuki, Soichiro Ide, Osamu Hanaoka, Daijirou Koga
  • Patent number: 8251863
    Abstract: A transmission or actuator offering multiple rotational outputs proportionate in speed to that of a common rotational input, each output according to its own ratio. The ratios are continuously variable between positive and negative values, including zero, and may be varied by electromechanical actuators under computer control. The transmission relates the output speeds one to another under computer control, and thus makes possible the establishment of virtual surfaces and other haptic effects in a multidimensional workspace to which the transmission outputs are kinematically linked. An example of such a workspace is that of a robotic or prosthetic hand.
    Type: Grant
    Filed: September 4, 2007
    Date of Patent: August 28, 2012
    Assignee: HDT Robotics, Inc.
    Inventors: Eric L. Faulring, Thomas Moyer, Julio Santos-Munne, Alexander Makhlin, J. Edward Colgate, Michael Peshkin
  • Patent number: 8224486
    Abstract: There is provided a device for evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, comprising a computer including a simulation function for confirming a robot operation. The computer includes a load calculation section for calculating a load given to a motor for driving an operating portion of the robot by a simulation conducted by a computer; and an evaluation section for evaluating, by an evaluation function, whether or not the load exceeds a predetermined allowed value.
    Type: Grant
    Filed: December 16, 2010
    Date of Patent: July 17, 2012
    Assignee: Fanuc Ltd
    Inventors: Yoshiharu Nagatsuka, Toshiya Takeda
  • Publication number: 20120073930
    Abstract: A drive system for each arm of a mobile robot, each drive system including a drive motor and an adjustable clutch system interconnected between its associated arm and the drive motor and having a high friction locked position for enabling direct drive of the arm by the drive motor and a reduced friction slip position for enabling manual movement of the associated arm without back-driving the drive motor.
    Type: Application
    Filed: September 27, 2010
    Publication date: March 29, 2012
    Inventors: Geoffrey B. Lansberry, Lance L. Andrus, Brian DeStefano
  • Patent number: 8065060
    Abstract: Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two-joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.
    Type: Grant
    Filed: January 18, 2006
    Date of Patent: November 22, 2011
    Assignee: The Board of Regents of the University and Community College System on Behalf of the University of Nevada
    Inventor: George Danko
  • Patent number: 7843158
    Abstract: A medical robotic system includes a surgical instrument, a robotic arm assembly, an input device, and a processor. The surgical instrument has an end effector and a sensor for sensing a force exerted by the end effector, and is operatively mounted on the robotic arm assembly. The processor is configured to receive commanded movement of the end effector from the input device, receive information of the force from the sensor, determine a reduced velocity of the commanded movement that would inhibit damage causing motion of the end effector, and control robotic manipulation of the surgical instrument in response to the commanded movement of the end effector while restricting the velocity of the commanded movement to the reduced velocity.
    Type: Grant
    Filed: March 31, 2008
    Date of Patent: November 30, 2010
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Giuseppe Prisco
  • Publication number: 20100246899
    Abstract: A method apparatus estimates depths of features observed in a sequence of images acquired of a scene by a moving camera by first estimating coordinates of the features and generating a sequence of perspective feature image. A set of differential equations are applied to the sequence of perspective feature images to form a reduced order dynamic state estimator for the depths using only a vector of linear and angular velocities of the camera and the focal length of the camera. The camera can be mounted on a robot manipulator end effector. The velocity of the camera is determined by robot joint encoder measurements and known robot kinematics.
    Type: Application
    Filed: March 26, 2009
    Publication date: September 30, 2010
    Inventor: Khalid El Rifai
  • Patent number: 7765027
    Abstract: A method and apparatus for estimating a position and an orientation of a mobile robot. The apparatus includes: a ceiling image grabber for obtaining a ceiling image of an area where the mobile device travels; a mark detector for detecting a retro-reflective artificial mark from the ceiling image, the retro-reflective artificial mark including a first mark and a second mark, each including a non-reflective portion and an infrared reflective portion; and a position & orientation estimator for estimating a position and an orientation of the mobile device using a position of the artificial mark or encoder information according to whether detection of the artificial mark is successful.
    Type: Grant
    Filed: September 16, 2004
    Date of Patent: July 27, 2010
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Sun-gi Hong, Seokwon Bang, Dong Ryeol Park
  • Patent number: 7765023
    Abstract: A robot controller according to an embodiment of the present invention comprises a base; a first link; a first actuator which drives to rotate the first link relative to the base; a first torque transmission mechanism which transmits the torque of the first actuator to the first link at a speed reducing ratio of N1; a first angular sensor which detects a rotating angle ?M1 of the first actuator; a first angular velocity sensor which detects an angular velocity ?A1 of the first link rotating relatively to the base; and a processor which calculates an angle of the first link relatively to the base by using a high frequency content of an integrated value of ?A1 and a low frequency content of ?M1*N1, the high frequency content being equal to a first frequency or higher and the low frequency content being equal to a first frequency or lower.
    Type: Grant
    Filed: February 25, 2005
    Date of Patent: July 27, 2010
    Assignee: Kabushiki Kaisha Toshiba
    Inventors: Junji Oaki, Hideaki Hashimoto, Fumio Ozaki, Hirokazu Sato
  • Patent number: 7765031
    Abstract: In a robot, a first determining unit determines whether there is an interference region in which a first occupation region and a second occupation region are at least partially overlapped with each other. A second determining determines whether a second movable part of another robot is at least partially located in the interference region based on an actual position of the second movable part. A stopping unit begins stopping, at a predetermined timing, movement of the first movable part if it is determined that there is the interference region, and that the second movable part is at least partially located in the interference region. The predetermined timing is determined based on a positional relationship between an actual position of the first movable part and the interference region.
    Type: Grant
    Filed: November 22, 2006
    Date of Patent: July 27, 2010
    Assignee: Denso Wave Incorporated
    Inventor: Kenji Nagamatsu
  • Publication number: 20090301253
    Abstract: A parallel mechanism includes a base portion, a bracket to which an end effecter is attached, a plurality of actuators attached to the base portion, a plurality of arms through which the plurality of actuators and the bracket are coupled together in parallel, and a control device arranged to control the actuators. When the end effecter in a stopped state is moved to a target position, the control device is arranged to control the actuators so that a level of acceleration at which the end effecter is accelerated is higher than a level of deceleration at which the end effecter is decelerated.
    Type: Application
    Filed: May 19, 2009
    Publication date: December 10, 2009
    Applicant: MURATA MACHINERY, LTD.
    Inventors: Tatsuhiko Nishida, Hideaki Nakanishi, Manabu Yamashita
  • Patent number: 7558647
    Abstract: In a robot arm controlling device, a mechanical impedance set value of the arm is set by an object property-concordant impedance setting device based on information of an object property database in which information associated with properties of an object being gripped by the arm is recorded, and a mechanical impedance value of the arm is controlled to the set mechanical impedance set value by an impedance controlling device.
    Type: Grant
    Filed: December 12, 2006
    Date of Patent: July 7, 2009
    Assignee: Panasonic Corporation
    Inventor: Yasunao Okazaki
  • Patent number: 7513036
    Abstract: A method of controlling contact load in an apparatus for mounting electronic components on a substrate, in which a head is lowered at high speed to slow down starting position where there is no risk that the electronic component makes contact with the substrate (S1), and from there the head is lowered at low speed until a predetermined target contact load is detected. The process of lowering the head at low speed includes the steps of moving down the head a predetermined distance (S3), measuring load after the step of moving down the head (S5), and determining whether the measured contact load has reached the target contact load (S9). The steps of moving down the head (S3) and measuring the load (S5) are repeated until the measured load reaches the target contact load. The actual load is precisely controlled to be close to a very small set level of target contact load. Accordingly, electronic components using low dielectric constant material are mounted without the risk of damage.
    Type: Grant
    Filed: August 31, 2005
    Date of Patent: April 7, 2009
    Assignee: Panasonic Corporation
    Inventors: Shuichi Hirata, Yasuharu Ueno, Makoto Morikawa, Hiroyuki Yoshida, Noriaki Yoshida
  • Publication number: 20090055019
    Abstract: An interactive system for interacting with a sentient being. The system includes a robotic companion of which the sentient being may be a user and an entity which employs the robot as a participant in an activity involving the user. The robotic companion responds to inputs from an environment that includes the user during the activity. The robotic companion is capable of social and affective behavior either under control of the entity or in response to the environment. The entity may provide an interface by which an operator may control the robotic companion. Example applications for the interactive system include as a system for communicating with patients that have difficulties communicating verbally, a system for teaching remotely-located students or students with communication difficulties, a system for facilitating social interaction between a remotely-located relative and a child, and systems in which the user and the robot interact with an entity such as a smart book.
    Type: Application
    Filed: May 8, 2008
    Publication date: February 26, 2009
    Applicant: Massachusetts Institute of Technology
    Inventors: Walter Dan Stiehl, Cynthia Breazeal, Jun Ki Lee, Allan Z. Maymin, Heather Knight, Robert L. Toscano, Iris M. Cheung
  • Publication number: 20080303473
    Abstract: A robot control apparatus for soft control operation of a robot has position and velocity control loops for each control axis of the robot. The position control gain and the velocity control gain of a specified control axis in soft control operation is set lower than those of the other control axes. The orientation of the forward end of the robot arm to be assumed while following an external force, i.e., the orientation thereof immediately before starting the follow-up operation is determined. The position command or the velocity command for the control axes other than the specified control axis, which are determined based on the present position of the specified control axis moved by the external force applied to the forward end of the robot arm, the direction to follow the external force and the orientation immediately before starting the follow-up operation, is applied to the control loop of the particular control axis.
    Type: Application
    Filed: June 4, 2008
    Publication date: December 11, 2008
    Applicant: FANUC LTD
    Inventors: Tetsuaki KATO, Teruki Kuroshita
  • Publication number: 20080297092
    Abstract: A control apparatus (10) for a machining robot (1) adapted to machine a workpiece (20) by coming into contact with an effector (19) of a tool (18) attached to the machining robot with the workpiece comprises: detecting means (15) for detecting a force or moment acting between the effector of the tool and the workpiece; converting means (22) for converting the force or moment detected by the detecting means into a force or moment acting on the joint axis of the machining robot; deflection calculating means (25) for calculating a deflection occurring at the joint axis of the machining robot on the basis of the force or moment acting on the joint axis of the machining robot and obtained from the converting means; and correcting means (28) for correcting at least one of a position command or a speed command for the joint axis of the machining robot in such a manner as to compensate for the deflection calculated by the deflection calculating means.
    Type: Application
    Filed: May 27, 2008
    Publication date: December 4, 2008
    Applicant: FANUC LTD
    Inventors: Ryo NIHEI, Tetsuaki Kato, Teruki Kuroshita
  • Patent number: 7245975
    Abstract: A system and method for generating master and slave reference signals is disclosed, wherein at least one axis of the plurality of axes is a master section and at least one axis of the plurality of axes is a slave section, said slave section being a slave of said master section. The system and method generates a first reference signal and a second reference signal, wherein the second reference signal lags the first reference signal by a first delay period, and the processor provides the first reference signal to the slave section and the second reference signal to the master section. As a result, the slave section can lead the master section.
    Type: Grant
    Filed: April 20, 2005
    Date of Patent: July 17, 2007
    Assignee: Parker-Hannifin Corporation
    Inventor: Marghub Mirza
  • Patent number: 6999851
    Abstract: A robot apparatus and a motion controlling method for the robot apparatus wherein a reflex motion or the like can be performed at a high speed while decreasing the calculation amount of and the concentrated calculation load to a control apparatus. The robot has a control configuration having a hierarchical structure including a higher order central calculation section corresponding to the brain, reflex system control sections corresponding to the vertebra, and servo control systems and actuators corresponding to the muscles. From restrictions to the power consumption and so forth, there is a limitation to increase of the speed of a control cycle of the higher order central calculation section. External force acting upon the machine body is a disturbance input of a high frequency band, and a very high speed control system is required.
    Type: Grant
    Filed: August 28, 2003
    Date of Patent: February 14, 2006
    Assignee: Sony Corporation
    Inventors: Keisuke Kato, Shinji Ishii
  • Patent number: 6594550
    Abstract: A method for controlling movement of an automated machine. The movement is defined by a plurality of steps. First, a buffer of a predetermined size is defined. The buffer stores a current step and one or more previous steps in the movement of the automated machine. Then a current step in the movement of the automated machine is executed. Next, the buffer is checked to see if the current step executed in the movement of the automated machine movement is the same as a predetermined step of interest. If the current step is a predetermined step of interest, the buffer is checked to determine what at least one previous step was. If the current step was the step of interest, a new step is executed in the movement of the automated machine, the new step executed depending on what the at least one previous step was.
    Type: Grant
    Filed: March 29, 2002
    Date of Patent: July 15, 2003
    Assignee: ASM America, Inc.
    Inventor: Angel Y. Okrah
  • Patent number: 6528963
    Abstract: Disclosed is a method of controlling a robot including a motor having a rotation shaft, an arm part having one end connected to the rotation shaft and interlocking with a rotation of the motor, a position controller controlling the motor, and a main controller generating a speed command profile for controlling the motor, based on the inputted motion command of the arm part and transmitting the profile to the position controller, comprising a step of generating the speed command profile controlling a speed of the motor so as to allow the arm part to have an acceleration profile in uniform speed. With this configuration, the slipping of a workpiece can be prevented and further increasing the motion speed while the arm part is traveling, by making the motion speed of the arm part constant.
    Type: Grant
    Filed: May 30, 2001
    Date of Patent: March 4, 2003
    Assignee: Samsung Electronics Co., Ltd.
    Inventor: Yong-joon Hong
  • Patent number: 6278902
    Abstract: A DSP of a servo control circuit obtains a movement value of a servomotor for each axis for each position-speed feedback processing cycle in accordance with a move command value for each axis delivered from a main processor with every distribution cycle, and also obtains a position correction value in accordance with pressure information detected by a sensor. The DSP of the servo control circuit carries out position-speed feedback processing with the use of a move command value which is obtained by correcting the movement value with the obtained position correction value, and drives the servomotor.
    Type: Grant
    Filed: March 3, 1999
    Date of Patent: August 21, 2001
    Assignee: Fanuc Ltd.
    Inventors: Yoshiki Hashimoto, Minoru Enomoto
  • Patent number: 6246923
    Abstract: A control device for a work carrying system characterized in that a first point where the moving action of a work transitions from a moving action from an origin process chamber to a transfer chamber to a moving action inside the transfer chamber and a second point where the moving action of the work transitions from the moving action inside the transfer chamber to a moving action from the transfer chamber to a destination process chamber are set on a moving path of the work, and that speed patterns on the moving path are set based on a transfer distance of the work and time required to open and close gate means of the origin and destination process chambers such that the opening of a gate valve at the destination is completed when the work reaches the second point on the moving path and that a transfer time from the first point to the second point becomes the shortest time which is longer than the opening and closing time of the gate valve, the speed of a work carrying robot being controlled in accordance wi
    Type: Grant
    Filed: September 11, 1998
    Date of Patent: June 12, 2001
    Assignee: Komatsu Ltd.
    Inventors: Shunsuke Sugimura, Matsuo Nose
  • Patent number: 5990585
    Abstract: A robot having a pair of magnetic couplings that each couple a motor in a cylindrical first chamber to an associated cylindrical ring closely spaced from the cylindrical wall of said first chamber. The robot includes a mechanism to convert rotation of each of these rings into separate motions of the robot. In the preferred embodiment, these separate motions are radial and rotational.
    Type: Grant
    Filed: March 27, 1998
    Date of Patent: November 23, 1999
    Assignee: Applied Materials, Inc.
    Inventor: Robert B. Lowrance
  • Patent number: 5821718
    Abstract: A robotic system for automated durability road testing of a vehicle includes a robotic body that is positioned on a base plate, and the base plate in turn is positioned on the driver's seat of a vehicle. The robotic body includes a brake pedal bell crank assembly for operating the brake pedal, and an accelerator beel crank assembly for operating the accelerator pedal. Additionally, the robotic body includes a steering wheel shaft that is engaged with the steering column of the vehicle for turning the vehicle, and a shift mechanism engaged with the gear shifter of the vehicle to shift the gears of the vehicle.
    Type: Grant
    Filed: May 7, 1996
    Date of Patent: October 13, 1998
    Assignee: Chrysler Corporation
    Inventors: Frederick J. Shaffer, Mark A. Froelich, Jeffrey P. Zyburt
  • Patent number: 5764012
    Abstract: A robot having a pair of magnetic couplings that each couple a motor in a cylindrical first chamber to an associated cylindrical ring closely spaced from the cylindrical wall of said first chamber. The robot includes a mechanism to convert rotation of each of these rings into separate motions of the robot. In the preferred embodiment, these separate motions are radial and rotational.
    Type: Grant
    Filed: April 22, 1997
    Date of Patent: June 9, 1998
    Assignee: Applied Materials, Inc.
    Inventor: Robert B. Lowrance
  • Patent number: 5656902
    Abstract: A robot having a pair of magnetic couplings that each couple a motor in a cylindrical first chamber to an associated cylindrical ring closely spaced from the cylindrical wall of said first chamber. The robot includes a mechanism to convert rotation of each of these rings into separate motions of the robot. In the preferred embodiment, these separate motions are radial and rotational.
    Type: Grant
    Filed: October 26, 1995
    Date of Patent: August 12, 1997
    Assignee: Applied Materials, Inc.
    Inventor: Robert B. Lowrance
  • Patent number: 5355066
    Abstract: A robot having a pair of magnetic couplings that each couple a motor in a cylindrical first chamber to an associated cylindrical ring closely spaced from the cylindrical wall of said first chamber. The robot includes a mechanism to convert rotation of each of these rings into separate motions of the robot. In the preferred embodiment, these separate motions are radial and rotational.
    Type: Grant
    Filed: March 2, 1993
    Date of Patent: October 11, 1994
    Assignee: Applied Materials, Inc.
    Inventor: Robert B. Lowrance
  • Patent number: 5341078
    Abstract: A sliding mode control method is provided capable of improving the following ability of a control system with respect to a command at the time of change in the operating condition of a machine, and preventing vibration which tends to occur by the action of a spring element of the machine at the time of change in the operating condition. The processor of a servo circuit derives position deviation (.epsilon.) and speed deviation (.epsilon.) based on a command position (.theta.r) and an actual position (.theta.), estimates an torsion amount (.epsilon.n) and torsion speed (.epsilon.n) by effecting observer processing (Steps 100 to 101), and derives a switching variable (s) (102).
    Type: Grant
    Filed: August 23, 1993
    Date of Patent: August 23, 1994
    Assignee: Fanuc Ltd.
    Inventors: Nobutoshi Torii, Ryo Nihei, Tetsukai Kato
  • Patent number: 5331542
    Abstract: An apparatus and a method for generating acceleration and deceleration patterns for control of a robot in a servo system which is equipped with a plurality of driving axes so constituted as to mutually exert dynamic interference, in such a manner that a synchronism is attained at acceleration start points, velocity peak points and deceleration end points in the patterns for the individual driving axes. Peak time calculating means responds to the information relative to dynamic parameters from constant setting means and command means, and calculates the peak time, which is required until the velocity reaches its peak after the pattern generation start point, from the kinetic energy consumed for each displacement and also from the power distribution relative to the driving sources.
    Type: Grant
    Filed: March 26, 1992
    Date of Patent: July 19, 1994
    Assignee: Sony Corporation
    Inventor: Ietoshi Itoh
  • Patent number: 5243690
    Abstract: A robot is controlled to move from a predetermined rest point to contact a moving target. The control parameters of the robot are not known. Control is effectuated by predetermining the time required for the robot to move from a rest position to each of a plurality of points within the region in which the target is expected to be found. When the target is identified, its location near the predetermined points at a future time is computed. The known time required from motion of the robot from the rest position to predetermined points adjacent the future location of the target is determined by reference to stored information. The exact time required for the motion may be interpolated between the predetermined points. The time for robot motion is subtracted from the future time to determine the time at which robot motion begins. In a particular embodiment of the invention, a robot coacts with a circular conveyor belt to retrieve objects from the conveyor and transport them to a dump point.
    Type: Grant
    Filed: November 14, 1989
    Date of Patent: September 7, 1993
    Assignee: General Electric Company
    Inventors: Thomas A. Chmielewski, Jr., Brian R. Frederick, Constantine J. Tsikos
  • Patent number: 5241249
    Abstract: A process for controlling a robot arm having a certain number of articulations or joints (A to F), which can abut. Substitution paths are automatically defined by calculation or by the choice of intermediate objectives in order to arrive at destination points, when the direct path would involve the abutment of certain joints.
    Type: Grant
    Filed: January 8, 1992
    Date of Patent: August 31, 1993
    Assignee: Commissariat a l'Energie Atomique
    Inventor: Jean-Marie Detriche
  • Patent number: 5231335
    Abstract: A double spindle synchronous driving apparatus for synchronously driving first and second spindles, including: first and second motors for driving the first and second spindles, respectively; first and second rotational detection members for detecting rotational positions of the first and second motors so as to output first and second detection signals, respectively; first and second deviation counters which outputs first and second deviation signals in response to a position command signal and the first detection signal and in response to the position command signal and the second detection signal, respectively; a correction member which formulates first and second correction signals for the first and second deviation signals, respectively in accordance with a difference between the first and second deviation signals by fuzzy inference; first and second arithmetic members for performing arithmetic operation of the first deviation signal and the first correction signal and of the second deviation signal and t
    Type: Grant
    Filed: June 26, 1992
    Date of Patent: July 27, 1993
    Assignee: Matsushita Electric Industrial Co., Ltd.
    Inventors: Hirotaka Mega, Saburo Kubota
  • Patent number: 5227708
    Abstract: A robot having a pair of magnetic couplings that each couple a motor in a cylindrical first chamber to an associated cylindrical ring closely spaced from the cylindrical wall of said first chamber. The robot includes a mechanism to convert rotation of each of these rings into separate motions of the robot. In the preferred embodiment, these separate motions are radial and rotational.
    Type: Grant
    Filed: January 22, 1991
    Date of Patent: July 13, 1993
    Assignee: Applied Materials, Inc.
    Inventor: Robert B. Lowrance
  • Patent number: 5152660
    Abstract: A workpiece transfer arm for supporting and moving a workpiece from one position to another has a telescopic arm one end of which is secured to a mounting bracket and the opposite end of which carries a workpiece support for engagement by the workpiece. The telescopic arm has a rod accommodated in a sleeve. The rod has a plurality of annular grooves occupied by a thermoplastic adhesive which, when at ambient temperature, is solid and fixes the rod in the sleeve. At elevated temperatures, however, the adhesive liquefies and enables relative movement between the sleeve and the rod to enable the position of the workpiece support to be adjusted.
    Type: Grant
    Filed: May 17, 1991
    Date of Patent: October 6, 1992
    Assignee: Atlas Technologies, Inc.
    Inventor: Stephen E. Bierlein
  • Patent number: 5130631
    Abstract: In a multi-jointed robot, position controllers are located at each of the joints of the robot and are interconnected by a unitary bus. The bus carries a loosely-regulated voltage to all of the controllers and also includes data conductors connected to the controllers for disseminating position commands which are time-division multiplexed.
    Type: Grant
    Filed: July 20, 1990
    Date of Patent: July 14, 1992
    Assignee: Hewlett-Packard Company
    Inventors: Gary B. Gordon, Carl A. Myerholtz
  • Patent number: 5103149
    Abstract: A direct teaching type robot in which in the playback of the robot an electric power corresponding to a playback command is supplied to an electric motor from a servo driver so that the electric motor is driven to move a moving arm of the robot and in the teaching operation the moving arm is directly moved by an instructor to teach its movement to the robot includes breaking means provided in the servo driver for breaking a current generated by the electric motor when the electric motor is rotated in response to the teaching operation of the moving arm so as not to flow into the servo driver, whereby operation force by the instructor for moving the moving arm of the robot in the teaching can be reduced.
    Type: Grant
    Filed: February 19, 1991
    Date of Patent: April 7, 1992
    Assignee: Mitsubishi Jukogyo Kabushiki Kaisha
    Inventors: Yutaka Kimura, Hiroshi Okumura, Eiji Matumoto