Teaching System Patents (Class 901/3)
  • Patent number: 12011240
    Abstract: A surgical robotic arm control system and a surgical robotic arm control method are provided. The surgical robotic arm control system includes a surgical robotic arm, a first image capturing unit, a second image capturing unit, and a processor. The first image capturing unit is used for obtaining a field image. The field image includes a first target image of a target object. The second image capturing unit is disposed at an end position of the surgical robotic arm and is used to obtain a second target image of the target object. The processor analyzes the field image to obtain robotic arm movement information, and controls the surgical robotic arm to move to approach the target object. The processor analyzes the target image to obtain robotic arm rotation information, and controls an angle and a posture of the surgical robotic arm.
    Type: Grant
    Filed: November 3, 2021
    Date of Patent: June 18, 2024
    Assignee: Metal Industries Research & Development Centre
    Inventors: Jian Jia Zeng, Sheng-Hong Yang, Bo-Wei Pan
  • Patent number: 12005576
    Abstract: A teaching system configured to teach operation to a plurality of robots includes a first controlling device which determines whether a first robot and a second robot are in an enabled state where the first and second robots are permitted to operate, and when the first controlling device determines as in the enabled state, the first controlling device transmits an enable signal indicative of permitting the second robot to operate and enables the first robot to be taught the operation when a teaching terminal specifies the first robot. When a second controlling device receives the enable signal from the first controlling device and the teaching terminal specifies the second robot, the second controlling device enables the second robot to be taught the operation.
    Type: Grant
    Filed: May 20, 2020
    Date of Patent: June 11, 2024
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Tomoki Kato, Tsuyoshi Tagashira, Atsushi Kameyama, Masao Aramoto
  • Patent number: 11992949
    Abstract: This disclosure describes systems, methods, and devices related to robotic point capture and motion control. A robotic device may synchronize one or more first axes of the robotic device with one or more second axes of a handheld device. The device may determine a welding path using the handheld device. The device may perform a weld by the traversing of an end effector of the robotic across the welding path, wherein the end effector comprises a welding tip.
    Type: Grant
    Filed: May 20, 2020
    Date of Patent: May 28, 2024
    Assignee: Sisu Devices LLC
    Inventors: Russell Aldridge, Jacob Robinson, Marc Christenson
  • Patent number: 11992943
    Abstract: A method for optimizing a predefined policy for a robot, the policy being a Gaussian mixture model. The method begins with an initialization of a Gaussian process, the Gaussian process including at least one kernel k which, as an input parameter, obtains a distance that is ascertained between probability distributions, which are characterized in each case by the Gaussian mixture model and the Gaussian process, according to the probability product kernel. This is followed by an optimization of the Gaussian process in such a way that it predicts the costs as a function of the parameters of the Gaussian mixture model. This is followed by an ascertainment of optimal parameters of the Gaussian mixture model as a function of the Gaussian process, the parameters being selected, as a function of the Gaussian process, in such a way that the Gaussian process outputs the optimal cost function.
    Type: Grant
    Filed: October 13, 2021
    Date of Patent: May 28, 2024
    Assignee: ROBERT BOSCH GMBH
    Inventors: Lukas Froehlich, Edgar Klenske, Leonel Rozo
  • Patent number: 11981517
    Abstract: A robotic line kitting system is disclosed. In various embodiments, a signal associated with an unsafe condition is received via a communication interface. In response to the signal, a controlled operation to reduce a speed of movement of a robotic instrumentality is performed prior to a safety stop of the robotic instrumentality being triggered.
    Type: Grant
    Filed: March 30, 2021
    Date of Patent: May 14, 2024
    Assignee: Dexterity, Inc.
    Inventors: Zhouwen Sun, Cuthbert Sun, Andrew Nguyen, Samuel Tay, Emilie Peck, Kevin Jose Chavez, Robert Holmberg
  • Patent number: 11951637
    Abstract: A calibration apparatus includes a processor, an alignment device, and an arm. The alignment device captures images in a three-dimensional space, and a tool is arranged on a flange of the arm. The processor records a first matrix of transformation between an end-effector coordinate-system and a robot coordinate-system, and performs a tool calibration procedure according to the images captured by the alignment device for obtaining a second matrix of transformation between a tool coordinate-system and the end-effector coordinate-system. The processor calculates relative position of a tool center point of the tool in the robot coordinate-system based on the first and second matrixes, and controls the TCP to move in the three-dimensional space for performing a positioning procedure so as to regard points in an alignment device coordinate-system as points of the TCP, and calculates the relative positions of points in the alignment device coordinate-system and in the robot coordinate-system.
    Type: Grant
    Filed: June 4, 2021
    Date of Patent: April 9, 2024
    Assignee: DELTA ELECTRONICS, INC.
    Inventors: Cheng-Hao Huang, Shi-Yu Wang, Po-Chiao Huang, Han-Ching Lin, Meng-Zong Li
  • Patent number: 11914333
    Abstract: A machine learning device performs machine learning with respect to a plurality of servo control units corresponding to a plurality of axes. A first servo control unit related to an axis receiving interference includes a compensation unit that compensates for at least one of a position error, a velocity command, and a torque command of the first servo control unit based on at least one of a variable related to a position command and a variable related to position feedback information of a second servo control unit related to an axis generating the interference. The machine learning device acquires state information including first and second servo control information and a coefficient of the function, outputs action information and a reward value for reinforcement learning, and updates a value function on the basis of the reward value, the state information, and the action information.
    Type: Grant
    Filed: August 25, 2020
    Date of Patent: February 27, 2024
    Assignee: FANUC CORPORATION
    Inventors: Yao Liang, Ryoutarou Tsuneki
  • Patent number: 11904454
    Abstract: A robot system includes a manufacturing system including a robot and peripheral equipment. There is a controller communicably connected to the robot, the peripheral equipment, and a portable information terminal. The controller includes a memory storing the operation program, operation mode setting circuitry to set an operation mode a teaching mode or a playback mode, operation controlling circuitry configured to control the operation of the robot in the teaching mode based on the operation command, and control the robot and the peripheral equipment in the playback mode in accordance with the operation program, and display controlling circuitry configured to control the portable information terminal in the teaching mode to display on a display an operation screen through which the operation command is inputted, and control the portable information terminal in the playback mode to display on the displaying part a screen different from the operation screen.
    Type: Grant
    Filed: November 27, 2020
    Date of Patent: February 20, 2024
    Assignee: KAWASAKI JUKOGYO KABUSHIKI KAISHA
    Inventors: Masayuki Watanabe, Toshihiko Miyazaki
  • Patent number: 11899430
    Abstract: A controller for performing synchronization control over the master axis and the slave axis to follow an electronic cam profile includes a reference position calculator that, in response to power being restored after a power disconnect, obtains a position of the master axis and calculates reference positions of the master axis and the slave axis based on the obtained position of the master axis, a position of the master axis at cam synchronization, and the electronic cam profile, and a return control unit that performs return control to determine a position of the slave axis corresponding to a current position of the master axis based on the current position of the master axis, the electronic cam profile, and the reference positions of the master axis and the slave axis calculated by the reference position calculator, and that moves the slave axis to the determined position.
    Type: Grant
    Filed: March 5, 2020
    Date of Patent: February 13, 2024
    Assignee: OMRON CORPORATION
    Inventors: Yuto Yasui, Tomonori Shimamura, Masahiko Nakano, Takafumi Okura, Junji Shimamura
  • Patent number: 11858128
    Abstract: A device that uses a motor may quickly and safely stop the motor using a rapid braking system. For example, the device may stop to avoid collision with an object, upon determining a failure of an internal component, upon receipt of a command, and so forth. Responsive to a signal to stop, the motor is disconnected from the battery. A braking circuit is activated that dissipates, in a controlled fashion, power produced by continuing motion of the motor. When the voltage produced by the motor's continuing motion drops below a threshold, a stop circuit shorts the terminals of the motor, causing the motor to resist further rotation. When the stop condition no longer applies the signal to stop is removed resulting in the motor being reconnected to the battery, the braking circuit being deactivated, the stop circuit opens the short between the terminals of the motor, and normal operation resumes.
    Type: Grant
    Filed: June 28, 2018
    Date of Patent: January 2, 2024
    Assignee: AMAZON TECHNOLOGIES, INC.
    Inventors: Benny Ng, Siddharth Gupta, Marcel Colman Eric Stieber, Rex L Allison, Christopher Wells Fitzhugh
  • Patent number: 11836183
    Abstract: Implementations are described herein for automatically annotating or curating digital images using various signals generated by individual users, in addition to or instead of content of the digital images themselves, thereby to enable the digital images to be retrieved from a searchable database based on their annotations. In particular, techniques are described herein for identifying events associated with a user, e.g., based on natural language input provided by a user, and automatically classifying/annotating images inferred to be related to those events.
    Type: Grant
    Filed: January 5, 2023
    Date of Patent: December 5, 2023
    Assignee: GOOGLE LLC
    Inventors: Maryam Garrett, Wan Fen Nicole Quah, Gordon Sims
  • Patent number: 11747813
    Abstract: Provided is a tangible, non-transitory, machine readable medium storing instructions that when executed by a processor of a robotic device effectuates operations including, receiving, by the processor, a sequence of one or more commands; executing, by the robotic device, the sequence of one or more commands; saving, by the processor, the sequence of one or more commands in memory after a predetermined amount of time from receiving a most recent one or more commands; and re-executing, by the robotic device, the saved sequence of one or more commands.
    Type: Grant
    Filed: May 10, 2021
    Date of Patent: September 5, 2023
    Assignee: AI Incorporated
    Inventors: Ali Ebrahimi Afrouzi, Lukas Fath, Chen Zhang
  • Patent number: 11701776
    Abstract: A robotic kitting machine is disclosed. In various embodiments, a robotic arm is used to move an item to a location in proximity to a slot into which the item is to be inserted. Force information generated by a force sensor is received via a communication interface. The force sensor information is used to align a structure comprising the item with a corresponding cavity comprising the slot, and the item is inserted into the slot.
    Type: Grant
    Filed: October 12, 2020
    Date of Patent: July 18, 2023
    Assignee: Dexterity, Inc.
    Inventors: Samir Menon, Ivan Alberto Trujillo Priego, Talbot Morris-Downing, Zhouwen Sun, Kevin Jose Chavez, Alberto Leyva Arvayo, Cyril Nader, Farshid Farhat
  • Patent number: 11639003
    Abstract: According to an aspect, there is provided a teaching device on which portable terminal equipment is mounted, the teaching device being used to teach operation to a robot. The teaching device includes a case section including a mounting surface on which the portable terminal equipment is mounted. The case section includes a first member including a stop switch for stopping the operation of the robot and configured to restrict the portable terminal equipment's moving in a first direction extending along the mounting surface and a second member provided to be capable of moving in the first direction relatively to the first member and configured to restrict the portable terminal equipment's moving in an opposite direction of the first direction.
    Type: Grant
    Filed: April 24, 2020
    Date of Patent: May 2, 2023
    Inventors: Toshio Tanaka, Masahiko Kobayashi, Yasutomo Takahashi, Munenori Sawada
  • Patent number: 11627443
    Abstract: An apparatus for compensating a channel based on an artificial neural network includes a channel learning device that learns a property of the channel, and a channel compensating device that compensates for an error of the channel based on a learning result of the channel learning device.
    Type: Grant
    Filed: October 18, 2019
    Date of Patent: April 11, 2023
    Assignees: Hyundai Motor Company, Kia Motors Corporation, Korea National University of Transportation Industry-Academic Cooperation Foundation
    Inventors: Zeung Il Kim, Young Cheol Koh, Jae Hun Jeong, Chang Ick Song, Seung Ho Han
  • Patent number: 11571815
    Abstract: A robot assembly for safe operation in a manufacturing setting with humans including a sensor for detecting a human location and human movement is provided. A safety control module providing a boundary of a safety zone area that is associated with the human in a task oriented state that includes a largest possible area in which the human or an associated work object can extend when the human is standing in one location and performing the work task. The human movement and safety zone area location being used to develop a capture set area that includes at least one predictive future safety zone area location. Using the at least one predicted future safety zone area, establishing a travel path for moving the robot between locations without overlapping the capture set area.
    Type: Grant
    Filed: December 21, 2018
    Date of Patent: February 7, 2023
    Assignee: MAGNA INTERNATIONAL INC.
    Inventors: Rajeev Verma, Alexander Zak, Rahul Meka
  • Patent number: 11562577
    Abstract: The present invention provides a method of detecting a curved lane through path estimation using a monocular vision camera by which the curved lane may be estimated by using paths on the curved lane in the past when a lane is not seen on the curved road because of a dotted lane or other causes.
    Type: Grant
    Filed: January 27, 2021
    Date of Patent: January 24, 2023
    Assignee: CARVI INC.
    Inventor: Eunsu Lee
  • Patent number: 11559903
    Abstract: A robot configured to use a gripper to grasp one or more tools is disclosed. In various embodiments, the robot comprises a robotic arm having a gripper disposed at a free moving end of the robotic arm, and a set of two or more tools configured to grasped or otherwise engaged by the gripper. Each tool in the set of two or more tools may be disposed in a corresponding tool holder, optionally attached to the robot or situated near the robot. The robot is configured to use the gripper to retrieve a selected tool from its tool holder to perform a task; use the tool to perform the task; and return the tool to its tool holder.
    Type: Grant
    Filed: July 13, 2021
    Date of Patent: January 24, 2023
    Assignee: Dexterity, Inc.
    Inventors: Samir Menon, Zhouwen Sun, Robert Hegdahl
  • Patent number: 11487280
    Abstract: A determination device includes: a memory; and a processor coupled to the memory and configured to: obtain sensor data on motion of a device from a plurality of sensors, extract, from the sensor data, data related to an anomaly based on a threshold value used in detecting the anomaly with use of the sensor data, convert the data related to the anomaly into structural data having a graph structure focusing on an analogous relationship between or among the plurality of sensors, and generate a classifier that identifies a cause of the anomaly with use of the structural data.
    Type: Grant
    Filed: November 20, 2019
    Date of Patent: November 1, 2022
    Assignee: FUJITSU LIMITED
    Inventor: Satoshi Amemiya
  • Patent number: 11478935
    Abstract: A method for a robot to automatically find a bending position, including the following steps: step 1, establishing a gripper tool coordinate system (TX, TY, TZ); step 2, determining a user coordinate system (XA, YA, ZA; XB, YB, ZB) of rear blocking fingers (11, 21); step 3, a robot gripper moving horizontally, and detecting the state of sensors (12, 22); step 4, the robot gripper executing a rotational movement, detecting the state of the sensors (12, 22), and thereby obtaining a standard bending position. The robot automatically finds the bending position, the teaching difficulty is reduced, and the bending quality is increased. In the elevator industry, elevator door plate bending sizes are the same, but forming sizes are different. In the present invention, only one product process needs to be taught in order to satisfy elevator door plate processing with different specifications, thereby reducing maintenance costs and increasing production efficiency.
    Type: Grant
    Filed: December 14, 2017
    Date of Patent: October 25, 2022
    Assignee: NANJING ESTUN ROBOTICS CO., LTD
    Inventors: Jinbao Zhang, Lin Zhou, Shuyi Jing, Xiaobo Chi, Jiegao Wang
  • Patent number: 11472640
    Abstract: A robotic system for arranging packages at a destination in a specified arrangement. The robotic system processes incoming packages, stores the packages in a temporary storage area, executes a simulate function to generate or update a simulated stacking plan, determines the occurrence of a palletizing trigger, and places the packages on the pallet according to the simulated stacking plan upon determining the occurrence of the palletizing trigger. The palletizing trigger can be one of a time limit trigger, a uniform layer trigger, a storage capacity trigger, or receiving a placement initiation command.
    Type: Grant
    Filed: February 28, 2020
    Date of Patent: October 18, 2022
    Assignee: MUJIN, Inc.
    Inventors: Rosen Nikolaev Diankov, Denys Kanunikov
  • Patent number: 11426879
    Abstract: A device communicates with a human through voice recognition of voice of the human. The device includes: a drive mechanism that drives the device; and a processor. The processor controls the drive mechanism to drive the device to a waiting place for the device to contact the human, and the waiting place is determined based on contact information that is history of contact between the device and the human.
    Type: Grant
    Filed: January 8, 2020
    Date of Patent: August 30, 2022
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Michiko Sasagawa, Kento Ogawa
  • Patent number: 11345030
    Abstract: Methods and apparatus for complex assembly via autonomous robots using reinforcement learning action primitives are disclosed. An example apparatus includes a construction manager and a movement manager. The construction manager is to determine sequences of reinforcement learning (RL) action primitives based on object location goals and associated assembly goals determined for respective ones of objects depicted in an imaged assembly of objects. The movement manager is to command a robot to construct a physical assembly of objects based on the sequences of RL action primitives. The physical assembly of objects is to correspond to the imaged assembly of objects.
    Type: Grant
    Filed: May 28, 2019
    Date of Patent: May 31, 2022
    Assignee: INTEL CORPORATION
    Inventors: Venkataraman Natarajan, Gagan Acharya, Ramya M., Amit Sudhir Baxi, Arjun K. G., Shagaya Mageshkumar Vincent
  • Patent number: 9149929
    Abstract: Methods and systems are provided for positioning a remote sensor within a target object. An articulated robotic system is coupled to the remote sensor. A positioning system determines a position of the target object to be inspected and determines a first position of the remote sensor. A control system calibrates a virtual representation of the target object with respect to the position of the target object, and tracks movement of the remote sensor relative to the target object.
    Type: Grant
    Filed: May 26, 2010
    Date of Patent: October 6, 2015
    Assignee: THE BOEING COMPANY
    Inventors: William P. Motzer, Gary E. Georgeson, Scott W. Lea, Peter J. Hellenbrand, James J. Troy
  • Publication number: 20150148952
    Abstract: A robot control apparatus includes a transformation-matrix generating unit that generates, on the basis of N first command values for learning per one robot, which are position-corrected command values for positioning a master robot and a slave robot on tracks of their respective robots during the synchronous driving, concerning the respective N command values for learning, transformation matrices among the command values for learning, a command-value storing unit that outputs a first command value for driving at each of M operation periods for defining the track of the master robot, a transformation-matrix-function generating unit and a command-value generating unit that interpolate the N transformation matrices and generate a transformation matrix at the each first command value for driving, and a command-value generating unit that causes the transformation matrices to act on the M first command values for driving and generates M second command values for driving of the slave robot.
    Type: Application
    Filed: May 30, 2013
    Publication date: May 28, 2015
    Applicant: Mitsubishi Electric Corporation
    Inventor: Koji Shiratsuchi
  • Publication number: 20150127154
    Abstract: Apparatus and methods for training and controlling of, for instance, robotic devices. In one implementation, a robot may be trained by a user using supervised learning. The user may be unable to control all degrees of freedom of the robot simultaneously. The user may interface to the robot via a control apparatus configured to select and operate a subset of the robot's complement of actuators. The robot may comprise an adaptive controller comprising a neuron network. The adaptive controller may be configured to generate actuator control commands based on the user input and output of the learning process. Training of the adaptive controller may comprise partial set training. The user may train the adaptive controller to operate first actuator subset. Subsequent to learning to operate the first subset, the adaptive controller may be trained to operate another subset of degrees of freedom based on user input via the control apparatus.
    Type: Application
    Filed: November 1, 2013
    Publication date: May 7, 2015
    Inventors: Jean-Baptiste Passot, Oleg Sinyavskiy, Eugene Izhikevich
  • Publication number: 20150127149
    Abstract: Robotic devices may be trained by a user guiding the robot along a target trajectory using a correction signal. A robotic device may comprise an adaptive controller configured to generate control commands based on one or more of the trainer input, sensory input, and/or performance measure. Training may comprise a plurality of trials. During an initial portion of a trial, the trainer may observe robot's operation and refrain from providing the training input to the robot. Upon observing a discrepancy between the target behavior and the actual behavior during the initial trial portion, the trainer may provide a teaching input (e.g., a correction signal) configured to affect robot's trajectory during subsequent trials. Upon completing a sufficient number of trials, the robot may be capable of navigating the trajectory in absence of the training input.
    Type: Application
    Filed: November 1, 2013
    Publication date: May 7, 2015
    Applicant: BRAIN CORPORATION
    Inventors: Oleg Sinyavskiy, Jean-Baptiste Passot, Eugene Izhikevich
  • Publication number: 20150120055
    Abstract: An image acquisition unit acquires an image including an object, and a controller starts a visual servo using the acquired image, on the basis of at least one of an error in calibration, an error in installation of a robot, an error resulting from the rigidity of the robot, an error of a position where the robot has gripped the object, an error regarding imaging, and an error regarding a work environment. Additionally, the controller starts the visual servo when the distance between one point of a working unit of the robot and the object is equal to or greater than 2 mm.
    Type: Application
    Filed: October 29, 2014
    Publication date: April 30, 2015
    Inventors: Hiroshi MIYAZAWA, Yukihiro YAMAGUCHI, Nobuhiro KARITO
  • Publication number: 20150094850
    Abstract: Apparatus and methods for arbitration of control signals for robotic devices. A robotic device may comprise an adaptive controller comprising a plurality of predictors configured to provide multiple predicted control signals based on one or more of the teaching input, sensory input, and/or performance. The predicted control signals may be configured to cause two or more actions that may be in conflict with one another and/or utilize a shared resource. An arbitrator may be employed to select one of the actions. The selection process may utilize a WTA, reinforcement, and/or supervisory mechanisms in order to inhibit one or more predicted signals. The arbitrator output may comprise target state information that may be provided to the predictor block. Prior to arbitration, the predicted control signals may be combined with inputs provided by an external control entity in order to reduce learning time.
    Type: Application
    Filed: September 27, 2013
    Publication date: April 2, 2015
    Applicant: BRAIN CORPORATION
    Inventors: Jean-Baptiste Passot, Patryk Laurent, Eugene Izhikevich
  • Publication number: 20150094852
    Abstract: Apparatus and methods for arbitration of control signals for robotic devices. A robotic device may comprise an adaptive controller comprising a plurality of predictors configured to provide multiple predicted control signals based on one or more of the teaching input, sensory input, and/or performance. The predicted control signals may be configured to cause two or more actions that may be in conflict with one another and/or utilize a shared resource. An arbitrator may be employed to select one of the actions. The selection process may utilize a WTA, reinforcement, and/or supervisory mechanisms in order to inhibit one or more predicted signals. The arbitrator output may comprise target state information that may be provided to the predictor block. Prior to arbitration, the predicted control signals may be combined with inputs provided by an external control entity in order to reduce learning time.
    Type: Application
    Filed: September 27, 2013
    Publication date: April 2, 2015
    Applicant: BRAIN CORPORATION
    Inventors: Patryk Laurent, Jean-Baptiste Passot, Eugene Izhikevich
  • Publication number: 20150094855
    Abstract: The present invention concerns an imitation learning method for a multi-axis manipulator (7,7?). This method comprises the steps of capturing, at a set of successive waypoints (10,11) in a teach-in trajectory (4) of a user-operated training tool, spatial data comprising position and orientation of the training tool (3) in a Cartesian space; selecting, from among said set of successive waypoints (10,11), a subset of waypoints (11) starting from a first waypoint (11) of said set of successive waypoints (10,11), wherein for each subsequent waypoint (11) to be selected a difference in position and/or orientation with respect to a last previously selected waypoint (11) exceeds a predetermined threshold; fitting a set trajectory (4?) in said Cartesian space to said selected subset of waypoints (11); and converting said set trajectory into motion commands in a joint space of said multi-axis manipulator (7,7?).
    Type: Application
    Filed: May 3, 2013
    Publication date: April 2, 2015
    Inventors: Jérôme Chemouny, Stéphane Clerambault, Samuel Pinault
  • Patent number: 8996177
    Abstract: Adaptive controller apparatus of a robot may be implemented. The controller may be operated in accordance with a reinforcement learning process. A trainer may observe movements of the robot and provide reinforcement signals to the controller via a remote clicker. The reinforcement may comprise one or more degrees of positive and/or negative reinforcement. Based on the reinforcement signal, the controller may adjust instantaneous cost and to modify controller implementation accordingly. Training via reinforcement combined with particular cost evaluations may enable the robot to move more like an animal.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: March 31, 2015
    Assignee: Brain Corporation
    Inventor: Olivier Coenen
  • Patent number: 8996175
    Abstract: Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.
    Type: Grant
    Filed: September 17, 2012
    Date of Patent: March 31, 2015
    Assignee: Rethink Robotics, Inc.
    Inventors: Bruce Blumberg, Rodney Brooks, Christopher J. Buehler, Noelle Dye, Gerry Ens, Natan Linder, Michael Siracusa, Michael Sussman, Matthew M. Williamson
  • Patent number: 8924021
    Abstract: A control system and method generate torque comments for motion of a target system in response to observations of a source system. Constraints and balance control may be provided for more accurate representation of the motion as replicated by the target system.
    Type: Grant
    Filed: April 12, 2007
    Date of Patent: December 30, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventors: Behzad Dariush, Bing Jian
  • 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
  • Publication number: 20140358279
    Abstract: A prediction system includes an acquisition device, an execution device, and a prediction device. The acquisition device is configured to acquire a value of electric resistance of a cable secured by fixing members to a pair of link members configured to rotate relative to each other through a joint. The execution device is configured to cause the joint to execute a predetermined operation. The prediction device is configured to predict a service life of the cable based on a change in the value of electric resistance acquired by the acquisition device while the execution device is causing the joint to execute the predetermined operation.
    Type: Application
    Filed: May 28, 2014
    Publication date: December 4, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Kazuhiko KIMOTO
  • Patent number: 8899126
    Abstract: A robot according to the present disclosure includes a support structure and at least three main arms mounted to be movable relative to the support structure, wherein the outer ends facing away from the support structure are movable to different spatial positions relative to the support structure and relative to each other. The robot further comprises connecting elements having the same lengths by means of which the outer end of each main arm can be connected at a defined distance from the outer end of the two adjacent main arms. The present disclosure also provides a method of calibrating a robot.
    Type: Grant
    Filed: December 8, 2010
    Date of Patent: December 2, 2014
    Assignee: Multivac Sepp Haggenmuller GmbH & Co. KG
    Inventor: Norbert Wörz
  • Patent number: 8897906
    Abstract: A vacuum processing apparatus includes a robot connected to a vacuum container to carry a wafer on one of its two arms to or from a processing chamber; a unit to detect an amount of deviation of the wafer from a predetermined wafer mounting position on the arm that may occur when the robot carries the wafer into or out of the processing chamber; and an adjusting device to adjust the operation of the robot based on the detected amount of deviation. The adjusting device adjusts the robot operation based on the result of a teaching operation performed in advance. After being subjected to the initial teaching operation, the robot again undergoes a second teaching operation according to the information on the amount of wafer position deviation that is detected by moving the wafer in a predetermined transfer pattern, before the wafer processing is performed.
    Type: Grant
    Filed: September 20, 2011
    Date of Patent: November 25, 2014
    Assignee: Hitachi High-Technologies Corporation
    Inventors: Tomohiro Ohashi, Akitaka Makino, Hiroho Kitada, Hideki Kihara
  • Publication number: 20140332504
    Abstract: A weld bead shaping apparatus including: a gouging torch for gouging an object to be shaped; a shape sensor for measuring a shape of the object; a slider apparatus and an articulated robot for driving the gouging torch and shape sensor; an image processing apparatus; and a robot controlling apparatus. The image processing apparatus includes: a shape data extracting unit extracting shape data of the object, from a measurement result obtained by the shape sensor; and a weld reinforcement shape extracting/removal depth calculating unit calculating a weld reinforcement shape of the weld bead from a difference between the shape data and a preset designated shape of the object, and calculating a removal depth by which gouging is performed, based on the weld reinforcement shape. The robot controlling apparatus controls the slider apparatus, the articulated robot, and the gouging torch based on the weld reinforcement shape and the removal depth.
    Type: Application
    Filed: December 11, 2012
    Publication date: November 13, 2014
    Applicant: KABUSHIKI KAISHA TOSHIBA
    Inventors: Takashi Hamada, Tsuyoshi Kato, Kazuo Aoyama
  • Patent number: 8886357
    Abstract: It is possible to perform robot motor learning in a quick and stable manner using a reinforcement learning apparatus including: a first-type environment parameter obtaining unit that obtains a value of one or more first-type environment parameters; a control parameter value calculation unit that calculates a value of one or more control parameters maximizing a reward by using the value of the one or more first-type environment parameters; a control parameter value output unit that outputs the value of the one or more control parameters to the control object; a second-type environment parameter obtaining unit that obtains a value of one or more second-type environment parameters; a virtual external force calculation unit that calculates the virtual external force by using the value of the one or more second-type environment parameters; and a virtual external force output unit that outputs the virtual external force to the control object.
    Type: Grant
    Filed: March 28, 2012
    Date of Patent: November 11, 2014
    Assignees: Advanced Telecommunications Research Institute International, Honda Motor Co., Ltd.
    Inventors: Norikazu Sugimoto, Yugo Ueda, Tadaaki Hasegawa, Soshi Iba, Koji Akatsuka
  • Publication number: 20140297034
    Abstract: In order for a control system that interlocks with a teaching data input unit and a robot to control the robot, when teaching data including layer selection information that is input through the teaching data input unit is received, the control system generates a joint space path of a layer of any one of teaching data of a first layer and teaching data of a second layer according to the layer selection information of the teaching data. The control system controls the robot based on the generated joint space path.
    Type: Application
    Filed: March 31, 2014
    Publication date: October 2, 2014
    Applicant: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE
    Inventor: Hoo Man LEE
  • 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
  • Publication number: 20140277744
    Abstract: Adaptive controller apparatus of a robot may be implemented. The controller may be operated in accordance with a reinforcement learning process. A trainer may observe movements of the robot and provide reinforcement signals to the controller via a remote clicker. The reinforcement may comprise one or more degrees of positive and/or negative reinforcement. Based on the reinforcement signal, the controller may adjust instantaneous cost and to modify controller implementation accordingly. Training via reinforcement combined with particular cost evaluations may enable the robot to move more like an animal.
    Type: Application
    Filed: March 15, 2013
    Publication date: September 18, 2014
    Inventor: Olivier Coenen
  • Publication number: 20140188273
    Abstract: In the control method for mobile parallel manipulators, kinematic singularity and redundancy are solved through joint limits avoidance and manipulability criteria. By taking the MPM self-motion into consideration due to its redundancy, the inverse kinematic is derived using a hybrid neuro-fuzzy system, such as NeFIK. The discrete augmented Lagrangian (AL) technique is used to solve the highly nonlinear constrained multi-objective optimal control problem. An adaptive neuro-fuzzy inference system (ANFIS)-based structure (based on the result of the AL solution) is used to solve the online trajectory planning of the MPM.
    Type: Application
    Filed: December 31, 2012
    Publication date: July 3, 2014
    Applicant: KING FAHD UNIVERSITY OF PETROLEUM AND MINERALS
    Inventors: AMAR KHOUKHI, MUTAZ M. HAMDAN
  • Publication number: 20140172143
    Abstract: In a control apparatus for a robot arm, the feedback rule generating section generates a feedback rule in accordance with relationship between a time point of generation of a stimulus and variation in behavior after elapse of a reaction time in taught data as detected by the information variation point detecting section and the behavior variation point detecting section. The motion generating section generates a motion of the robot arm based on motion information, an information variation point, a behavior variation point, and the feedback rule. The controller controls the motion of the robot arm.
    Type: Application
    Filed: February 21, 2014
    Publication date: June 19, 2014
    Applicant: Panasonic Corporation
    Inventors: Yudai FUDABA, Yuko TSUSAKA, Taichi SATO
  • Patent number: 8738179
    Abstract: Teaching images are acquired at a plurality of separate teaching points on a running route extending from a running start position to a goal position, respectively, under a first light environmental condition and a light environmental condition different from the first light environmental condition, and the teaching images are stored. A present teaching image serving as a target for a robot body in a running direction at present is selected from the stored teaching images. A driving mechanism is controlled so as to increase the matching degree between the present teaching image and an actual image taken by a camera.
    Type: Grant
    Filed: November 24, 2009
    Date of Patent: May 27, 2014
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Dai Kouno, Takashi Nishimura
  • Publication number: 20140121676
    Abstract: The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assisting a surgeon for removing volumes in the body of a patient using a robot attached to a passive structure and to a device to carry out said methods. The present invention further concerns a device suitable to carry out the methods according to the present invention.
    Type: Application
    Filed: April 2, 2012
    Publication date: May 1, 2014
    Applicant: Ecole Polytechnique Federale de Lausanne (EPFL)
    Inventors: Szymon Kostrzewski, Philippe Berard, Charles Baur, John Michael Duff, Kishore Sandu
  • Publication number: 20140114477
    Abstract: In a teaching device for robot that moves a flexible body holding unit holding a flexible body and performs teaching of a fitting task of the flexible body to a thing to generate teaching data, a reaching decision unit decides that a front end of the flexible body reaches the thing, a curvature acquiring unit acquires information of evaluation of a degree of curvature of the flexible body when the reaching decision unit decides the reaching, and a notification unit performs predetermined notification about teaching on the basis of the acquired information of evaluation.
    Type: Application
    Filed: December 31, 2013
    Publication date: April 24, 2014
    Applicant: Panasonic Corporation
    Inventors: Taichi SATO, Yudai FUDABA, Yuko TSUSAKA
  • Publication number: 20140107840
    Abstract: An apparatus executes movement control that causes a robot arm equipped with a camera to move up to an object, thereby enabling a manipulator to move to an object quickly, accurately, and stably as a control system. Specifically, when the object is not detected, the apparatus executes teaching playback control to cause a manipulator to move along a path up to a target position set in advance based on a position of the object. When the object is detected, the apparatus defines a position closer to the object than the target position as a new target position, sets a new path up to the new target position, executes teaching playback control to cause the manipulator to move along the new path until a switching condition for switching the movement control is fulfilled. When the switching condition is fulfilled, the apparatus executes visual servo control.
    Type: Application
    Filed: October 30, 2013
    Publication date: April 17, 2014
    Applicant: HONDA MOTOR CO., LTD.
    Inventors: Ryo Nakajima, Hideari Kamachi, Gentoku Fujii
  • Patent number: 8694158
    Abstract: An off-line programming system (10) which includes a three-dimensional shape arranging unit (27) which fills in a curved surface or consecutive plurality of flat surfaces of a selected three-dimensional shape by selected operation patterns and arranges a three-dimensional shape in a virtual space so that the operation patterns will be projected on surfaces of the workpiece model, a working path preparing unit (28) which projects operation patterns on the surfaces of the workpiece model so as to prepare a working path of the tool, and a tool position/posture determining unit (29) which uses the prepared working path and normal direction of the surface of the workpiece model as the basis to automatically determined the position or position/posture of the tool model.
    Type: Grant
    Filed: March 26, 2013
    Date of Patent: April 8, 2014
    Assignee: Fanuc Corporation
    Inventor: Hiroyuki Atohira