Manual Lead Through Patents (Class 901/4)
  • Publication number: 20150127151
    Abstract: A method for programming sequences of motion of a redundant industrial robot by manually guided adjustment of the pose of a manipulator arm having a plurality of successive links connected by adjustable joints actuated by at least one robot control unit and including at least one redundant joint. The method includes adjusting in a manually-guided manner the link of the manipulator arm that is associated with a tool reference point from a first position and orientation to a second position and/or second orientation, recalculating joint position values of all of the joints of the manipulator arm from the second position and orientation of the tool reference point while simultaneously resolving the redundancy by determining an optimized joint position value of at least one redundant joint, and automatically setting all of the joints on the basis of the recalculated, optimized joint position values.
    Type: Application
    Filed: October 24, 2014
    Publication date: May 7, 2015
    Inventors: Martin Riedel, Rainer Bischoff
  • 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
  • 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: 20140201112
    Abstract: This robot teaching system includes a teaching tool including an operation portion operated by a user to specify teaching positions and specifying the teaching positions, a measuring portion measuring positions and postures of the teaching tool, and a control portion determining the teaching positions for a robot. The robot teaching system is configured to specify the teaching positions continuously while the user operates the operation portion of the teaching tool.
    Type: Application
    Filed: March 15, 2013
    Publication date: July 17, 2014
    Applicant: Kabushiki Kaisha Yaskawa Denki
    Inventors: Yukiko SAWADA, Tomoyuki SEKIYAMA, Kenichi MOTONAGA
  • Patent number: 8489236
    Abstract: There is provided a control apparatus and control method for robot arm, robot, control program for robot arm, and integrated electronic circuit, which can improve robot arm operability upon performing tasks such as cooperative conveyance and direct teaching. The grip portion separated from the end effector attached to the robot arm is provided. When a person grips and shifts the grip portion, a tracking control unit controls so that the robot arm follows the shift. A fixing switch unit switches between a fixing state where, upon switching to “playback mode”, a fixing portion is located at a fixed position to fix the end effector and the grip portion to maintain a gap distance therebetween and a relatively shiftable state where, upon switching to “teaching mode”, the fixing portion is located at an accommodated position to relatively shift them from each other without maintaining the gap distance.
    Type: Grant
    Filed: September 28, 2012
    Date of Patent: July 16, 2013
    Assignee: Panasonic Corporation
    Inventors: Yudai Fudaba, Masaki Yamamoto, Yuko Tsusaka, Taichi Sato
  • Patent number: 8423188
    Abstract: After switching a control method for a robot arm based upon characteristic information containing pieces of information relating to a grabbed position of the robot arm by a person and a presence/absence of detection of a force as well as to presence/absence of influences from a drag, during an operation of the robot arm, by a control method switching unit, information relating to the force of operation information is corrected by an operation correcting unit in response to a manipulation of the person.
    Type: Grant
    Filed: December 24, 2009
    Date of Patent: April 16, 2013
    Assignee: Panasonic Corporation
    Inventors: Yuko Tsusaka, Yasunao Okazaki
  • Patent number: 8290621
    Abstract: Motion information of a robot arm stored in a motion information database is acquired. A person manipulates the robot arm, and correction motion information at the time of the motion correction is acquired. An acquiring unit acquires environment information. A motion correction unit corrects the motion information while the robot arm is in motion. A control rule generating unit generates a control rule for allowing the robot arm to automatically operate based on the corrected motion information and the acquired environment information. The motion of the robot arm is controlled based on the generated control rule.
    Type: Grant
    Filed: March 9, 2012
    Date of Patent: October 16, 2012
    Assignee: Panasonic Corporation
    Inventor: Yuko Tsusaka
  • Publication number: 20120130541
    Abstract: A method and apparatus are disclosed for the direct and safe teaching of a robot. The apparatus consists of a plurality of tactile sensors and electronic circuitry encapsulated in a compact enclosure, and a handle protruding from the enclosure. The handle provides an easy means for an operator to apply an external force and to act on the sensors that generate electronic signals to the robot controller. The signals, proportional to the applied force, carry information that sets boundaries for safe operations, thus protecting the operator from any harm and the robot from damage. While in the teaching mode the operator guides the robot with the apparatus to the predetermined work positions that are recorded in the controller memory. The work position recording can be handled by either activating a pushbutton or by a voice command. The recorded positions are played back when the robot operates in the work mode.
    Type: Application
    Filed: September 7, 2011
    Publication date: May 24, 2012
    Inventor: Leszek A. Szalek
  • Patent number: 8175750
    Abstract: Motion information of a robot arm stored in a motion information database is acquired. A person manipulates the robot arm, and correction motion information at the time of the motion correction is acquired. An acquiring unit acquires environment information. A motion correction unit corrects the motion information while the robot arm is in motion. A control rule generating unit generates a control rule for allowing the robot arm to automatically operate based on the corrected motion information and the acquired environment information. The motion of the robot arm is controlled based on the generated control rule.
    Type: Grant
    Filed: April 28, 2011
    Date of Patent: May 8, 2012
    Assignee: Panasonic Corporation
    Inventor: Yuko Tsusaka
  • Patent number: 8155789
    Abstract: An offline programming device for preparing an operation program for making a robot with a hand perform a handling operation for an object with respect to a machine tool.
    Type: Grant
    Filed: December 20, 2007
    Date of Patent: April 10, 2012
    Assignee: Panuc Ltd
    Inventors: Yoshiharu Nagatsuka, Kozo Inoue
  • Patent number: 8121731
    Abstract: A teaching position correcting apparatus corrects plural teaching point positions of a robot in a robot operation program, by sequentially moving the robot to each of the plural teaching points and by sequentially reading a current position of the robot at each of the plural teaching points. The apparatus includes: a position correction amount calculating unit that calculates a position correction amount, based on corrected teaching point positions and teaching point positions before correction; and a corrected-position calculating unit that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount. At the time of moving the robot to uncorrected teaching points, a moving unit moves the robot to corrected positions of the teaching point positions before correction.
    Type: Grant
    Filed: March 9, 2007
    Date of Patent: February 21, 2012
    Assignee: Fanuc Ltd
    Inventors: Kazunori Ban, Ichiro Kanno, Gang Shen, Katsutoshi Takizawa
  • Patent number: 8099192
    Abstract: A method is provided for teaching a transfer robot used in conjunction with a workpiece processing system including a pedestal assembly, a light sensor having an optical input fixedly coupled to the pedestal assembly, a transfer robot having an end effector, and a processing chamber containing the pedestal assembly and light sensor. The method includes the steps of producing light within the processing chamber, moving the end effector over the optical input such that amount of light reaching the light sensor varies in relation to the position of the end effector, and recording the signal gain as the end effector is moved over the optical input. The method also includes the step of establishing from the recorded signal gain a desired position of the end effector relative to the pedestal assembly.
    Type: Grant
    Filed: November 6, 2007
    Date of Patent: January 17, 2012
    Assignee: Novellus Systems, Inc.
    Inventors: Damon Genetti, Heinrich Von Bunau, Tarek Radwan, Karen Townsend
  • Patent number: 8090475
    Abstract: A method for monitoring the condition of an industrial robot having a plurality of links movable relative to each other, and a plurality of actuators controlling the movements of the links. A feed forward torque is calculated for at least one of the actuators based on reference values for the position of the actuator and a mathematical model of the robot calculating a feedback torque for the actuators based on measured values from the actuators and reference values for the position of the actuator. A torque is calculated for the actuator at least based on the feedback torque. A difference is monitored between the calculated torque for the actuator and the feed forward torque. It is determined whether the difference is normal or non-normal, and based thereon monitoring the condition of the robot.
    Type: Grant
    Filed: November 30, 2007
    Date of Patent: January 3, 2012
    Assignee: ABB Research Ltd.
    Inventors: Dominique Blanc, Niclas Sjöstrand
  • Patent number: 8032253
    Abstract: In an automatic machine system comprising a mechanism unit (1) including at least one driving mechanism, a controller (2) for controlling a driving operation of the mechanism unit (1), and a teaching unit (3) for operating the mechanism unit (1), the teaching unit (3) includes a teaching unit communicating portion for carrying out a wireless communication with the controller (2) and a first field intensity monitoring portion (13) for monitoring a field intensity of communication data in the teaching unit communicating portion, and the controller (2) includes a controller communicating portion for carrying out a wireless communication with the teaching unit (3), a second field intensity monitoring portion (26) for monitoring a field intensity of communication data in the controller communicating portion, and a driving portion for driving the mechanism unit (1) based on an operation signal sent from the teaching unit (3) in the controller communicating portion.
    Type: Grant
    Filed: February 15, 2006
    Date of Patent: October 4, 2011
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Hideo Nagata, Michiharu Tanaka
  • Patent number: 8005572
    Abstract: An apparatus provides selective communication between multiple programmable robot controllers and one or more teaching devices connected by a network. The network controls communication between the teaching devices and the controllers including active tasks and passive tasks for preventing communication of active tasks between any of the controllers and more than one of any of the teaching devices. The network permits communication of the passive tasks between any of the controllers and one of the teaching devices communicating active tasks with another one of the controllers.
    Type: Grant
    Filed: March 3, 2006
    Date of Patent: August 23, 2011
    Assignee: Fanuc Robotics America, Inc.
    Inventors: Judy A. Evans, Kenneth W. Krause, Glenn F Nowak
  • Publication number: 20110178638
    Abstract: A control apparatus for a robot arm that is provided with an operation information database in which pieces of information relating to operations of the robot arm are stored; a force detection unit that detects a force of a person; and an operation correction unit that corrects the operation information of the operation information database in accordance with the force of the person.
    Type: Application
    Filed: March 28, 2011
    Publication date: July 21, 2011
    Inventors: Yuko Tsusaka, Yasunao Okazaki
  • Patent number: 7945349
    Abstract: The present invention relates to a method and a system for facilitating calibration of a robot cell including one or more objects (8) and an industrial robot (1,2,3) performing work in connection to the objects, wherein the robot cell is programmed by means of an off-line programming tool including a graphical component for generating 2D or 3D graphics based on graphical models of the objects.
    Type: Grant
    Filed: June 9, 2008
    Date of Patent: May 17, 2011
    Assignee: ABB Technology AB
    Inventors: Tommy Y. Svensson, Magnus K. Gustafsson, Mathias Haage
  • Publication number: 20110015787
    Abstract: A control apparatus for a robot arm, which controls an operation of the robot arm so as to carry out a job by using the robot arm, is designed to correct operation information based on operation correcting information relating to a correcting method for operation information relating to operation of the robot arm in response to a manipulation of the person on the robot arm, and a force of the person detected by a force detection unit during an operation of the robot arm, by an operation correcting unit.
    Type: Application
    Filed: January 20, 2010
    Publication date: January 20, 2011
    Inventor: Yuko Tsusaka
  • Patent number: 7860614
    Abstract: A trainer for training a human to use a physical robot in a physical environment, the physical robot being controlled in the physical environment by an operator control unit, the trainer comprising an input device; a visual display; a computer connected to the input device and the visual display; and computer software disposed in the computer for creating a virtual robot and a virtual environment on the visual display, the virtual robot and the virtual environment being simulations of the physical robot and the physical environment wherein interaction between the virtual robot and the virtual environment simulates interaction between the physical robot and the physical environment.
    Type: Grant
    Filed: September 11, 2006
    Date of Patent: December 28, 2010
    Assignee: The United States of America as represented by the Secretary of the Army
    Inventor: Bernard D. Reger
  • Patent number: 7848850
    Abstract: A method for driving a robot in a manner of imitation by watching (non-contact manner) based on the movement of a moving object, which has a complicated shape often causing self-occlusion, is provided. A plurality of image data of the robot is associated with pre-arranged operation commands and stored in an image corresponding operation command storing means 11. In order to have the robot perform a movement, the moving objecting caused to perform a desired movement, and at the same time, image data of the moving object are obtained as robot operational image data in time-series.
    Type: Grant
    Filed: November 15, 2004
    Date of Patent: December 7, 2010
    Assignee: Japan Science and Technology Agency
    Inventors: Kiyoshi Hoshino, Takanobu Tanimoto
  • Patent number: 7805212
    Abstract: An assembly machine includes a support structure having a plurality of selectively moveable support members that facilitate manually manipulating a tool relative to a work piece. A controller continuously gathers position information regarding the support members to determine every position of the tool. The controller includes a teach mode that allows for storing selected tool activation positions in particular sequences for subsequent control of the tool according to necessary procedures for completing a variety of assembly processes. One example machine designed according to this invention includes selectively controlled biasing members that maintain a zero balance on the tool, provide an operator assist to moving the tool or both.
    Type: Grant
    Filed: March 7, 2006
    Date of Patent: September 28, 2010
    Assignee: Automated Solutions
    Inventors: Raymond Ormachea, Robert Bailey
  • Publication number: 20090326710
    Abstract: A behavior control system is capable of causing an agent carry out a task by smooth motions. The behavior control system makes it possible to reproduce a typical shape characteristic of a reference trajectory, i.e., the characteristic of a motion of an instructor carrying out a task, by using a first model defined on the basis of a plurality of reference trajectories representing the position of a first state variable in a time-series manner. Further, a learning trajectory representing the position of a second state variable in a time-series manner is generated on the basis of a second model, which represents an agent's motion in which the position of the second state variable corresponding to the first state variable and one or a plurality of time differential values (a displacing velocity and acceleration) thereof continuously change, in addition to the first model.
    Type: Application
    Filed: June 18, 2009
    Publication date: December 31, 2009
    Applicant: HONDA MOTOR CO., LTD.
    Inventor: Soshi Iba
  • Publication number: 20090326679
    Abstract: A behavior estimating system is provided. According to the system, an estimated trajectory which provides the basis on which the behavior of an agent is controlled is generated according to a second model which represents a motion of an instructor in which the position and the displacing velocity of the position of a state variable and the time differential values thereof continuously change, in addition to the position of a characteristic point of a reference trajectory which represents a motion of the instructor and a plurality of first models which represent a plurality of shape characteristics of reference trajectories. A behavior manner corresponding to a first model whose fluctuation, which is allowed under a condition that an estimated trajectory passes a characteristic state variable or a range in the vicinity thereof, is the smallest and whose stability is the highest is estimated as the behavior manner of the instructor.
    Type: Application
    Filed: June 18, 2009
    Publication date: December 31, 2009
    Applicant: HONDA MOTOR CO., LTD.
    Inventor: Soshi Iba
  • Patent number: 7627396
    Abstract: There is provided an industrial robot which comprises a manipulator having a tool at the tip end, a robot control unit for controlling the manipulator, and a primary teaching device and subsidiary teaching device for controlling the manipulator through the robot control unit, wherein operation capable of being conducted by the subsidiary teaching device is restricted as compared with operation capable of being conducted by the primary teaching device. By realizing the industrial robot, it is possible to prevent a production line worker from executing a function of the robot which is originally to be executed by a supervisor.
    Type: Grant
    Filed: November 5, 2004
    Date of Patent: December 1, 2009
    Assignee: Panasonic Corporation
    Inventors: Tatsuya Ikeda, Kunitoshi Morita, Toshiyuki Mishima
  • Patent number: 7571025
    Abstract: A method for controlling a plurality of manipulators, such as multiaxial or multiaxle industrial robots. At least one manipulator functions as the reference manipulator and is moved in a plurality of preset poses within its working area at which internal position values are determined as first desired poses. For each desired pose, subsequently a first actual pose of the reference manipulator is determined by an external measuring system. Subsequently at least one further manipulator moves up to specific poses of the reference manipulator as second desired poses and for each of these poses an actual pose of the further manipulator is determined by an external measuring system. On the basis of actual-desired deviations between the thus determined desired and actual poses of the two manipulators, subsequently a parameter model for the further manipulator is established and with it it is possible to compensate simultaneously both its own errors and those of the reference manipulator.
    Type: Grant
    Filed: June 1, 2005
    Date of Patent: August 4, 2009
    Assignee: KUKA Roboter GmbH
    Inventor: Rainer Bischoff
  • Patent number: 7515990
    Abstract: The system includes a sensor for detecting a state of a space; a robot for executing a handling job for an article; an article identifying part for identifying, when an article is handled by a movable body, the article in response to a detection result obtained by the sensor; and an article handling subject identifying part for identifying an article handling subject that handles the article. When the movable body that handles the article is the robot, the article handling subject identifying part identifies a subject having issued a job instruction to the robot as the article handling subject.
    Type: Grant
    Filed: May 21, 2004
    Date of Patent: April 7, 2009
    Assignee: Panasonic Corporation
    Inventors: Satoshi Sato, Shusaku Okamoto, Masamichi Nakagawa, Kunio Nobori, Osamu Yamada, Tomonobu Naruoka, Yoshihiko Matsukawa, Yasuhiro Morinaka, Katsuji Aoki, Mikiya Nakata
  • Publication number: 20090069937
    Abstract: The object of the present invention is equipment (1) and a method for the fully automated final inspection of components (2), in particular of their driven modules, further comprising a robot (3) fitted with a testing system (8) to carry out the final inspection comprising the stages: Self-driven alignment of the robot (3) and/or the testing system (8) relative to the component (2) being checked and/or its module by means of orientation data, reproducible implementation of individual checks by the testing system (8), the stages of self-driven alignment and reproducible implementation being repeated until a termination criterion has been met and/or the final inspection has been completed.
    Type: Application
    Filed: February 9, 2007
    Publication date: March 12, 2009
    Inventor: Gunter Battenberg
  • Publication number: 20080255704
    Abstract: A robot controller for an industrial robot is described. The robot controller is a portable controller of the TPU Teach Pendant Unit type and comprises control means for moving a robot in three or more degrees of freedom. The TPU comprises a visual display and selection means associated with programming or controlling a robot. In other aspects of the invention a system comprising a robot and a control unit and the TPU are described. A computer program of the TPU for carrying out the method is also provided.
    Type: Application
    Filed: April 4, 2008
    Publication date: October 16, 2008
    Inventor: Knut Braut
  • Patent number: 7424341
    Abstract: A robot system efficiently performing an operation of moving a robot to close to and/or separate from a target point, such as teaching operation. A camera of a visual sensor is mounted to the robot such that a distal end of an end effector is seen within the field of view of the camera, and the end effector's distal end and a target position on an object are specified on a monitor screen. When an approach key is depressed, a target position is detected on an image, and a difference from a position of the end effector's distal end is calculated. Whether the difference is within an allowable range is checked. Depending on the result, an amount of robot motion is calculated, and the robot is operated. The processing is repeated until the depressed approach key is released. When a retreat key is depressed, the robot moves away from the object. The robot may be caused to stop using a distance sensor.
    Type: Grant
    Filed: May 26, 2004
    Date of Patent: September 9, 2008
    Assignee: Fanuc Ltd
    Inventors: Atsushi Watanabe, Jun Mizuno
  • Patent number: 7424342
    Abstract: A computer in a transport system includes: a shooting part for shooting a first calibration tray by controlling a camera; a tray position computing part for computing a tray position of the first calibration tray within a captured image which the shooting part shot; a hand position acquisition part for acquiring a hand position indicative of a position of the hand robot of when the hand robot installs onto the first calibration tray a first transported article used for calibration; a calibration part for computing a calibration data based on the tray position and the hand position; and a transported article installing part which, when the mobile robot reached a predetermined arrival area, controls, based on the calibration data, the hand robot so as to install a second transported article onto a second tray, the second tray which the mobile robot being provided with.
    Type: Grant
    Filed: December 28, 2006
    Date of Patent: September 9, 2008
    Assignee: Hitachi, Ltd.
    Inventors: Fumiko Beniyama, Toshio Moriya, Nobutaka Kimura, Kosei Matsumoto
  • Publication number: 20080193260
    Abstract: In one embodiment of the present invention, a remote control device is disclosed which enables a user to intuitively operate a target to control such as a robot arm with a little burden, and command various motions to the target. The remote control device includes a master arm main body, joints, and a handgrip controller, and an elbow switch. The master arm main body conveys motions of the user's arm to the robot arm. The elbow switch is provided at a position of the master arm body, on which the user can place his elbow, and has a motion control with 2 degrees of freedom.
    Type: Application
    Filed: May 10, 2006
    Publication date: August 14, 2008
    Inventors: Yasuyoshi Yokokohji, Yuji Sato, Kohei Kawata, Koji Shiratsuchi
  • Publication number: 20080125908
    Abstract: An industrial robot system including at least one industrial robot including a manipulator and a control unit for controlling the manipulator, a portable operator control device for teaching and manually operating a robot. The portable operator control device includes safety equipment including an enabling device, which upon activation enables manual operation of the robot by the portable operator control device. The portable operator control device is adapted for wireless communication with the control unit, and a detecting unit that detects when the portable operator control device enters an area defined in the vicinity of the manipulator. The robot includes an enabling function which upon activation enables the enabling device of the portable operator control device, and upon deactivation disables the enabling device. The robot system is adapted to automatically activate the enabling function of the robot upon detecting that the portable operator control device enters the defined area.
    Type: Application
    Filed: October 21, 2005
    Publication date: May 29, 2008
    Applicant: ABB AB
    Inventor: Ralph Sjöberg
  • Patent number: 7313464
    Abstract: A method for picking up objects randomly arranged in a bin using a robot having a gripper for grasping the objects using prehension feature(s) on the object. The method includes a shaking scheme for rearranging the objects in the bin when no objects are recognized, when no objects are prehensible by the gripper or when the object to be picked up is not reachable by the gripper because, for example, its prehension feature is substantially facing a wall of the bin. The method also includes a criterion for determining that a bin is free of objects to be picked up and a criterion for selecting the object to be picked up first in the bin. The method also provides for a protection mechanism against damage of the objects and the robot when a recognition technique has failed in properly recognizing the object or the prehension feature on the object.
    Type: Grant
    Filed: September 5, 2006
    Date of Patent: December 25, 2007
    Assignee: Adept Technology Inc.
    Inventors: Louis Perreault, Pierre Olivier
  • Patent number: 7295891
    Abstract: In a method for controlling the movement of a manipulator associated with an interpretation of a given point sequence of poses (positions and orientations) by splines, the motion components are separately parameterized. Thus, marked, subsequent changes to the orientation of robot axes have no undesired effects on the Cartesian movement path of the robot. Suitable algorithms are provided for orientation control by using quaternions or Euler angles.
    Type: Grant
    Filed: November 5, 2003
    Date of Patent: November 13, 2007
    Assignee: KUKA Roboter GmbH
    Inventors: Manfred Hüttenhofer, Günther Wiedemann, Stefan Burkhart
  • Patent number: 7292913
    Abstract: In the articulated robot, types of teaching a moving track of the robot can be optionally selected. The articulated robot comprises: a switch for manually selecting a moving axis to move an arm section along the selected axis; a manual pulse generator generating pulses; first controller for controlling motors to linearly move a front end of the arm section a prescribed distance, which corresponds to number of pulses; an operating board including a selecting switch, which is used to move the arm section along the selected axis; second controller for automatically controlling the motors so as to move the arm section while the selecting switch is turned on; third controller for stopping the motors to freely move the arm section while the arm section is manually moved; and a switch for selecting a type of teaching action.
    Type: Grant
    Filed: July 14, 2004
    Date of Patent: November 6, 2007
    Assignee: Kabushiki Kaisha Koyama
    Inventors: Hideo Tokutake, Tatsuo Niimura
  • Patent number: 7245990
    Abstract: A robot control unit for controlling a robot mechanism unit constantly detects the status of a robot and stores it as robot status data. An operation command input by voice from a head set is converted into character data by a voice/character data conversion device, and input to a control device. The control device searches a command corresponding to an operation command input in operation commands stored in management data. An executing program group is specified for link and storage with the corresponding operation command.
    Type: Grant
    Filed: November 25, 2003
    Date of Patent: July 17, 2007
    Assignee: Fanuc Ltd
    Inventors: Atsushi Watanabe, Hiroji Nishi
  • Patent number: 7136723
    Abstract: A robot controller for teaching a robot with high efficiency. The robot controller including command storage unit (21) where a movement command and a work command are stored, command identifying unit (24) for discriminating between the movement and work commands, unit (22) for making/editing a series of work programs or discrete work programs by a combination of the commands, work program storage units (23) where the work programs are stored so as to control the robot according to the stored program, further including a work section identifying unit (25) for identifying a work section of the work program by way of the command identification unit (24) and work section automatic stopping unit (27) for automatically stopping or suspending the execution of the work program at the work section in a standby state when the work section identifying unit (25) identifies the work section during the execution of the work program.
    Type: Grant
    Filed: November 16, 2004
    Date of Patent: November 14, 2006
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Takahide Hirayama, Shinji Okumura, Hiyoyuki Handa, Takeshi Okamoto
  • 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: 6909940
    Abstract: An apparatus and a method for the exchange of power-supplied batteries which are arranged in a media-conveying untethered robot which is located in an automated data-storage library.
    Type: Grant
    Filed: June 11, 2003
    Date of Patent: June 21, 2005
    Assignee: International Business Machines Corporation
    Inventors: Diana J. Hellman, Michael P. McIntosh, Daniel S. Moore
  • Patent number: 6882890
    Abstract: A method and system for controlling an industrial controller based on technology objects are disclosed. Technology object types may be loaded and instantiated into the run time system of a controller, thereby increasing the functionality and providing technological scaling of the controller. Technology object types may be loaded in the form of technology packages and a user may use the functionality of the invention directly in a user program.
    Type: Grant
    Filed: June 29, 2001
    Date of Patent: April 19, 2005
    Assignee: Siemens Aktiengesellschaft
    Inventors: Wolfgang Horn, Johannes Birzer, Tino Heber, Raimund Kram, Martin Kiesel
  • Patent number: 6859683
    Abstract: An integrated robotic cell having robot and series of sensors is able to process a component as desired by an operator using an interactive interface display. The integrated robotic cell includes a robotic arm connected a central processor unit as well as a series of monitors and sensors that thoroughly supervise the operation of the robotic arm and component to verify that there are no errors. The central processing unit is connected to the interface display, which allows the operator to control the operation of the robotic cell. The interface display incorporates a series of threads, with each thread having of a series of sequential processes to be performed by the robotic cell. The operator is thereby able to view and easily control the simultaneous processes being performed in the robotic cell.
    Type: Grant
    Filed: May 30, 2002
    Date of Patent: February 22, 2005
    Assignee: Futaba Corporation of America
    Inventors: Robert H. Parker, Michael E. Salmon, Gary L. Dumer, Gary C. Wheat, Jr.
  • Patent number: 6853878
    Abstract: A robot controller for teaching a robot with high efficiency. The robot controller including command storage unit (21) where a movement command and a work command are stored, command identifying unit (24) for discriminating between the movement and work commands, unit (22) for making/editing a series of work programs or discrete work programs by a combination of the commands, work program storage units (23) where the work programs are stored so as to control the robot according to the stored program, further including a work section identifying unit (25) for identifying a work section of the work program by way of the command identification unit (24) and work section automatic stopping unit (27) for automatically stopping or suspending the execution of the work program at the work section in a standby state when the work section identifying unit (25) identifies the work section during the execution of the work program.
    Type: Grant
    Filed: February 8, 2001
    Date of Patent: February 8, 2005
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventors: Takahide Hirayama, Shinji Okumura, Hiyoyuki Handa, Takeshi Okamoto
  • Patent number: 6826432
    Abstract: A process for programming an automation application program on an automation equipment programming station, including defining several structured type objects each representing an input-output channel of automation equipment, declaring symbolic input-output variables of the program as an instance of a previously defined structured type object, a configuring symbolic input-output variables comprising a definition of the physical location of inputs-outputs of the automation equipment, automatically interpreting the program to execute it on the automation equipment, comprising replacing symbolic variables in the program with the complete topological address of corresponding input-output information.
    Type: Grant
    Filed: January 25, 2002
    Date of Patent: November 30, 2004
    Assignee: Schneider Automation
    Inventors: François Beck, Henry Baraston, Christian Laurain
  • Patent number: 6618635
    Abstract: A programming apparatus having an arrangement for formulating an automating task to be performed in the form of a programming language for automating apparatuses is described, which simplifies a process error analysis for an analysis unit. For this purpose, the programming apparatus is provided with an arrangement that store operands (9; 27), marked to be monitored, in the order in which they appear in the network in a logic list. Furthermore, the programming apparatus has an arrangement that store the operands of this network in an operand list in the order in which they appear in the network. The lists can be transferred into the analysis unit for analysis.
    Type: Grant
    Filed: May 1, 2000
    Date of Patent: September 9, 2003
    Assignee: Siemens Aktiengesellschaft
    Inventors: Hans-Joachim Beck, Gabriele Mangler, Ingo Weber, Peter Hornung
  • Patent number: 6567723
    Abstract: A method, system and program processing unit for a robot, by which the safety during execution of a program is improved. The program processing unit comprises a program interpreter, a command rejection device and a command execution device. When the program interpreter sends a command in a program to the command rejection device, the command rejection device searches a command rejection rule storage section for a command rejection rule corresponding to the command, and if the rule is detected, retlieves input values from one or more sensors and the source information of the program from a source information storage section, judges command rejection conditions included in the rule based on the sensor information, source information, the command and its parameters, dismisses the command when the conditions are met, and sends the command to the command execution device when the conditions are not met.
    Type: Grant
    Filed: January 30, 2002
    Date of Patent: May 20, 2003
    Assignee: NEC Corporation
    Inventor: Tomoyoshi Sugawara
  • Patent number: 6532403
    Abstract: A robot alignment system (10) includes a sensor system (12). The sensor system (12) is designed to attach to an end effector of a robot arm (14). A rough alignment target (16) is attached to a work station. A fine alignment target (22) is placed on a work surface of the work station. The sensor system (12) first determines the rough alignment target (16). The robot arm (14) is then moved to detect the fine alignment target (22).
    Type: Grant
    Filed: April 18, 2001
    Date of Patent: March 11, 2003
    Assignee: MicroTool, Inc
    Inventors: Gordon Haggott Beckhart, Patrick Rooney Conarro, Kevin James Harrell, Michael Charles Krause, Kamran Michael Farivar-Sadri
  • Patent number: 6430474
    Abstract: A system for manipulating a workpiece in an industrial robot system having a manipulator device for manipulating the workpiece, a tooling adapter coupled to the manipulator device for manipulating the workpiece, and an image referencing system for acquiring image data corresponding to the workpiece without interference from the manipulator device.
    Type: Grant
    Filed: April 3, 2001
    Date of Patent: August 6, 2002
    Assignee: Xerox Corporation
    Inventors: Christopher C. DiStasio, Nathaniel W. Haslam
  • Patent number: 6396232
    Abstract: A haptic pointing device includes a plurality of rigid, elongated proximal members, each connected to a separate rigid, elongated distal member through an articulating joint. The other end of each proximal member is coupled to an actuator such as a motor, causing that member to swing within a separate plane perpendicular to the shaft of the motor in response to a control signal. An end-effector is interconnected to the second end of each distal member through an articulating joint, such that as the actuators move the proximal members, the end-effector moves in space. In a preferred embodiment, the device includes at least three proximal members and three distal members, and the end-effector is coupled to a user-graspable element such as a stylus which retains a preferred orientation in space as the members are driven by the actuators.
    Type: Grant
    Filed: January 16, 2001
    Date of Patent: May 28, 2002
    Assignee: Cybernet Haptic Systems Corporation
    Inventors: Douglas Haanpaa, Gary Siebert, Terry Cussen, Kirk Fifer, Mike Dinsmore, Charles J. Jacobus
  • Patent number: 6363300
    Abstract: Process for the automatic determination of an optimal movement program of a robot comprising at least one moving member, a motor associated with the moving member and a control unit capable of activating the motor according to a movement program to move the moving member along a trajectory with a predetermined movement parameter. The process comprises the steps of: acquiring data indicating the load state of the motor and the precision of movement of the robot during the execution of a movement program, comparing the information on the load state and on the precision of movement with predetermined limit values, repeatedly executing the movement program while progressively varying the movement parameter until a measured value of the load state and/or of the precision of movement exceeds a corresponding limit value, and storing as the optimal movement program the last movement program which has been executed without exceeding the limit values.
    Type: Grant
    Filed: March 28, 2000
    Date of Patent: March 26, 2002
    Assignee: Comau S.p.A.
    Inventor: Marco-Severo Inga
  • Patent number: 6222338
    Abstract: A method for the direct teaching of automatic machinery systems, comprising a plurality of arms and of corresponding actuators for equilibrating the arms against payloads and displacing them to operative positions, when desired, which comprises the steps of: (a) placing the system in a reference configuration, equilibrating its arms, and memorizing for each arm the reference torque to be produced by the corresponding motor to maintain the arm in its reference position; (b) when it is wished to carry out the teaching, placing the system in the Teach mode; (c) applying an external force to an arm of the system in the direction desired for the purpose of the teaching; (d) for each arm, determining the actual torque required to maintain the arm in its reference position in spite of the application of said operator force; (e) calculating a displacement torque as the difference between said reference and said actual torque; (f) causing the motor to displace the arm in the direction of said displacement torque and b
    Type: Grant
    Filed: November 19, 1999
    Date of Patent: April 24, 2001
    Assignee: Eshed Robotec
    Inventor: Yves Villaret