Communication With Another Machine Patents (Class 901/6)
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Patent number: 8005572Abstract: 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: GrantFiled: March 3, 2006Date of Patent: August 23, 2011Assignee: Fanuc Robotics America, Inc.Inventors: Judy A. Evans, Kenneth W. Krause, Glenn F Nowak
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Patent number: 7987575Abstract: The invention relates to a method and a device for applying films (10) to interior wall sections of the bodywork (7) of a vehicle with the aid of an instrument or robot (6) comprising a multi-membered articulated arm (18, 19) and gripping elements (21) for the films. To reduce the mounting time, the robot (6) is driven through an opening (14) in the interior of the bodywork (7), the films (10) to be applied are transported by transport elements (11) to the vicinity of the interior or into the interior of the bodywork (7) and the delivered films (10) are taken from the transport elements by the robot (6) and its gripping elements (21) and are applied to the respective interior wall sections.Type: GrantFiled: March 22, 2005Date of Patent: August 2, 2011Assignee: AKsys GmbHInventors: Ernst Hotz, Josef Polak
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Patent number: 7945349Abstract: 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: GrantFiled: June 9, 2008Date of Patent: May 17, 2011Assignee: ABB Technology ABInventors: Tommy Y. Svensson, Magnus K. Gustafsson, Mathias Haage
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Patent number: 7937186Abstract: A device and a method for automatically setting an interlock based on a suitable interference area obtained by executing an offline simulation in relation to a system including a plurality of robots. The device executes the simulation on the offline programming system based on a motion program so as to determine a moving path of the robots and a two-dimensional interference area between the robots. Next, the device calculates a first three-dimensional interference area by moving the two-dimensional area in the vertical direction and calculates an accurate second three-dimensional interference area within the first interference area, using three-dimensional models of the robots.Type: GrantFiled: December 7, 2006Date of Patent: May 3, 2011Assignee: Fanuc LtdInventors: Yoshiharu Nagatsuka, Toshiya Takeda
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Patent number: 7874227Abstract: The user's movement of the joints on a master mechanism is converted to electrical energy to control a kinematically similar arrangement of joints on a slave mechanism. Bi-directional, dynamic, force reflecting control of the slave mechanism is provided without a need for sensors, software, computers, or external power sources.Type: GrantFiled: May 16, 2007Date of Patent: January 25, 2011Inventor: Daniel Steven Sanchez
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Patent number: 7865266Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.Type: GrantFiled: April 24, 2003Date of Patent: January 4, 2011Assignee: Intuitive Surgical Operations, Inc.Inventors: Frederic H. Moll, David J. Rosa, Andris D. Ramans, Steven J. Blumenkranz, Gary S. Guthart, Gunter D. Niemeyer, William C. Nowlin, J. Kenneth Salisbury, Jr., Michael J. Tierney
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Patent number: 7860614Abstract: 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: GrantFiled: September 11, 2006Date of Patent: December 28, 2010Assignee: The United States of America as represented by the Secretary of the ArmyInventor: Bernard D. Reger
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Publication number: 20100325623Abstract: A transmission-side robot control device (21) and a receiving-side robot control device (21) each include an EPROM (27) which stores a software update program and robot motion control software, a RAM (24) which stores the software update program read from the first storage section (27), and storage media (26B) which stores update software. An external terminal or a host computer for software update is not needed, and a plurality of robot control devices can be standardized to have even an old version. It is not necessary to check a version currently stored, and the update can be performed at high speed.Type: ApplicationFiled: January 13, 2010Publication date: December 23, 2010Inventor: Tatsuya Ikeda
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Patent number: 7792606Abstract: A partial surface of a total surface, divided into several partial surfaces, is allocated to one of several mobile units by determining the partial surface of the total surface and allocating one of the several mobile units with a reservation. The mobile unit transmits allocation information indicating the allocation of the partial surface. The reservation is lifted and the allocation of the partial surface is validated when the one of the several mobile units receives no allocation rejection information from at least one of the other mobile units, indicating a rejection of the allocation of the partial surface. If rejection information is received, the reservation is lifted and the allocation of the partial surface is invalidated.Type: GrantFiled: October 2, 2002Date of Patent: September 7, 2010Assignee: Siemens AktiengesellschaftInventor: Markus Jäger
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Patent number: 7783384Abstract: An ambidextrous robotic master controller includes a mounting base secured to a support, a shoulder member pivotally connected to the mounting base and, connected in series to the shoulder, an upper arm member, a forearm member, an inner wrist member, and an outer wrist member. An ambidextrous grip link is pivotally connected to the outer wrist member and is movable to a right hand position or a left hand position. An ambidextrous hand grip member is pivotally connected to the grip link member. The controller includes suitable encoders engaged between connected elements thereof to sense and signal relative movement therebetween. The controller is usable by either a right or left handed person to control a manipulator device having links and joints analogous to the links and joints of the controller.Type: GrantFiled: June 25, 2007Date of Patent: August 24, 2010Inventor: Brett W. Kraft
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Patent number: 7762759Abstract: Device and method to pick up and remove from a bundle one or more bars in order to arrange them for use in an operating machine. The device comprises first magnetic means to separate from the bundle an end segment of a plurality of bars and to arrange at least the end segments of plurality bars on a plane distanced with respect to the bundle. The device comprises second magnetic means to pick up, from the first magnetic means, at least one bar at a time from the plurality of bars and to unload the at least one bar in a desired release position.Type: GrantFiled: March 25, 2004Date of Patent: July 27, 2010Assignee: M.E.P. Macchine Elettroniche Piegatrici SpAInventors: Giorgio Del Fabro, Marcello Del Fabro
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Publication number: 20100179690Abstract: A system for automated adaption of a process parameter of a handling device includes a supervision device configured to selectively monitor at least one process parameter and/or to adapt the at least one process parameter of the handling device in an automated manner based on specifications and/or the environment and/or in a rule-based manner in interaction with a control/regulation device, wherein environment/safety-specific specifications and/or regulations are complied with and/or implemented irrespective of the type of a respective working process, wherein the system is configured to interact with the control/regulation device configured to monitor, control and/or regulate the handling device.Type: ApplicationFiled: June 2, 2008Publication date: July 15, 2010Applicant: ABB RESEARCH LTD.Inventors: Bjoern Matthias, Roland Krieger
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Patent number: 7715947Abstract: A system for lapping gear sets with a ring gear and a pinion gear. The system includes a lapping machine tool and a robot. The lapping machine tool has a first spindle and a second spindle. The second spindle is rotatable about an axis that is generally perpendicular to a rotational axis of the first spindle. The lapping machine tool has a loading zone for loading the first and second spindles. The robot has an end effector with a first end that is configured to hold one of the gear sets. The robot is configured to position the first end of the end effector into the loading zone and to load the first gear set to the lapping machine tool without removing the end effector from the loading zone such that the ring gear is loaded onto the first spindle and the pinion gear is loaded onto the second spindle.Type: GrantFiled: October 8, 2007Date of Patent: May 11, 2010Assignee: American Axle & Manufacturing, Inc.Inventors: Daniel Thomas Bickersteth, Robert G. Greene, Kenneth John Gembel, II
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Publication number: 20100111357Abstract: The present invention discloses a method and system to track and process the received postal items in their personal mailbox. The present invention resides inside the personal mailbox of a user. When mail item arrives in the mailbox, controller initiates the tiny robot arm to pick up the item and moves it to scanner and initiates the scanner to scan the item. Controller then collects associated entities of the received mail item using OCR and sends a notification to the user. An associated entity includes sender name and address and other information on the face of the mail item. If there is no sender address in the mail item then controller realizes that the received mail item is junk/unwanted and sends it to shredder using robot arm for trash.Type: ApplicationFiled: December 17, 2009Publication date: May 6, 2010Inventor: Johnson Manuel-Devadoss
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Patent number: 7643905Abstract: A robot program correcting apparatus, which displays three-dimensional models of a robot and a workpiece simultaneously on the screen of a display apparatus, and corrects an operation program for the robot, includes: a unit retrieving a robot operation program and a working position based on at least either a line or a surface computed from touchup points and on a touchup position or points representing a working position specified on the screen; a difference computing unit computing a difference between at least either the line or surface computed from the touchup points and at least either a line or a surface computed from the plurality of points as position information representing the retrieved working position; and a correcting unit correcting the robot operation program by computing the amount of correction based on the difference, thereby reducing the number of steps required when correcting the robot operation program.Type: GrantFiled: April 11, 2006Date of Patent: January 5, 2010Assignee: Fanuc LtdInventors: Atsushi Watanabe, Yoshiharu Nagatsuka
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Patent number: 7627396Abstract: 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: GrantFiled: November 5, 2004Date of Patent: December 1, 2009Assignee: Panasonic CorporationInventors: Tatsuya Ikeda, Kunitoshi Morita, Toshiyuki Mishima
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Patent number: 7623945Abstract: A robotic master controller having a series of linking members interconnected by pivots to each other and a hand grip with relative position sensors therein and sensing yaw and pitch of the hand grip due to movement of the user. The final linking member including an arched section that terminates in a pivot for the hand grip that is located within the user's hand during use and has an axis of rotation that generally aligns with a roll axis of rotation of the arm when the user's hand rotates between a palm up configuration to a palm down configuration. The final linking member also includes an arched section that extends over and cradles the outer palm of the hand when the hand is in the palm up configuration. The user reaches around the outside (to the right for a right arm controller) to grasp the hand grip.Type: GrantFiled: May 31, 2006Date of Patent: November 24, 2009Assignee: Kraft Telerobotics, Inc.Inventor: Brett W. Kraft
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Patent number: 7610785Abstract: Regarding predetermined positioning criteria (M1, M2), ((G1, G2), (N1, or N2), (K1, K2)), there is provided image processing means (40B) for obtaining by image processing, measured values (CD1, CD2) ((GD1, GD2), (ND1, or ND2), (KD1, KD2)) and reference values (CR1, CR2) ((GR1, GR2), (NR1, or NR2), (KR1, KR2)), and for moving a work (W) in a manner that the measured values (CD1, CD2) ((GD1, GD2), (ND1, or ND2), (KD1, KD2)) and the reference values (CR1, CR2) ((GR1, GR2), (NR1, or NR2), (KR1, KR2)) coincide with each other, thereby positioning the work (W) at a predetermined position.Type: GrantFiled: July 10, 2008Date of Patent: November 3, 2009Assignee: Amada Co., Ltd.Inventors: Ichio Akami, Koichi Ishibashi, Teruyuki Kubota, Tetsuaki Kato, Jun Sato, Tatsuya Takahashi
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Patent number: 7606633Abstract: A robot simulation device is provided. It includes a virtual robot working environment in which a virtual robot has a task of transferring a virtual object from a start point to a goal point, the simulation device determining the path of travel. A task simulation is executed in response to the virtual robot working environment and the path of travel. The task simulation determines a robot activity region where the virtual robot can operate and an interference region where the virtual robot encounters obstacles. Thereafter the device creates a desired executed simulation in which the virtual robot can operate without encountering obstacles.Type: GrantFiled: March 25, 2003Date of Patent: October 20, 2009Assignee: Rorze CorporationInventors: Hirofumi Hosokawa, Seiichi Fujii
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Patent number: 7590468Abstract: A robot system can grasp and take out one of a plurality of workpieces placed in a basket-like container by a hand mounted at the forward end of a robot arm. The workpiece is detected by a visual sensor, and the robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference or the like occurs, information relating to the problem is stored in a robot control unit or a visual sensor control unit. Information relating to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of problem occurrence, a position which the robot has reached, the target position data, the content of the process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the time of problem occurrence by using simulation unit. The situation at the time of problem occurrence can also be reproduced by using the actual robot without using the simulation unit.Type: GrantFiled: September 29, 2004Date of Patent: September 15, 2009Assignee: Fanuc LtdInventors: Atsushi Watanabe, Kazunori Ban, Ichiro Kanno
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Publication number: 20090177306Abstract: An press line including at least one mechanical press with at least one electric drive motor, a ram, a mechanical unit for operating the press, and one other device or auxiliary production device. The press is arranged so that the speed of the at least one said drive motor may be varied during at least one pressing or non-pressing part of a press cycle. Improved operating characteristics and optimised energy use and cycle times are obtained by controlling the speed of the motor and synchronizing a movement of the press to a movement or position of at least other device, loader or other press. A system includes the press. A computer program controlls the press line.Type: ApplicationFiled: February 2, 2007Publication date: July 9, 2009Applicant: ABB RESEARCH LTD.Inventors: Sjoerd Bosga, Marc Segura Golorons
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Patent number: 7558646Abstract: The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation.Type: GrantFiled: November 7, 2002Date of Patent: July 7, 2009Assignee: Kawasaki Jukogyo Kabushiki KaishaInventors: Naoyuki Matsumoto, Masatoshi Sano, Tsuyoshi Maehara, Nobuyasu Shimomura, Takahiro Ueno
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Patent number: 7549833Abstract: An apparatus and method for automatically placing a sheet of glass in a glass frame. The apparatus includes a frame, a carriage, a first gripper, and a second gripper. The carriage is movably mounted to the frame to automatically move between a first position where the carriage is by a stack of glass sheets on a glass rack to a second position where the carriage is by the glass frame. The first gripper is movably mounted to the carriage and moves relative to the carriage to automatically engage the sheet of glass from the stack of glass sheets on the glass rack at the first position of the carriage and to automatically release the sheet of glass at the second position of the carriage. The second gripper automatically engages the sheet of glass when the first gripper automatically releases the sheet of glass at the second position of the carriage, and then automatically places the sheet of glass in the glass frame.Type: GrantFiled: May 4, 2006Date of Patent: June 23, 2009Inventor: David Tang
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Publication number: 20090142844Abstract: The present invention relates to a method of preparing analyses of total blood samples and to a device that is useful for implementing the method, said samples being conserved in tubes including at least one identification means for identifying the sample, the device comprising: at least one compartment constituting a said storage zone for storing said tubes before and after analysis; and at least one said read means for reading said identification means of said tubes; and at least one preparation zone for preparing said blood samples prior to analysis and including means for verifying and/or treating said tubes containing said samples, and in particular at least one agitator means for agitating said tubes; and at least one access zone giving access to at least one automatic analyzer of total blood, said access zone enabling a said tube to be placed in said analyzer; and robotic gripper and displacement means controlled by an automatic controller and suitable for taking hold of and replacing said tubes indType: ApplicationFiled: July 4, 2006Publication date: June 4, 2009Applicant: HORIBA ABX SASInventor: Roger Le Comte
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Patent number: 7512457Abstract: In-process non-contact measurement systems and methods for automated lapping systems are disclosed. In an embodiment, a moveable frame can be controllably positioned proximate to a lapped work product. A control component can provide first control signals to control a movement of the moveable frame relative to the lapped work product. A non-contact measuring device can be coupled to the moveable frame measures a surface of the lapped work product and can transmit measurement data of the surface of the lapped work product to the control component. The control component can further provide second control signals to control a movement of the non-contact measuring device relative to the moveable frame.Type: GrantFiled: March 6, 2007Date of Patent: March 31, 2009Assignee: The Boeing CompanyInventors: Jeffrey H Wood, Thomas R Berkel, Robert E Bender
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Publication number: 20090054222Abstract: Systems and methods for robotic transport are disclosed herein. In some embodiments, robotic systems for transporting biological samples include: a plurality of capillary vessels, in which each capillary vessel can contain a biological sample from a population; a receptacle that can contain the plurality of capillary vessels; a centrifuge; a first robotic device that can transport the receptacle between an input module and the centrifuge; a second robotic device that can transport the receptacle between the centrifuge and a sample harvest location; a cutting device that can cut each of the plurality of capillary vessels; a multi-well plate having a plurality of wells arranged in an array; and a third robotic device that can transfer at least one portion of each of the plurality of biological samples from each of the plurality of capillary vessels to a corresponding well in the array.Type: ApplicationFiled: August 24, 2007Publication date: February 26, 2009Inventors: Jian Zhang, Alessio Salerno, Nabil Simaan, Y. Lawrence Yao, Gerhard Randers-Pehrson, Guy Garty, Aparajita Dutta, David J. Brenner
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Publication number: 20080294115Abstract: A tumor treatment system for treating a tumor within a body may include an injection system having an injector configured to inject an injection within the body that treats the tumor, and a robotic system configured to position the injector at a plurality of specified, spaced-apart treatment locations within the body. A tumor treatment process for treating a tumor within a body may include generating an image of the tumor within the body, identifying a plurality of locations within the body at which an injection that treats the tumor should be made based on the image, and making the injections at the locations under the control of a robotic system that is programmed to make the injections at the identified locations without human intervention.Type: ApplicationFiled: May 22, 2007Publication date: November 27, 2008Inventor: Raymond H. Chen
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Publication number: 20080260510Abstract: According to the manipulator-type robot of the present invention, a manipulator base contains a connection case for making cable connection to an external device. In the connection case, a signal-line connecting section for external connection is disposed on a predetermined signal line of a cable that is routed through the inside of the manipulator. Besides, the connection case contains, other than the aforementioned signal-line connecting section for making connection to outside, an additional signal-line connecting section.Type: ApplicationFiled: February 15, 2006Publication date: October 23, 2008Applicant: MATSUSHITA ELECTRIC INDUSTRIAL CO., LTD.Inventors: Seiji Iwai, Shiaki Suzuki, Takayasu Ohara, Misao Umemoto, Kenichiro Dobashi
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Publication number: 20080253612Abstract: The invention relates to a method for locating and picking up objects that are placed on a carrier. A scanning operation is performed over the carrier. The scanning is performed by a line laser scanner whose results are used to generate a virtual surface that represents the area that has been scanned. The virtual surface is compared to a pre-defined virtual object corresponding to an object to be picked from the carrier, whereby a part of the virtual surface that matches the pre-defined virtual object is identified. A robot arm is then caused to move to a location corresponding to the identified part of the virtual surface and pick up an object from the carrier at this location.Type: ApplicationFiled: October 16, 2006Publication date: October 16, 2008Applicant: Morphic Technologies AktiebolagInventors: Anders Reyier, Per Larsson
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Patent number: 7412863Abstract: Regarding predetermined positioning criteria (M1, M2), ((G1, G2), (N1, or N2), (K1, K2)), there is provided image processing means (40B) for obtaining by image processing, measured values (CD1, CD2) ((GD1, GD2), (ND1, or ND2), (KD1, KD2)) and reference values (CR1, CR2) ((GR1, GR2), (NR1, or NR2), (KR1, KR2)), and for moving a work (W) in a manner that the measured values (CD1, CD2) ((GD1, GD2), (ND1, or ND2), (KD1, KD2)) and the reference values (CR1, CR2) ((GR1, GR2), (NR1, or NR2), (KR1, KR2)) coincide with each other, thereby positioning the work (W) at a predetermined position.Type: GrantFiled: June 18, 2002Date of Patent: August 19, 2008Assignee: Amada Co., Ltd.Inventors: Ichio Akami, Koichi Ishibashi, Teruyuki Kubota, Tetsuaki Kato, Jun Sato, Tetsuya Takahashi
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Publication number: 20080188981Abstract: A method of auditing cartridges and empty cells in a storage library system including a plurality cells for storing cartridges and further including a robotically actuated picker assembly, the method comprising: providing a radio frequency sensor on the picker assembly; positioning a cartridge having at least one radio emitting chip within the cells so that the presence of the radio emitting chip can be detected without unloading the cartridge from the cells and operating the picker in a manner to search for the presence of the radio emitting chip within each cell for auditing numbers of cartridges and empty cells in the storage library system by moving the picker with the radio frequency sensor from one cell to the next to measure the presence of the radio emitting chip for each cell.Type: ApplicationFiled: February 4, 2007Publication date: August 7, 2008Inventor: Roland Herbert Sautner
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Publication number: 20080154389Abstract: A method and system for performing invasive procedures includes a surgical robot which is controlled by a guidance system that uses time of flight calculations from RF transmitters embedded in the robot, surgical instrument, and patient anatomy. Sensors around the room detect RF transmissions emitted by the RF transmitters and drive the robot according to a preprogrammed trajectory entered into the guidance system.Type: ApplicationFiled: August 13, 2007Publication date: June 26, 2008Applicant: Catholic Healthcare West (d/b/a St. Joseph's Hospital and Medical Center)Inventors: David W. Smith, Regina DeSanctis-Smith, Alan M. Pitt, Nicholas Theodore, Neil R. Crawford
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Publication number: 20080138176Abstract: The present invention provides an apparatus for manufacturing a semiconductor device.Type: ApplicationFiled: July 25, 2007Publication date: June 12, 2008Inventors: Hyung-Joon Kim, Seung-Bae Lee, Dae-Hyun Yang, Ki-Yung Lee
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Publication number: 20080114492Abstract: A method and apparatus are disclosed for off-line programming of multiple interacting robots. For example, a system for off-line programming (100) of multiple interacting robots includes a computer (110) for off-line programming and verification of program codes (111) for multiple interacting robots (131-133) and a robot controller (120) connected to the computer (110) to receive a download of at least one of the program codes for execution. Multiple interacting robots (131-133) can be controlled by the robot controller (120).Type: ApplicationFiled: June 15, 2005Publication date: May 15, 2008Applicant: ABB ABInventors: Volker Miegel, Jochen Bargfrede, Jonas Anselmby
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Patent number: 7373220Abstract: A teaching device and a teaching modification device capable of easily attaining conformity between an operation program of a robot prepared by off-line programming and an actual operation of the robot. A layout of a robot system including three-dimensional models of the robot and peripheral objects thereof (table, a workpiece, etc.) are prepared by an off-line programming system and taught points are defined for the workpiece. The system layout and a model of the workpiece are displayed on a display device of a teaching pendant. An operator specifies a present position of the operator in the system layout and a taught point to be modified referring to the display device. A line-of-sight vector is automatically calculated and the model of the workpiece as viewed from a direction of the line-of-sight is displayed on the display device.Type: GrantFiled: February 27, 2004Date of Patent: May 13, 2008Assignee: Fanuc Ltd.Inventors: Atsushi Watanabe, Yoshiharu Nagatsuka, Jun Mizuno
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Patent number: 7343660Abstract: A machine tool apparatus is provided employing a plurality of tool heads which may be sequentially or simultaneously automatically controlled to perform preprogrammed operations on either the same or different workpieces. In one form, a plurality of tool heads are supported on the same frame, guideway or track and may be separate prepositioned or driven under remote or automatic control to perform preprogrammed operations either in sequence or simultaneously on the same workpiece or simultaneously on separate workpieces spaced apart on a common conveyor such as a flight conveyor while the conveyor is either in motion or stationary. In another form, the conveyor is automatically stopped with units of work thereon, each disposed so as to be predeterminately located with respect to a respective machine tool which has been prepositioned adjacent the work-holding conveyor.Type: GrantFiled: May 13, 1987Date of Patent: March 18, 2008Assignee: Lemeison Medical, Education & Research Foundation, Limited PartnershipInventor: Jerome H. Lemelson
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Publication number: 20080041317Abstract: A method for processing bioresponse signals coming from organisms living in a well-defined living space, which are each comprised in a microenvironment, wherein these signals are obtained in online measuring of bioresponse variables, and wherein these signals are at least real-time processed in a signal processor, wherein, on the one hand, these organisms are monitored in the said microenvironments, and wherein, on the other hand, these variables can be adjusted by corresponding signal control apparatuses in accordance with a living space control model, wherein the living space comprises an incubator for hatching out hatching eggs, wherein the bioresponse variables are measured and controlled in a physical and/or chemical manner, for instance in the form of optical, electrical, magnetic, acoustic or mechanical bioresponse signals, or combinations thereof.Type: ApplicationFiled: August 11, 2004Publication date: February 21, 2008Applicant: KATHOLIEKE UNIVERSITEIT LEUVENInventors: Daniel Albert Berckmans, Andres Van Brecht, Jean-Marie Aerts, Lode Peeters, Ivan Van Der Beken, Paul Degraeve
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Patent number: 7333879Abstract: An offline programming device capable of automatically generating a measuring program by which the time and the workload for making an offline program may be greatly reduced.Type: GrantFiled: December 14, 2006Date of Patent: February 19, 2008Assignee: Fanuc LtdInventors: Katsutoshi Takizawa, Yoshiharu Nagatsuka, Hirohiko Kobayashi
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Patent number: 7324873Abstract: An offline teaching apparatus including a data acquiring section for acquiring position and orientation data and processing-condition data including interpolation commands, at respective predefined taught points, from an existing first processing program for a first workpiece; a processing-path calculating section for determining a processing path in the first program, based on the position and orientation data and the interpolation commands; a model generating section for generating, by using data of a second workpiece model of a second workpiece having geometrical features different from the first workpiece, a processing line showing a range of processing on the second workpiece; a taught-point calculating section for determining a geometrical correlation between the processing path and the processing line, and determining positions and orientations at respective taught points in the processing line; and a program generating section for generating a processing program for the second workpiece, by using theType: GrantFiled: October 11, 2006Date of Patent: January 29, 2008Assignee: Fanuc LtdInventors: Yoshiharu Nagatsuka, Kozo Inoue
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Patent number: 7282882Abstract: A robot control system for simultaneously controlling multi-axial robots each of which has actuators, a standard movement part being set in each of the robots, includes: a single main controller for calculating respective movement positions of the standard moving part on a movement route along which the standard moving part is to be moved; and sub-controllers installed for each of the robots, each of the sub-controllers calculating an operation amount of each of the actuators so that the standard moving part of a corresponding robot is to be moved along the movement route, based on the movement positions of the standard moving part of the corresponding robot on the movement route, and controlling each of the actuators of the robots in accordance with the operation amount.Type: GrantFiled: December 30, 2005Date of Patent: October 16, 2007Assignee: Kawasaki Jukogyo Kabushiki KaishaInventors: Hiroaki Kitatsuji, Naoyuki Matsumoto, Yoshinori Kegasa
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Patent number: 7283888Abstract: Method and system for a direct transmission of motion path data (310) from a generating system (204) to a control system (205) for use in controlling a servo-driven machine. For example, a machine tool for machining stock material, and the data generating system includes a computer-aided-design software package (301). Tool paths for directing the tool members of the machine tool can be extracted from a design file opened by the CAD software through the operation interface of the CAD software (302). Alternatively, the design file can be used to specify motion paths rather than end product geometry. The CAD interpreter application extracts the motion path data from the design file, eliminating the need to translate the data into another or intermediate form for controlling the machine tool.Type: GrantFiled: May 10, 2001Date of Patent: October 16, 2007Assignee: Brigham Young UniversityInventors: Mark S. Evans, Walter Edward Red, Charles Gregory Jensen, C. Porter Bassett, Corey Lynn McBride, Jonathan Edward Bosley, Girish C. Ghimire
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Patent number: 7239940Abstract: A medical system that allows a medical device to be controlled by one of two input devices. The input devices may be consoles that contain handles and a screen. The medical devices may include robotic arms and instruments used to perform a medical procedure. The system may include an arbitrator that determines which console has priority to control one or more of the robotic arms/instruments.Type: GrantFiled: January 6, 2005Date of Patent: July 3, 2007Assignee: Intuitive Surgical, IncInventors: Yulun Wang, Modjtaba Ghodoussi, Darrin Uecker, James Wright, Amante Mangaser
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Patent number: 7226269Abstract: In one embodiment, the invention is a substrate edge gripper assembly for positioning a semiconductor substrate upon a transfer robot. In one embodiment, a modular assembly comprises spring loaded jaws that are mounted on either side of a robot end effector. The jaws are adapted to be actuated by a feature remote from the robot end effector to release the substrate for delivery.Type: GrantFiled: January 15, 2004Date of Patent: June 5, 2007Assignee: Applied Materials, Inc.Inventors: Satish Sundar, Sanjeev Baluja
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Patent number: 7211978Abstract: A system for performing the method of this invention includes a leader having a robot arm able to articulate about first axes and supporting an end effector. A follower includes a robot arm able to articulate about respective second axes. Servo motors articulate the leader arm about the first axes and the follower arm about the second axes. A user interface allows a user to jog the arm of the leader and to program movement of the arms for automatic execution such that the end effector reaches predetermined positions. A controller, operatively connected to the servo motors and the user interface, controls operation of the servo motors, moves the arm of the leader in accordance with the programmed movement, and moves the arm of the follower such that it tracks or mirrors movement of the leader.Type: GrantFiled: June 18, 2004Date of Patent: May 1, 2007Assignee: Fanuc Robotics America, Inc.Inventors: Tien L. Chang, H. Dean McGee, Eric Wong, Sai-Kai Cheng, Jason Tsai
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Patent number: 7179043Abstract: A manipulating arrangement having a horizontal portal on which a slide is horizontally traversable, an arm being pivotably mounted on the slide about a pivot axis which runs parallel to the portal, and a gripper for at least one of workpieces and tools being arranged on the end of the arm. The slide has an elongated support, on which a further slide is mounted in a vertically traversable manner, and the arm is pivotably mounted on the further slide.Type: GrantFiled: May 26, 2004Date of Patent: February 20, 2007Assignee: Felsomat GmbH & Co., KGInventor: Helmut F. Jäger
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Patent number: 7161322Abstract: A robot that includes an arm coupled to a platform. The arm includes an actuator that moves a second arm linkage relative to a first arm linkage. In a first mode of operation the actuator moves the second linkage in a first degree of freedom. In a second mode of operation the actuator moves the second linkage in a second degree of freedom. The use of a single actuator to provide two degrees of freedom reduces the number parts and associated cost of the arm. The arm further includes a grasper that can grab an object such as a wheelchair. The robot can be used to push the wheelchair. Commands to operate the robot can be generated at a remote input station and transmitted through a broadband network.Type: GrantFiled: November 18, 2003Date of Patent: January 9, 2007Assignee: InTouch Technologies, Inc.Inventors: Yulun Wang, Keith Phillip Laby, Ranjan Mukherjee
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Patent number: 7136722Abstract: A human-type link system, such as a humanoid robot having a dynamically feasible motion of the link system that is generated when a reference joint acceleration that is only calculated from a kinematical constraint condition is determined not feasible by an evaluation of external force computed based on an inverse dynamics calculation, or is generated by calculating from a dynamic constraint condition and a kinematical constraint condition simultaneously, the dynamic constraint condition is formulated by using an actuation space inverse inertial matrix that represents the relation of force acting on the link system and the acceleration of the link system caused by the force.Type: GrantFiled: February 10, 2003Date of Patent: November 14, 2006Assignee: The University of TokyoInventors: Yoshihiko Nakamura, Katsu Yamane, Manabu Tange
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Patent number: 7024250Abstract: A method for the synchronous control of several manipulators, such as several industrial robots, is characterized in that control units of specific manipulators exchange control information according to the data structures contained in a corresponding control program, through which control units to be synchronized and synchronization points in the control programs taking place there can be clearly identified, and in that on reaching and synchronization points the program sequence in the control units to be synchronized is continued according to the contents of the data structures in conjunction with the already exchanged control information or stopped until corresponding information arrives from other control units to be synchronized.Type: GrantFiled: May 14, 2003Date of Patent: April 4, 2006Assignee: KUKA Roboter GmbHInventors: Stefan Graf, Andreas Hagenauer, Michael Chaffee, Kenneth Stoddard
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Patent number: 7013749Abstract: A robot driven robot index system includes a track having indices defining robot workstation positions along the track. The system also includes a non-driven carriage movable about the track. The carriage has a locking device for controllably locking the carriage to the track. The system further includes a robot having a base and a swingable, movable arm. The robot base is secured to the non-driven carriage. The system also includes at least one reference connector spacedly disposed from the track and located within a working range of the robot. The robot arm is adapted to connect with the reference connector, for moving the robot along the track between workstations through the movement of the robot arm.Type: GrantFiled: June 7, 2004Date of Patent: March 21, 2006Assignee: TESCO Engineering, Inc.Inventor: Katsutoshi Uno
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Patent number: 7010390Abstract: The invention concerns a method and a system for controlling a first robot and at least one other robot, the at least one other robot being calibrated relative to the first robot by the determination of at least one coordinate transformation of the first robot relative to at least one other robot and said at least one transformation is stored in a control device of the other robot, wherein also the first robot is calibrated relative to the other robot by the determination of at least one independent coordinate transformation and said at least one independent transformation is stored in a control device of the first robot.Type: GrantFiled: July 17, 2003Date of Patent: March 7, 2006Assignee: KUKA Roboter GmbHInventors: Stefan Graf, Andreas Hagenauer, Michael Chaffee