Robot Patents (Class 901/8)
  • Publication number: 20150073595
    Abstract: A control apparatus for a master slave robot causes a force information correcting unit to correct force information in accordance with a feature of a target object on a screen from target object information calculated by a target object information calculation unit. An operator can thus apply appropriate force while watching a picture projected on a display to perform a task.
    Type: Application
    Filed: September 2, 2014
    Publication date: March 12, 2015
    Inventors: Yudai FUDABA, Yuko TSUSAKA
  • Publication number: 20150073596
    Abstract: A master slave robot is that receives force presentation according to a picture watched by an operator operating the master slave robot. The control apparatus for the master slave robot causes a force information correcting unit to correct force information in accordance with magnification percentage information acquired by a displayed information acquiring unit such that the force information is increased accordingly as the magnification percentage information is larger. An operator can thus apply appropriate force while watching the picture projected on a display to perform a task.
    Type: Application
    Filed: September 3, 2014
    Publication date: March 12, 2015
    Inventors: Yudai FUDABA, Yuko TSUSAKA
  • Patent number: 8972058
    Abstract: Disclosed herein is a wearable robot with improved operability and mobility through improvement of the upper limb structure thereof. The wearable robot includes an upper limb muscular power assist device to perform an articulation motion with a predetermined degree of freedom, the upper limb muscular power assist device being wearable by a user, and a mobile platform connected to the upper limb muscular power assist device to move according to information regarding movement speed and movement direction of the user in a rolling fashion. Consequently, mobility of the wearable robot and operation efficiency of the user are improved.
    Type: Grant
    Filed: March 7, 2013
    Date of Patent: March 3, 2015
    Assignee: Foundation of Soongsil University-Industry Cooperation
    Inventor: Donghun Lee
  • Patent number: 8931999
    Abstract: In a device for unstacking plate-shaped parts (12), in particular sheet metal blanks, comprising at least one supply station (13) in which at least one stack (14) of plate-shaped parts (12) is located and at least one conveyor station (15) on which the plate-shaped parts (12) are transported further in an unstacked manner, an unstacking unit (17) being provided for transferring the plate-shaped parts (12) between the supply station (13) and the conveyor station (15), said unstacking unit engaging the stack of parts (14) and removing individual plate-shaped parts (12) while unstacking the stack of parts (14) and depositing them in the conveyor station (15), the unstacking unit (17) comprises two robots (18a, 18b) working independently of each other, which alternately engage a common stack of parts (14) of the supply station (13) and are controlled by a control unit (19) in such a way that a first or a second robot (18a, 18b) removes a plate-shaped part (12) from the stack of parts (14) while the first robot (1
    Type: Grant
    Filed: March 12, 2008
    Date of Patent: January 13, 2015
    Assignee: Schuler Automation GmbH & Co. KG
    Inventors: Reiner Dörner, Joachim Pottiez
  • Publication number: 20140360420
    Abstract: The invention relates to remotely operated multi-component search robots for underwater search and rescue operations, and particularly suited for searches under ice.
    Type: Application
    Filed: April 23, 2014
    Publication date: December 11, 2014
    Applicant: Natick Public Schools
    Inventors: Doug Scott, Adam Azanow, Daniel Carson, William Coburn, Nicholas Exarchos, Russell Forrest, Jason Geller, Ford Grundberg, Kimya Harper, Susan Haverstick, Larion Johnson, Kevin King, James Kinsey, Alex Krasa, Ilir Kumi, Douglas Laderman, Jonathan Magee, James McLean, Alex Petrovsky, Katelyn Sweeney, Nickolas Thorsen, Olivia Van Amsterdam, Jacob Wainer, Chris Williamson, Ethan Ziegler
  • Publication number: 20140350571
    Abstract: The robotic device for positioning a surgical instrument relative to the body of a patient includes a first robotic arm with a device for rigidly connecting to at least one surgical instrument, a device for anatomical realignment of the first arm by realigning an image that is of an area of the anatomy of the patient, and a device for compensating the movements of the first arm on the basis of detected movements. One version of the device includes at least one second robotic arm having sensors for detecting inner movements of the anatomical area, and a device for controlling the positioning of the first arm relative to sensed inner movements and to the outer movements induced in the second arm.
    Type: Application
    Filed: November 8, 2012
    Publication date: November 27, 2014
    Inventors: Pierre Maillet, Bertin Nahum, Fernand Badano, Patrick Dehour
  • Patent number: 8886358
    Abstract: A robot controller includes an input unit that receives operation instruction information, a database that stores grasp pattern information, and a processing unit that performs control processing based on information from the input unit and information from the database, and the input unit receives first to N-th operation instructions as operation instruction information, the processing unit loads i-th grasp pattern information that enables execution of the i-th operation instruction and j-th grasp pattern information that enables execution of the j-th operation instruction as the next operation instruction to the i-th operation instruction from the database, and performs control processing based on the i-th grasp pattern information and the j-th grasp pattern information.
    Type: Grant
    Filed: March 27, 2012
    Date of Patent: November 11, 2014
    Assignee: Seiko Epson Corporation
    Inventors: Kaori Sato, Hiroshi Hasegawa
  • Patent number: 8863374
    Abstract: A production plant, particularly for suitcases and trunks, such suitcases and trunks comprising at least two half-shells mutually associated so as to form at least one internal containment compartment. The plant comprises: at least one station for loading at least one half-shell; at least one work island which has at least one dispenser of perimetric gasket seals; at least one storage area for the half-shells; at least one center for mating the half-shells, so as to form substantially the finished product, such as a suitcase and a trunk; at least one station for unloading the finished product.
    Type: Grant
    Filed: March 31, 2010
    Date of Patent: October 21, 2014
    Assignee: G.T. Line S.r.l.
    Inventor: Massimo Tonelli
  • Patent number: 8868234
    Abstract: A communication system for communicating over high-latency, low bandwidth networks includes a communications processor configured to receive a collection of data from a local system, and a transceiver in communication with the communications processor. The transceiver is configured to transmit and receive data over a network according to a plurality of communication parameters. The communications processor is configured to divide the collection of data into a plurality of data streams; assign a priority level to each of the respective data streams, where the priority level reflects the criticality of the respective data stream; and modify a communication parameter of at least one of the plurality of data streams according to the priority of the at least one data stream.
    Type: Grant
    Filed: April 30, 2012
    Date of Patent: October 21, 2014
    Assignees: GM Global Technology Operations LLC, The United States of America as Represented by the Administrator of the National Aeronautics and Space Administration
    Inventors: Adam M. Sanders, Philip A. Strawser
  • Publication number: 20140288706
    Abstract: A robot system includes a robot, a control device, and a projection device. The control device is configured to receive area information on an area defining an operation of the robot. The projection device is configured to project the area onto an object adjacent to the robot based on the area information received by the control device.
    Type: Application
    Filed: March 19, 2014
    Publication date: September 25, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Takefumi ASAHI, Yukiko SAWADA
  • Publication number: 20140283353
    Abstract: A workpiece assembly line includes assembly units that assemble a workpiece, and a workpiece transfer unit that allows transfer of the workpiece between the workpiece transfer unit and each assembly unit. The assembly units are disposed around the workpiece transfer unit. The workpiece is transferred between the assembly units via the workpiece transfer unit.
    Type: Application
    Filed: March 18, 2014
    Publication date: September 25, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Toshiyuki HARADA, Toshiaki IKEDA, Ken OKAWA, Shinji OGASAWARA, Akihiro SHIOTA
  • Publication number: 20140277715
    Abstract: A robot system includes a plurality of robots, a control device, a common work table, and a calibration device. The control device is configured to control the plurality of robots. On the common work table, the plurality of robots are configured to work. Based on a position of a first robot having a calibrated coordinate relative to a position of a second robot among the plurality of robots, the calibration device is configured to calibrate a coordinate of the second robot.
    Type: Application
    Filed: March 10, 2014
    Publication date: September 18, 2014
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Ryoichi NAGAI, Tamio NAKAMURA, Dai KOUNO, Tetsuro IZUMI
  • Patent number: 8814492
    Abstract: A method for loading a pallet, including placing packages in layers on a first pallet disposed in a first pallet disposed in a first plane, providing a second pallet above the packed first pallet in a second plane, and transporting the packed first pallet away. Also, a method for unloading for unloading a pallet, including removing packages, particularly bottle crates, in layers from a first pallet disposed in a first plane, providing a second packed pallet below the first pallet in a second plane, and transporting the first pallet away. Also, a corresponding palletizer for loading or unloading a pallet in layers.
    Type: Grant
    Filed: May 14, 2008
    Date of Patent: August 26, 2014
    Assignee: Krones AG
    Inventor: Kurt Perl
  • Patent number: 8812155
    Abstract: The disclosure relates to a robot that has an articulated arm for moving an end in an N-dimensional space including at least N+1 motorized articulations, and a computer for controlling the movements of the motorized articulations. The computer controls a first step of prepositioning the terminal end of the articulated arm and a second step for its fine positioning.
    Type: Grant
    Filed: April 17, 2009
    Date of Patent: August 19, 2014
    Assignee: Universite du Havre
    Inventor: Jean-François Brethe
  • Patent number: 8805585
    Abstract: A handling apparatus having a belt conveyor (2) for conveying a work (10), a robot (4) for performing a predetermined operation for the work (10), a visual sensor (3) for photographing the work (10) being conveyed to produce work data indicating each work (10) in the photographed image, and a robot controller (5) for gathering the work data for each image thereby to produce a tracking data, and for storing the tracking data in a database, thereby to control the robot (4) with the database so that a predetermined operation is performed on the work (10) transferred to the position of the robot (4). The robot controller (5) performs a predetermined calculation on the work data read out from the database, detects the overlapped work data, and cancels the control of the actions of the robot (4) based on the overlapped work data. The robot controller (5) rearranges the sequences, in which the robot (4) performs the operation on each work (10).
    Type: Grant
    Filed: June 3, 2009
    Date of Patent: August 12, 2014
    Assignee: Toshiba Kikai Kabushiki Kaisha
    Inventor: Yasunori Nishihara
  • Publication number: 20140222186
    Abstract: Provided are a control method and a control device that can make the range of periodic activity (amplitude of reciprocal movement) of an object of control, such as an industrial robot, the same as a case in which the reduction device has no backlash or the same as the amplitude of a position instruction signal. A control device (3) that carries out position control for an arm (5), which carries out periodic movement, while compensating for backlash in the arm (5) is provided with a control unit (15) that adds to a position instruction signal, which gives instructions for the position of the arm (5), a backlash quantity signal after the backlash quantity signal has been shifted so as to be delayed by a delay time, generates a final position instruction signal, and carries out position control of the arm (5) on the basis of the final position instruction signal that has been generated, said backlash quantity signal compensating for backlash.
    Type: Application
    Filed: August 2, 2012
    Publication date: August 7, 2014
    Applicant: KABUSHIKI KAISHA KOBE SEIKO SHO (KOBE STEEL, LTD.)
    Inventors: Takashi Wada, Yoshiharu Nishida, Shuichi Inada, Yoshihide Inoue
  • Patent number: 8798794
    Abstract: An object is highly precisely moved by an industrial robot to an end position by the following steps, which are repeated until the end position is reached within a specified tolerance: Recording a three-dimensional image by means of a 3-D image recording device. Determining the present position of the object in the spatial coordinate system from the position of the 3-D image recording device the angular orientation of the 3-D image recording device detected by an angle measuring unit, the three-dimensional image, and the knowledge of features on the object. Calculating the position difference between the present position of the object and the end position. Calculating a new target position of the industrial robot while taking into consideration the compensation value from the present position of the industrial robot and a value linked to the position difference. Moving the industrial robot to the new target position.
    Type: Grant
    Filed: May 26, 2010
    Date of Patent: August 5, 2014
    Assignee: Leica Geosystems AG
    Inventors: Bernd Walser, Bernhard Metzler, Beat Aebischer, Knut Siercks, Bo Pettersson
  • Patent number: 8770905
    Abstract: The anthropomorphic force-reflective master arm is a light, anthropomorphic, back-drivable, six degree of freedom (DOF) master arm designed to control the motion of a remote slave device having arbitrary structure. Three of the link members are rotationally coupled to each other to form a handle, such that axes of rotation of each of the handle link members intersects at the user's hand position. The kinematics of the master arm is simplified to two independent sub-systems, which are the hand position and hand orientation.
    Type: Grant
    Filed: May 2, 2011
    Date of Patent: July 8, 2014
    Assignees: King Fahd University of Petroleum and Minerals, King Abdulazia City for Science and Technology
    Inventors: Mayez Al-Mouhamed, Nesar Merah
  • Publication number: 20140188275
    Abstract: Disclosed herein is a wearable robot with improved operability and mobility through improvement of the upper limb structure thereof. The wearable robot includes an upper limb muscular power assist device to perform an articulation motion with a predetermined degree of freedom, the upper limb muscular power assist device being wearable by a user, and a mobile platform connected to the upper limb muscular power assist device to move according to information regarding movement speed and movement direction of the user in a rolling fashion. Consequently, mobility of the wearable robot and operation efficiency of the user are improved.
    Type: Application
    Filed: March 7, 2013
    Publication date: July 3, 2014
    Applicant: Foundation of Soongsil University-Industry Cooperation
    Inventor: Foundation of Soongsil University-Industry Coorperation
  • Patent number: 8755936
    Abstract: A system is provided that includes at least one manager and one or more robots configured to communicate wirelessly. The manager can include certain functions that generate data, instructions, or both used by one or more robots. The manager can also facilitate communications among several robots, or robots could also be configured to communicate directly.
    Type: Grant
    Filed: February 13, 2009
    Date of Patent: June 17, 2014
    Assignee: Seegrid Corporation
    Inventors: Scott Justin-Marl Friedman, Hans Peter Moravec
  • Publication number: 20140156068
    Abstract: Painting robots processing a part moving on a conveyor are synchronized by creating for each of the robots a master sequence of computer program instructions for a collision-free movement of robots along associated master sequence paths relative to the moving part, each of the master sequence paths including positions of the associated robot and the conveyor at pre-defined synchronization points, and running each of the master sequences on a controller connected to the associated robot to move the associated robot and comparing a current path of the associated robot and the conveyor against the master sequence path. The method further includes operating the controllers to adjust the current paths based on the comparison between the master sequence path and the current path, and operating the controllers to request a conveyor motion hold as necessary to facilitate synchronization between movement of the robots and the conveyor.
    Type: Application
    Filed: November 30, 2012
    Publication date: June 5, 2014
    Applicant: FANUC ROBOTICS AMERICA CORPORATION
    Inventors: Randy A. Graca, Di Xiao, Sai-Kai Cheng
  • Publication number: 20140148950
    Abstract: A manipulator system includes a master manipulation unit that performs a manipulation input by an operator, a slave motion unit that operates in accordance with the manipulation input, an interlock control unit that analyzes the manipulation input and performs control to operate the slave motion unit, interlocking with the manipulation input, and an interlock permission input unit that is capable of being manipulated by the operator and transmits, to the interlock control unit, an interlock permission mode signal used to enter a mode in which interlock of the slave motion unit is permitted based on the manipulation input of the mater manipulation unit when the operator manipulates the interlock permission input unit.
    Type: Application
    Filed: January 31, 2014
    Publication date: May 29, 2014
    Applicant: OLYMPUS CORPORATION
    Inventors: Ryohei OGAWA, Masaru YANAGIHARA
  • Publication number: 20140142592
    Abstract: A surgical robot and a surgical robot control method ensure a stable change of an operation mode. The surgical robot includes a master device having an input unit, a slave device having at least one robotic surgical instrument that is remotely controlled by the master device, and a controller that performs a mode change process to gradually vary the strength of a feedback signal fed back from the slave device to the input unit for a predetermined time when a signal for a change of an operation mode is input via the input unit.
    Type: Application
    Filed: June 19, 2013
    Publication date: May 22, 2014
    Inventors: Kyung Won MOON, Tae Sin Ha
  • Patent number: 8694134
    Abstract: Interface (101) for converting human control input gestures to telematic control signals. The interface includes a plurality of articulating arms (107a, 107b, 108a, 108b, and 109a, 109b) each mounted at a base end (113, 115, 117) to an interface base and coupled at an opposing end to a housing (106). The articulating arms are operable to permit linear translational movement of the housing in three orthogonal directions. At least one sensor (116) of a first kind is provided for measuring the linear translational movement. A pivot member (201) is disposed in the housing and is arranged to pivot about a single pivot point. A grip (102) is provided and is attached to the pivot member so that a user upon grasping the grip can cause the pivot to rotate within the housing.
    Type: Grant
    Filed: May 5, 2011
    Date of Patent: April 8, 2014
    Assignee: Harris Corporation
    Inventors: Paul M. Bosscher, Matthew D. Summer, John B. Rust, Loran J. Wilkinson, William S. Bowman
  • Patent number: 8688244
    Abstract: In order to flexibly identify the current operating state of control elements which are used to control a process installation, the invention provides a method for identifying the operating state of at least one control element, which is designed for an active and a passive operating state, for a control apparatus, wherein, in the active operating state, the control element controls a process function of an area of a process installation, comprising the following steps: the control apparatus is connected to the process installation, the control element is functionally associated with the process function, and the operating state of the control element is identified as active on the basis of successful functional association of the control element with the process function.
    Type: Grant
    Filed: August 6, 2007
    Date of Patent: April 1, 2014
    Assignee: Phoenix Contact GmbH & Co. KG
    Inventors: Johannes Kalhoff, Thomas Huettemeier
  • Publication number: 20140039519
    Abstract: A surgical instrument device includes a surgical instrument portion which is used in a surgical operation, a slave arm which holds the surgical instrument, a driving rod which is formed in a shaft shape, of which one end portion in the axial direction is connected to the surgical instrument and the other end portion in the axial direction is supported by the slave arm, and which transmits a force between the surgical instrument and the slave arm, a distance change detecting unit which detects a change in distance between two points in the axial direction of the driving rod based on a distance when no load is applied to the surgical instrument, and a force calculating unit which calculates a force applied from the surgical instrument or the slave arm to the driving rod based on the change in distance detected by the distance change detecting unit.
    Type: Application
    Filed: October 9, 2013
    Publication date: February 6, 2014
    Applicant: OLYMPUS CORPORATION
    Inventors: Shintaro INOUE, Kosuke KISHI
  • Patent number: 8631720
    Abstract: The present invention is characterized by arranging a flow path 200 for supplying driving gas to a tool mounting portion 170 from a robot base 110 to the tool mounting portion 170 through the interiors of a rotation frame 120, a tube 220, a shoulder 140, a swing arm 150 and a tool mounting rotation arm 160.
    Type: Grant
    Filed: March 29, 2011
    Date of Patent: January 21, 2014
    Assignees: Daihen Corporation, Kabushiki Kaisha Kobe Seiko Sho
    Inventors: Hiroshi Nakagiri, Sungjae Yoon, Makoto Kondo, Tatsuji Minato
  • Patent number: 8614559
    Abstract: A programmable robot system includes a robot provided with a number of individual arm sections, where adjacent sections are interconnected by a joint. The system furthermore includes a controllable drive mechanism provided in at least some of the joints and a control system for controlling the drive. The robot system is furthermore provided with user a interface mechanism including a mechanism for programming the robot system, the user interface mechanism being either provided externally to the robot, as an integral part of the robot or as a combination hereof, and a storage mechanism co-operating with the user interface mechanism and the control system for storing information related to the movement and further operations of the robot and optionally for storing information relating to the surroundings.
    Type: Grant
    Filed: March 14, 2013
    Date of Patent: December 24, 2013
    Assignee: Universal Robots ApS
    Inventors: Kristian Kassow, Esben Hallundbæk Østergaard, Kasper Støy
  • Patent number: 8606399
    Abstract: A device for constructing an assembly of building components includes an articulating arm unit and a gripper/nailer mounted on an end of the articulating arm unit. The gripper/nailer includes a gripping unit for grasping building components and positioning them in a predetermined arrangement and a nailing unit for inserting a fastener to secure the building components together.
    Type: Grant
    Filed: April 20, 2012
    Date of Patent: December 10, 2013
    Assignee: Williams Robotics, LLC
    Inventors: Jeffrey P. Williams, Siroberto Scerbo
  • Publication number: 20130226343
    Abstract: A telerobotic communications system including a teleoperation centre to transmit control data and receive non-control data by wireless connection to and from a first mobile telerobot and indirectly to and from a second mobile telerobot. The first mobile telerobot includes a transceiver for receiving and transmitting control and non-control data, respectively, and also a repeater for relaying control data to a second mobile telerobot and relaying non-control data back to the teleoperation centre. The system allows the second mobile telerobot to travel beyond a communications-enabled distance of the wireless signal emitted directly by the teleoperation centre. The system may also include wireless repeaters to extend the communications distance between the first and second telerobots.
    Type: Application
    Filed: October 26, 2011
    Publication date: August 29, 2013
    Applicant: Penguin Automated Systems Inc.
    Inventor: Gregory Baiden
  • Publication number: 20130211739
    Abstract: The invention concerns an industrial robot (1) and a method to determine a torque having an effect on a limb of the robotic arm (2). The robotic arm (2) has several sequentially arranged limbs (3-7), of which a first limb (4) is stored relative to a second limb (5) of the limbs on an axis of rotation (A2), and using a stationary motor (11) relative to the second limb (4) and a gearbox (12) connected to the motor (11), is rotatable around the axis of rotation (A2).
    Type: Application
    Filed: February 5, 2013
    Publication date: August 15, 2013
    Applicant: KUKA ROBOTER GMBH
    Inventor: KUKA Roboter GmbH
  • Patent number: 8489237
    Abstract: Methods correcting wafer position error are provided. The methods involve measuring wafer position error on a robot during transfer to an intermediate station. This measurement data is then used by a second robot to perform wafer pick moves from the intermediate station with corrections to center the wafer. Wafer position correction may be performed at only one location during the transfer process. Also provided are systems and apparatuses for transferring wafers using an intermediate station.
    Type: Grant
    Filed: September 23, 2011
    Date of Patent: July 16, 2013
    Assignee: Novellus Systems, Inc.
    Inventors: Chris Gage, Damon Genetti
  • Publication number: 20130152397
    Abstract: A facility for assembling aircraft fuselages comprises a plurality of movable cradles. Each cradle is configured to support a fuselage keel structure and assemble a panelized fuselage in a single upright build position.
    Type: Application
    Filed: December 15, 2011
    Publication date: June 20, 2013
    Applicant: THE BOEING COMPANY
    Inventors: Harinder S. Oberoi, Blair P. Nelson, Alan S. Draper, Charles Y. Hu, Randall Matthewson, Branko Sarh
  • Patent number: 8452447
    Abstract: Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.
    Type: Grant
    Filed: September 27, 2011
    Date of Patent: May 28, 2013
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Tom Nixon
  • Publication number: 20130090762
    Abstract: A communication system including a parent station and a plurality of child stations, the parent station and the plurality of child stations being line-connected or loop-connected in a plurality of stages, and the parent station comprises a decision unit configured to decide, based on information representing states of the plurality of child stations, which one a first data relay method of transmitting data to a subsequent station in accordance with a clock reproduced from data received from a preceding station and a second data relay method of transmitting data to the subsequent station in accordance with a local clock generated in a local station should be employed by each of the plurality of child stations.
    Type: Application
    Filed: September 27, 2012
    Publication date: April 11, 2013
    Applicant: CANON KABUSHIKI KAISHA
    Inventor: Canon Kabushiki Kaisha
  • Patent number: 8417363
    Abstract: A method for controlling a group of machines such as robots or pick and place machines to pick up an item from a first position and place the item in a second position. Information from a sensor about the location of the first position is provided to a control member, which sends a message from a master process to all machines. The message includes a list of all first positions. The machines dynamically and adaptively handle each of the first positions and inform the master process when each first position is handled. The master process in turn informs all machines that a given first position has been handled. A system, a computer program and a graphical user interface are also described.
    Type: Grant
    Filed: June 22, 2004
    Date of Patent: April 9, 2013
    Assignee: ABB AB
    Inventors: Mats Erlandsson-Warvelin, Henrik Knobel
  • Publication number: 20130079928
    Abstract: The invention pertains to a method of calibrating robots without the use of external measurement equipment. The invention furthermore pertains to a method of copying working programs between un-calibrated robots. Both methods utilize the properties of a closed chain and the relative position of the links in the chain in order to update the kinematic models of the robots.
    Type: Application
    Filed: September 28, 2012
    Publication date: March 28, 2013
    Applicant: UNIVERSAL ROBOTS A/S
    Inventor: UNIVERSAL ROBOTS A/S
  • Patent number: 8401275
    Abstract: A robotic system that includes a mobile robot and a remote input device. The input device may be a joystick that is used to move a camera and a mobile platform of the robot. The system may operate in a mode where the mobile platform moves in a camera reference coordinate system. The camera reference coordinate system is fixed to a viewing image provided by the camera so that movement of the robot corresponds to a direction viewed on a screen. This prevents disorientation during movement of the robot if the camera is panned across a viewing area.
    Type: Grant
    Filed: March 27, 2009
    Date of Patent: March 19, 2013
    Assignee: InTouch Technologies, Inc.
    Inventors: Yulun Wang, Charles S. Jordan, Keith P. Laby, Jonathan Southard, Marco Pinter, Brian Miller
  • Patent number: 8393971
    Abstract: A vehicle chase game includes a first game object and a second game object. A second game object scans for a projected spot on an overhead surface. The second game object detects the projected spot on the overhead surface and gathers location information based on the detected projected spot. The second game object generates a position of a first game object based on the location information. The second game object transfers the position of the first game object to the chase game application program. The chase game application program selects a behavior based on the position of the first game object, where a goal of the behavior is to drive the second game object to intercept the first game object. The chase game application program sends instructions to the second game object's mechanical and electrical systems to execute the selected behaviors.
    Type: Grant
    Filed: September 19, 2008
    Date of Patent: March 12, 2013
    Assignee: Evolution Robotics, Inc.
    Inventors: Michael Dooley, Nikolai Romanov, Paolo Pirjanian, Lihu Chiu, Enrico Di Bernardo
  • Patent number: 8386112
    Abstract: A vessel hull robot navigation subsystem and method for a robot including a drive subsystem onboard the robot for driving the robot about the hull. A sensor subsystem onboard the robot outputs data combining robot and vessel motion. A memory onboard the robot includes data concerning the configuration of the hull and a desired path of travel for the robot. A fix subsystem communicates position fix data to the robot. A navigation processor onboard the robot is responsive to the memory data, the sensor subsystem, the position fix data, and the data concerning vessel motion. The navigation processor is configured to determine the position of the robot on the hull by canceling, form the sensor subsystem output data combining both robot and vessel motion, the determined vessel motion.
    Type: Grant
    Filed: May 17, 2010
    Date of Patent: February 26, 2013
    Assignee: Raytheon Company
    Inventors: James H. Rooney, III, Stephen C. Jacobsen, Fraser Smith
  • Patent number: 8371790
    Abstract: A derrickless system for servicing tubulars at a wellhead has a first tubular handling apparatus with a gripper positioned adjacent the wellhead where the gripper grips a surface of one of the tubulars, a second tubular handling apparatus with a gripper positioned adjacent the wellhead where the gripper grips a surface of another of the tubulars, and a slip assembly positioned in the wellhead. The slip assembly has a wedge bowl positioned at the wellhead that is suitable for receiving the tubular therein, and wedges positioned in the wedge bowl that are suitable for positioning between the wedge bowl and the tubular. Each of the grippers of the first and second tubular handling apparatus has a stab frame and three grippers attached to the stab frame.
    Type: Grant
    Filed: March 12, 2009
    Date of Patent: February 12, 2013
    Assignee: T&T Engineering Services, Inc.
    Inventors: Axel M. Sigmar, Keith J. Orgeron
  • Patent number: 8374421
    Abstract: Methods and systems for robot and cloud communication are described. A robot may interact with the cloud to perform any number of actions using video captured from a point-of-view or in the vicinity of the robot. The cloud may be configured to extract still frames from compressed video received from the robot at a frame rate determined based on a number of factors, including the robot's surrounding environment, the available bandwidth, or actions being performed. The cloud may be configured to request that a compressed video with higher frame rate be sent so that the cloud can extract still frames at a higher frame rate. Further, the cloud may be configured to request that a second compressed video from a second perspective be sent to provide additional environment information.
    Type: Grant
    Filed: October 18, 2011
    Date of Patent: February 12, 2013
    Assignee: Google Inc.
    Inventor: Ryan Hickman
  • Patent number: 8316961
    Abstract: A remote controlled work robot including a remote controlled actuator and a support device therefor. The remote controlled actuator includes a spindle guide section of an elongated configuration, a distal end member fitted to a distal end of the spindle guide section through a distal end member coupling structure for alteration in attitude, and a drive unit housing connected with a base end of the spindle guide section. The distal end member rotatably supports a spindle for holding a tool. The support device includes a single degree-of-freedom system, in which the remote controlled actuator has a degree of freedom in one direction, or a multi-degrees-of-freedom system, in which the remote controlled actuator has a two or more degrees of freedom relative to a base on which the support device is installed. A drive source and is also provided for driving the degree-of-freedom system.
    Type: Grant
    Filed: October 31, 2011
    Date of Patent: November 27, 2012
    Assignee: NTN Corporation
    Inventors: Hiroshi Isobe, Takayoshi Ozaki
  • Patent number: 8315736
    Abstract: A system for picking and packing applications is provided. The system includes a plurality of robots and a plurality of robot controllers. Each robot controller includes a load re-balance subsystem, a load balance subsystem, a robot state change detector subsystem, a communicator subsystem, and a motion control subsystem. Each of the robot controllers is interconnected and in communication with one another via the communicator subsystems. Each of the robots has a workload that may be selectively balanced. A method for balancing the workloads of the robots using built-in processors which run motion control is also provided.
    Type: Grant
    Filed: April 24, 2009
    Date of Patent: November 20, 2012
    Assignee: Fanuc Robotics America, Inc.
    Inventors: Genesh Kalbavi, Gordon Geheb, Min-Ren Jean, Gerald A. Ross, Jason Tsai, Rick Wunderlich
  • Patent number: 8271130
    Abstract: An input device includes a handle coupled to a base by a linkage. The handle is manually movable relative to the base to provide a position input. The linkage has a plurality of links including a redundant link that permits internal motion of the linkage such that the linkage can move without moving the handle relative to the base. When a distance between the handle and a handle stop position is less than a threshold distance, a handle stop applies a first load to the handle. A drive system applies a second load to the redundant link responsive to the first load to create internal motion of the linkage that increases a distance between the handle and a handle stop position. The second load may be proportional to a cosine of an angle between a handle axis of motion and a redundant link axis of motion.
    Type: Grant
    Filed: March 17, 2009
    Date of Patent: September 18, 2012
    Assignee: Intuitive Surgical Operations, Inc.
    Inventor: Arjang Hourtash
  • Publication number: 20120143366
    Abstract: One of reverse passing parts provided in a substrate passing part comprises a first holding mechanism and a second holding mechanism. The first holding mechanism and the second holding mechanism are arranged in vertically symmetry with respect to a rotary central axis and rotate 180 degrees about the rotary central axis, to replace each other in position. A transport robot on the loading side passes a substrate to a third holding mechanism or a fourth holding mechanism at a first vertical position. The substrate reversed in the reverse passing part is passed to a transport robot on the unloading side from the third holding mechanism or the fourth holding mechanism at a second vertical position. Before a reverse process on the preceding substrate is finished, the transport robot on the loading side can start the transfer of the following substrate.
    Type: Application
    Filed: February 3, 2012
    Publication date: June 7, 2012
    Applicant: DAINIPPON SCREEN MFG. CO., LTD.
    Inventor: Eisaku Machida
  • Patent number: 8185240
    Abstract: A device for constructing an assembly of building components includes an articulating arm unit and a gripper/nailer mounted on an end of the articulating arm unit. The gripper/nailer includes a gripping unit for grasping building components and positioning them in a predetermined arrangement and a nailing unit for inserting a fastener to secure the building components together.
    Type: Grant
    Filed: August 26, 2009
    Date of Patent: May 22, 2012
    Assignee: Williams Robotics, LLC
    Inventors: Jeffrey P. Williams, Siroberto Scerbo
  • Patent number: 8168918
    Abstract: A laser processing head mounted on a robot arm moves from with a constant speed in a direction from a welding point to a next welding point, while a reflection mirror continuously turns in order to maintain laser beams focused on the welding point until the welding at the welding point is completed, and the reflection mirror quickly turns to shift the focus of the laser beams onto the next welding point when the welding at the welding point is completed.
    Type: Grant
    Filed: December 14, 2005
    Date of Patent: May 1, 2012
    Assignee: Nissan Motor Co., Ltd.
    Inventor: Hitoshi Kawai
  • Publication number: 20120029688
    Abstract: A robot system is disclosed which includes at least two robots, each having a related processing unit. The processing units are connected to each other via a network bus for data transmission, and distributed sensors are provided for gathering first and/or second measurement data within a local extension of the robot system. First measurement data gathered by at least one first sensor are transmissible to at least one processing unit related thereto. Second measurement data gathered by at least one second sensor are feedable into the network bus and provided to the at least two processing units connected thereto. The processing units can analyze the second measurement data as a variable dynamic share of workload for feeding result-data of the analysis into the network bus.
    Type: Application
    Filed: September 21, 2011
    Publication date: February 2, 2012
    Applicant: ABB AG
    Inventors: Anders LAGER, Fredrik Kange, Heiko Koziolek, Roland Weiss
  • Patent number: 8077963
    Abstract: A robotic system that includes a mobile robot and a remote input device. The input device may be a joystick that is used to move a camera and a mobile platform of the robot. The system may operate in a mode where the mobile platform moves in a camera reference coordinate system. The camera reference coordinate system is fixed to a viewing image provided by the camera so that movement of the robot corresponds to a direction viewed on a screen. This prevents disorientation during movement of the robot if the camera is panned across a viewing area.
    Type: Grant
    Filed: July 13, 2004
    Date of Patent: December 13, 2011
    Inventors: Yulun Wang, Charles S. Jordan, Keith P. Laby, Jonathan Southard, Marco Pinter, Brian Miller