Closed Loop (sensor Feedback Controls Arm Movement) Patents (Class 901/9)
  • Patent number: 9043027
    Abstract: A method of controlling an operation of a robotically-controlled surgical instrument can include receiving a first input signal at a controller indicative of a user's readiness to actuate the surgical instrument to perform a surgical procedure, outputting an output signal from the controller to provide feedback to the user in response to the received first input signal, receiving a second input signal at the controller confirming the user's readiness to actuate the surgical instrument, outputting an actuation signal from the controller in response to receiving the second input signal, and actuating the surgical instrument to perform the surgical procedure based on the actuation signal.
    Type: Grant
    Filed: May 30, 2012
    Date of Patent: May 26, 2015
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Kevin Durant, Michael Hanuschik, Paul W. Mohr, Jack Hsia
  • Patent number: 9032811
    Abstract: A robot apparatus includes an arm that includes an outer skin and a detector that detects the deformation of the outer skin. The detector includes a sending unit that sends a signal, a receiving unit that receives the signal, and a transmission route that is provided along the outer skin so as to lead the signal. The detector detects the deformation of the outer skin based on whether a signal reaches the receiving unit.
    Type: Grant
    Filed: January 21, 2014
    Date of Patent: May 19, 2015
    Assignee: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Nobukazu Miyauchi, Tamio Nakamura, Zenta Nakamoto, Dai Kouno
  • Publication number: 20150134111
    Abstract: A control method for a robot apparatus including a power supply unit, an articulated arm having a plurality of joints each having an actuator and a driver, and a control device includes determining by the control device whether a total of required power in all of the actuators is equal to or lower than an allowable power of the power supply unit by using a trajectory through teaching points for moving the articulated arm from a first position/attitude to a second position/attitude before the articulated arm starts moving, and if not, resetting by the control device the trajectory for moving the articulated arm from the first position/attitude to the second position/attitude to a trajectory causing a total of required powers in all of the actuators to be equal to or lower than the allowable power of the power supply unit.
    Type: Application
    Filed: November 10, 2014
    Publication date: May 14, 2015
    Inventor: Yohji Nakajima
  • Publication number: 20150131896
    Abstract: A safety monitoring system for human-machine symbiosis is provided, including a spatial image capturing unit, an image recognition unit, a human-robot-interaction safety monitoring unit, and a process monitoring unit. The spatial image capturing unit, disposed in a working area, acquires at least two skeleton images. The image recognition unit generates at least two spatial gesture images corresponding to the at least two skeleton images, based on information of changes in position of the at least two skeleton images with respect to time. The human-robot-interaction safety monitoring unit generates a gesture distribution based on the at least two spatial gesture images and a safety distance. The process monitoring unit determines whether the gesture distribution meets a safety criterion.
    Type: Application
    Filed: March 25, 2014
    Publication date: May 14, 2015
    Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE
    Inventors: Jhen-Jia Hu, Hau-Wei Wang, Chung-Ning Huang
  • Patent number: 9031693
    Abstract: A cleaning robot is disclosed. A first sensing unit generates a sensing signal to a transmittal line according to an external wireless signal. When the external wireless signal is sensed by the first sensing unit, a state of the transmittal line does not match with a pre-determined state. When the external wireless signal is not sensed by the first sensing unit, the state of the transmittal line matches with the pre-determined state. A control unit generates a movement signal when the state of the transmittal line matches with the pre-determined state. A plurality of wheels rotate according to the movement signal. A second sensing unit generates a second sensing signal according to the external environment of the cleaning robot. When the state of the transmittal line does not match with the pre-determined state, the control unit adjusts the movement signal according to the second sensing signal.
    Type: Grant
    Filed: March 12, 2013
    Date of Patent: May 12, 2015
    Assignee: MSI Computer (Shenzhen) Co., Ltd.
    Inventors: Yi-Feng Lin, Hung-Chou Chen, Shih-Che Hung
  • Patent number: 9031697
    Abstract: The present teachings provide a method of controlling a remote vehicle having an end effector and an image sensing device. The method includes obtaining an image of an object with the image sensing device, determining a ray from a focal point of the image to the object based on the obtained image, positioning the end effector of the remote vehicle to align with the determined ray, and moving the end effector along the determined ray to approach the object.
    Type: Grant
    Filed: April 16, 2012
    Date of Patent: May 12, 2015
    Assignee: iRobot Corporation
    Inventors: Wesley Hanan Huang, Emilie A. Phillips
  • Publication number: 20150124056
    Abstract: An article pickup device configured so as to select a first and second three-dimensional points present in the vicinity of each other based on position information of the plurality of three-dimensional points acquired by a three-dimensional measurement instrument and image data acquired by a camera, acquire an image gradient information in a partial image region including points on an image corresponding to these three-dimensional points, judge whether the first and second three-dimensional points are present on the same article based on a position information of the three-dimensional points and the image gradient information, and add the first and second three-dimensional points to the same connected set when it is judged that the first and second three-dimensional points are present on the same article.
    Type: Application
    Filed: November 4, 2014
    Publication date: May 7, 2015
    Inventor: Toshiyuki ANDO
  • Publication number: 20150127160
    Abstract: A robot includes, a holding unit configured to hold an object, an image pickup unit, and a predetermined first portion of the robot. The image pickup unit picks up images of the holding unit and the object using the first portion as a background.
    Type: Application
    Filed: November 4, 2014
    Publication date: May 7, 2015
    Inventor: Yukihiro YAMAGUCHI
  • Publication number: 20150124057
    Abstract: An article pickup apparatus configured so as to measure surface positions of articles randomly piled on the three-dimensional space using a three-dimensional measurement instrument to acquire position information of three-dimensional points, determine a connected set made by connecting three-dimensional points present in the vicinity of each other among the three-dimensional points, and identify a position and posture of an article based on the position information of three-dimensional points belonging to the connected set. The posture of the article is identified by calculating a main component direction of the connected set by applying main component analysis to the three-dimensional points belonging to the connected set and identifying the posture of the article based on the main component direction.
    Type: Application
    Filed: November 4, 2014
    Publication date: May 7, 2015
    Inventor: Takashi YAMAZAKI
  • Publication number: 20150127163
    Abstract: An object of the present invention is to provide a robot system controlling method and robot system which perform link angle control and joint stiffness control through feedback control.
    Type: Application
    Filed: January 9, 2015
    Publication date: May 7, 2015
    Inventor: Kiyoshi Takagi
  • Publication number: 20150122183
    Abstract: A method and system to compensate for stray light errors in time of flight (TOF) camera systems uses reference targets in the in the field of view (FOV) that can be used to measure stray light. In different embodiments, one or more reference targets are used.
    Type: Application
    Filed: January 9, 2015
    Publication date: May 7, 2015
    Inventor: Thierry Oggier
  • Publication number: 20150127157
    Abstract: A robot system according to an embodiment includes a sensor, an arm, and an instructor. The sensor is configured to detect an interface of a liquid. The arm includes a holding mechanism that holds a container containing the liquid. The instructor instructs the arm to cause the container to enter a sensing region of the sensor while holding the container, so as to cause the sensor to detect the interface.
    Type: Application
    Filed: October 29, 2014
    Publication date: May 7, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventor: Kenji MATSUKUMA
  • Publication number: 20150127147
    Abstract: A robot includes a robot arm, a drive unit that drives the robot arm, a first control unit that controls drive of the drive unit, a plurality of detection units at least one of which is an angular velocity sensor as an inertial sensor, and a wiring unit that series-connects the plurality of detection units and the first control unit.
    Type: Application
    Filed: October 31, 2014
    Publication date: May 7, 2015
    Inventors: Takema YAMAZAKI, Izumi IIDA, Munenori SAWADA, Daisuke SATO, Isamu SEJIMO, Shigenori SASAI
  • Publication number: 20150127152
    Abstract: A robot apparatus includes a gripping unit configured to grip a first component, a force sensor configured to detect, as detection values, a force and a moment acting on the gripping unit, a storing unit having stored therein contact states of the first component and a second component and transition information in association with each other, a selecting unit configured to discriminate, on the basis of the detection values, a contact state of the first component and the second component and select, on the basis of a result of the discrimination, the transition state stored in the storing unit, and a control unit configured to control the gripping unit on the basis of the transition information selected by the selecting unit.
    Type: Application
    Filed: January 12, 2015
    Publication date: May 7, 2015
    Inventors: Takashi NAMMOTO, Kazuhiro KOSUGE, Kentaro KAMEI
  • Patent number: 9023060
    Abstract: A robotic surgery system comprises a mounting base, a plurality of surgical instruments, and an articulate support assembly. Each instrument is insertable into a patient through an associated minimally invasive aperture to a desired internal surgical site. The articulate support assembly movably supports the instruments relative to the base. The support generally comprises an orienting platform, a platform linkage movably supporting the orienting platform relative to the base, and a plurality of manipulators mounted to the orienting platform, wherein each manipulator movably supports an associated instrument.
    Type: Grant
    Filed: December 6, 2012
    Date of Patent: May 5, 2015
    Assignee: Intuitive Surgical Operations, Inc.
    Inventors: Thomas G. Cooper, Stephen J. Blumenkranz, Gary S. Guthart, David J. Rosa
  • Publication number: 20150120050
    Abstract: A robot control device controls the operation of a robot including a trunk that is rotatable around an axis, first and second robot arms that are provided at the trunk and rotatable with respect to the trunk, and first, second, and third inertial sensors. In an operation in which the second robot arm is brought into a stationary state and the first robot arm is rotated around the axis from the stationary state and moved to a target position, the robot control device makes B/A<0.27 satisfied when a maximum value of the amplitude of the angular velocity of the trunk around the axis before the first robot arm reaches the target position is defined as A, and a maximum value of the amplitude of the angular velocity of the trunk around the axis after the first robot arm has reached the target position first is defined as B.
    Type: Application
    Filed: October 17, 2014
    Publication date: April 30, 2015
    Inventors: Akihiro Gomi, Masaki Motoyoshi
  • Publication number: 20150120049
    Abstract: When a robot in which a first arm is rotatably provided at a base via abase joint portion and the first arm is provided with a first joint portion including a plurality of joints is controlled, a first inertial force is detected on a tip side of the first arm, and a base-side inertial force is detected on a base side of the first arm. The first joint portion of the first arm is controlled on the basis of the base-side inertial force and the first inertial force. If this is the case, since the first joint portion can be controlled using not only the inertial force (first inertial force) on the tip side of the first arm but also the inertial force (base-side inertial force) on the base side of the first arm.
    Type: Application
    Filed: October 16, 2014
    Publication date: April 30, 2015
    Inventor: Masaki MOTOYOSHI
  • Publication number: 20150120057
    Abstract: A mobile robot including a robot body, a drive system supporting the robot body, and a controller in communication with the drive system. The robot also includes an actuator moving a portion of the robot body through a volume of space adjacent the mobile robot and a sensor pod in communication with the controller. The sensor pod includes a collar rotatably supported and having a curved wall formed at least partially as a surface of revolution about a vertical axis. The sensor pod also includes a volumetric point cloud sensor housed by the collar and observing the volume of space adjacent the robot from within the collar along an observation axis extending through the curved wall. A collar actuator rotates the collar and the volumetric point cloud sensor together about the collar axis.
    Type: Application
    Filed: December 30, 2014
    Publication date: April 30, 2015
    Applicant: iRobot Corporation
    Inventors: Cheuk Wah Wong, Eben Rauhut, Brian C. Benson, JR., Peter J. Lydon, Michael T. Rosenstein, Michael Halloran, Steven V. Shamlian, Chikyung Won, Mark Chiappetta, Justin H. Kearns, Orjeta Taka, Robert Todd Pack, Timothy S. Farlow, Jasper Fourways Vicenti
  • Publication number: 20150120058
    Abstract: A first finger portion and a second finger portion of an end effector are brought close to each other, and when the first finger portion is brought into contact with an object to be grasped, an arm is moved in a direction where the first finger portion is provided while the contact between the first finger portion and the object to be grasped is kept.
    Type: Application
    Filed: October 24, 2014
    Publication date: April 30, 2015
    Inventors: Nobuhiro KARITO, Takahiko NODA
  • Patent number: 9020640
    Abstract: A surgical system includes a manipulator, an implantable actuator and a controller. The manipulator includes a plurality of integrated sensor/actuators. The sensors of the sensor/actuators are adapted to detect movement about a plurality of axes of movement. The implantable actuator includes a plurality of joints providing a plurality of axes of movement. The controller is configured to receive information from the plurality of sensor/actuators that indicates movement of the manipulator about the plurality of axes and to cause the joints of the actuator to move along corresponding axes of movement. Each sensor/actuator of the manipulator detects movement about an axis of movement corresponding to a similar one of the joints of the actuator.
    Type: Grant
    Filed: April 26, 2013
    Date of Patent: April 28, 2015
    Assignee: Bio-Medical Engineering (HK) Limited
    Inventors: Chung Kwong Yeung, Kai Leung Yung
  • Publication number: 20150112483
    Abstract: The invention relates to an automatic automated installation in which at least one robot (2) is used in at least one mode of operation in at least one work zone (3). The installation comprises a closed space (1) equipped with at least one door (4) offering access to at least one operator intervention work station (6) which is situated in said work zone (3) of said robot, and means (7) for detecting the presence of an element (25; 26) in said closed space (1) at said operator intervention work station (6). The detection means (7) are arranged in said closed space (1) to delimit at least two zones (8, 9, 10) and are also associated with means (21) for control of said at least one mode of operation of the robot (2), each zone (8, 9, 10) being associated with one mode of operation of the robot (2). The detection means (7) are positioned a predetermined height from a floor (18) of said space (1), said height being greater than the height of an empty pallet (12).
    Type: Application
    Filed: March 11, 2013
    Publication date: April 23, 2015
    Applicant: SIDEL PARTICIPATIONS
    Inventors: Didier Mougin, Gaël Cheron
  • Publication number: 20150112487
    Abstract: A robot control system includes a force control unit configured to output a correction value of a target track of a robot on the basis of sensor information acquired from a force sensor, a target-value output unit configured to apply correction processing based on the correction value to the target track to calculate a target value and output the calculated target value, and a robot control unit configured to perform feedback control of the robot on the basis of the target value. The force control unit includes a digital filter unit. The force control unit applies digital filter processing by the digital filter unit to the sensor information to calculate a solution of an ordinary differential equation in force control and outputs the correction value on the basis of the calculated solution.
    Type: Application
    Filed: January 6, 2015
    Publication date: April 23, 2015
    Inventor: Mitsuhiro INAZUMI
  • Publication number: 20150105907
    Abstract: A robot includes a control unit that controls a movable unit of the robot to move an endpoint of the movable unit closer to a target position, and an image acquisition unit that acquires a target image as an image containing the end point when the end point is in the target position, and a current image as an image containing the end point when the end point is in a current position. The control unit controls movement of the movable unit based on the current image and the target image and output from a force detection unit that detects a force acting on the movable unit.
    Type: Application
    Filed: October 9, 2014
    Publication date: April 16, 2015
    Inventors: Seiji AISO, Hiroshi HASEGAWA, Mitsuhiro INAZUMI, Nobuhiro KARITO
  • Publication number: 20150100147
    Abstract: After a forward end of a workpiece is inserted into a through-hole and fitting is started, a follow operation of moving the workpiece to follow the shape of the through-hole is performed during the movement of the workpiece in a fitting direction. At this time, the workpiece is fitted into the through-hole while a control point of a robot is changed in a direction opposite to the fitting direction according to the amount of movement of the workpiece in the fitting direction.
    Type: Application
    Filed: December 16, 2014
    Publication date: April 9, 2015
    Applicant: KABUSHIKI KAISHA YASKAWA DENKI
    Inventors: Tetsuro IZUMI, Yukio HASHIGUCHI, Takuya FUKUDA, Ryoichi NAGAI
  • Publication number: 20150100162
    Abstract: A method includes the following steps: actuating a robotic arm to perform an action at a start position; moving the robotic arm from the start position toward a first position; determining from a vision process method if a first part from the first position will be ready to be subjected to a first action by the robotic arm once the robotic arm reaches the first position; commencing the execution of the visual processing method for determining the position deviation of the second part from the second position and the readiness of the second part to be subjected to a second action by the robotic arm once the robotic arm reaches the second position; and performing a first action on the first part using the robotic arm with the position deviation of the first part from the first position predetermined by the vision process method.
    Type: Application
    Filed: September 23, 2014
    Publication date: April 9, 2015
    Inventors: Yhu-Tin Lin, Timothy Daro, Jeffrey A. Abell, Raymond D. Turner, III, Daniel J. Casoli
  • Publication number: 20150097084
    Abstract: A spacecraft system and method includes a platform with a dock and an umbilical payout device. A robot is connected to an umbilical paid out by the umbilical payout device and is repeatedly deployable from the dock. The robot includes one or more imagers, an inertial measurement unit, and a plurality of thrusters. A command module receives image data from the one or more robot imagers and orientation data from the inertial measurement unit. An object recognition module is configured to recognize one or more objects from the received image data. The command module determines the robot's orientation with respect to an object and issues thruster control commands to control movement of the robot based on the robot's orientation. The combination of the space platform and robot on umbilical line can be used for towing another object to different orbital location, inspection including self-inspection of the robot carrying platform and for robotic servicing.
    Type: Application
    Filed: October 3, 2014
    Publication date: April 9, 2015
    Inventors: James J. Szabo, Vladimir Hruby, Thomas R. Roy, Craig DeLuccia, Jay Andrews, W. Dan Williams, Matthew R. Berlin, Jesse V. Gray
  • Publication number: 20150100067
    Abstract: The present technology relates generally to systems and methods for computer-guided placement of bone implants. In some embodiments, for example, a method of computer-guided surgical insertion of an implant into a target bone includes imaging the target bone to obtain three-dimensional (3D) image data, and, based on the 3D image data, determining an entry point and trajectory for insertion of the implant. The method also includes mapping the 3D image data, the entry point, and the trajectory into a surgical field, followed by instructing a clinician to insert the implant into the target bone based on the determined entry point and trajectory.
    Type: Application
    Filed: October 8, 2014
    Publication date: April 9, 2015
    Inventors: Peter R. Cavanagh, Ian Donaldson
  • Publication number: 20150100037
    Abstract: A system for providing animal maintenance includes a housing operable to accommodate an animal, an actuating arm coupled to the housing and to an attachment device, the attachment device is operable to perform one or more animal maintenance tasks, and the actuating arm is operable to apply the attachment device to the animal, a position sensor operable to determine the position of the animal relative to the position sensor, a restraint is operable to restrict the movement of the animal within the housing, and a processor communicatively coupled to the position sensor, the actuating arm, and the attachment device, the processor is operable to receive measurements from the position sensor and, in response to the received measurements, direct the actuating arm to apply the attachment device to the animal.
    Type: Application
    Filed: October 8, 2013
    Publication date: April 9, 2015
    Inventor: David R. Allsup
  • Patent number: 9002514
    Abstract: Methods and systems for positioning wafers using a dual side-by-side end effector robot are provided. The methods involve performing place moves using dual side-by-side end effector robots with active wafer position correction. According to various embodiments, the methods may be used for placement into a process module, loadlock or other destination by a dual wafer transfer robot. The methods provide nearly double the throughput of a single wafer transfer schemes by transferring two wafers with the same number of moves.
    Type: Grant
    Filed: November 30, 2007
    Date of Patent: April 7, 2015
    Assignee: Novellus Systems, Inc.
    Inventors: Damon Genetti, Shawn Hamilton, Rich Blank, Sheldon Templeton
  • Patent number: 9002519
    Abstract: A CPU of a robot control device calculates load torque based on the inertia force, centrifugal force or Coriolis force, gravity force, friction torque, and actuator inertia torque applied to a joint axis of each link, each time an orientation parameter indicative of the link position and orientation allowed by a redundant degree of freedom is sequentially changed, under a constraint of end-effector position and orientation as target values. The CPU obtains the link position and orientation at which the ratio of the load torque to the rated torque of a rotary actuator provided for each joint is minimized, while the orientation parameter is being changed, and provides a feed-forward value that gives rise to each load torque obtained when the ratio of the load torque to the rated torque of the rotary actuator is minimized, to a control command generated to the rotary actuator of each joint axis for achieving the end-effector position and orientation as target values.
    Type: Grant
    Filed: March 12, 2013
    Date of Patent: April 7, 2015
    Assignee: JTEKT Corporation
    Inventors: Hiromichi Ohta, Yasuharu Mukai, Kazuya Numazaki
  • Publication number: 20150094852
    Abstract: Apparatus and methods for arbitration of control signals for robotic devices. A robotic device may comprise an adaptive controller comprising a plurality of predictors configured to provide multiple predicted control signals based on one or more of the teaching input, sensory input, and/or performance. The predicted control signals may be configured to cause two or more actions that may be in conflict with one another and/or utilize a shared resource. An arbitrator may be employed to select one of the actions. The selection process may utilize a WTA, reinforcement, and/or supervisory mechanisms in order to inhibit one or more predicted signals. The arbitrator output may comprise target state information that may be provided to the predictor block. Prior to arbitration, the predicted control signals may be combined with inputs provided by an external control entity in order to reduce learning time.
    Type: Application
    Filed: September 27, 2013
    Publication date: April 2, 2015
    Applicant: BRAIN CORPORATION
    Inventors: Patryk Laurent, Jean-Baptiste Passot, Eugene Izhikevich
  • Publication number: 20150094855
    Abstract: The present invention concerns an imitation learning method for a multi-axis manipulator (7,7?). This method comprises the steps of capturing, at a set of successive waypoints (10,11) in a teach-in trajectory (4) of a user-operated training tool, spatial data comprising position and orientation of the training tool (3) in a Cartesian space; selecting, from among said set of successive waypoints (10,11), a subset of waypoints (11) starting from a first waypoint (11) of said set of successive waypoints (10,11), wherein for each subsequent waypoint (11) to be selected a difference in position and/or orientation with respect to a last previously selected waypoint (11) exceeds a predetermined threshold; fitting a set trajectory (4?) in said Cartesian space to said selected subset of waypoints (11); and converting said set trajectory into motion commands in a joint space of said multi-axis manipulator (7,7?).
    Type: Application
    Filed: May 3, 2013
    Publication date: April 2, 2015
    Inventors: Jérôme Chemouny, Stéphane Clerambault, Samuel Pinault
  • Patent number: 8996174
    Abstract: In accordance with various embodiments, a user interface embedded into a robot facilitates robot training via direct and intuitive physical interactions.
    Type: Grant
    Filed: September 17, 2012
    Date of Patent: March 31, 2015
    Assignee: Rethink Robotics, Inc.
    Inventors: Rodney Brooks, Bruce Blumberg, Noelle Dye, Paula Long
  • Patent number: 8996175
    Abstract: Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.
    Type: Grant
    Filed: September 17, 2012
    Date of Patent: March 31, 2015
    Assignee: Rethink Robotics, Inc.
    Inventors: Bruce Blumberg, Rodney Brooks, Christopher J. Buehler, Noelle Dye, Gerry Ens, Natan Linder, Michael Siracusa, Michael Sussman, Matthew M. Williamson
  • Patent number: 8996167
    Abstract: In accordance with various embodiments, a user interface embedded into a robot facilitates robot training via direct and intuitive physical interactions. In some embodiments, the user interface includes a wrist cuff that, when grasped by the user, switches the robot into zero-force gravity-compensated mode.
    Type: Grant
    Filed: September 17, 2012
    Date of Patent: March 31, 2015
    Assignee: Rethink Robotics, Inc.
    Inventors: Natan Linder, Rodney Brooks, Michael Sussman, Bruce Blumberg, Noelle Dye, Michael Caine, Elaine Y. Chen
  • Publication number: 20150086706
    Abstract: A system for applying sealant material from a cartridge includes a cartridge fixture storing a plurality of cartridges each cartridge including unique identification information and containing sealant material, a cartridge robot for removing a selected one of the cartridges from the fixture, and a dispense robot for receiving the selected cartridge from the cartridge robot and applying the sealant material contained therein to a workpiece. A controller is connected to the cartridge robot and the dispense robot for operating the robots and a plurality of sensors are connected to the controller for generating the unique identification information for the selected cartridge, sealant usage per workpiece, sealant dispense pressure, sealant dispense temperature; and sealant usage from the selected cartridge.
    Type: Application
    Filed: September 24, 2014
    Publication date: March 26, 2015
    Inventor: Raymond J. Guzowski
  • Publication number: 20150081098
    Abstract: A method for manually guided adjustment of the pose of a manipulator arm of an industrial robot includes detecting a guidance force applied to the manipulator arm by an operator of the industrial robot, determining one of at least two degrees-of-freedom of a reference coordinate system as a selected freedom direction, wherein the selected freedom direction corresponds to the degree-of-freedom in which the guidance force has its greatest force vector component, and controlling the drives of the industrial robot using force control in such a manner that a pre-specified reference point associated with the manipulator arm is moved only in the selected freedom direction as a result of movement of the manipulator arm by an operator during a manually-guided adjustment of the pose of the manipulator arm.
    Type: Application
    Filed: September 19, 2014
    Publication date: March 19, 2015
    Inventor: Yevgen Kogan
  • Publication number: 20150081099
    Abstract: A robot arm temporarily stops when a contact detector detects contact. A holding motion selecting unit then selects one of continuously stopped motion, directionally limited motion, and directionally unlimited motion in accordance with information including one or both of a distance between the robot arm and a contacted object and force applied to the robot arm by a person. A motion controller causes the selected motion to achieve holding motion.
    Type: Application
    Filed: November 24, 2014
    Publication date: March 19, 2015
    Inventors: Mayumi KOMATSU, Yasunao OKAZAKI
  • Patent number: 8983650
    Abstract: A work hanging apparatus includes a hanger line continuously conveying hangers each having a hook, a robot that has a hand with which a work having a hole is held and transfers the held work to a hanging location set in the hanger line, a controller controlling a movement of the hand to catch the hook of one of the hangers with the hole of the held work at the hanging location, a hole deviation detector that detects a positional deviation of the hole of the work, an attitude deviation detector that detects an attitudinal deviation of the hanger, and a corrector that corrects the movement of the hand according to the positional and attitudinal deviations.
    Type: Grant
    Filed: March 7, 2013
    Date of Patent: March 17, 2015
    Assignee: NHK Spring Co., Ltd.
    Inventors: Kotaro Nukui, Takashi Yajima
  • Patent number: 8983659
    Abstract: A robot system according to the embodiments includes a robot that includes a hand including a gripping mechanism that grips a thin plate-shaped work and an arm that moves the hand, and a robot control apparatus that controls the robot. The robot control apparatus, when causing the robot to transfer the work at a predetermined work transfer position by controlling the robot, performs a presence/absence confirmation of the work by operating the gripping mechanism while causing the hand to retract after the hand reaches the work transfer position.
    Type: Grant
    Filed: November 14, 2012
    Date of Patent: March 17, 2015
    Assignee: Kabushiki Kaisha Yaskawa Denki
    Inventor: Yoshiki Kimura
  • Publication number: 20150068349
    Abstract: A joint driving device includes: a reduction gear output shaft that transmits a torque to a second link; a transmission shaft that transmits reaction of the torque to a first link; a transmission shaft outer cylinder arranged on the outer circumference of the transmission shaft and connected to the transmission shaft; a reduction gear output shaft outer cylinder arranged in the outer circumference of the reduction gear output shaft and connected to the reduction gear output shaft; and a wire body arranged between the first link and the second link and including at least one of a wire and a pipe. The transmission shaft includes the motor frame as at least a part. The wire body is housed in a space between the transmission shaft outer cylinder and the transmission shaft, and a space between the reduction gear output shaft outer cylinder and the reduction gear output shaft.
    Type: Application
    Filed: September 9, 2014
    Publication date: March 12, 2015
    Inventor: Tomokazu HIRABAYASHI
  • Publication number: 20150073646
    Abstract: A mobile robot that includes a drive system, a controller in communication with the drive system, and a volumetric point cloud imaging device supported above the drive system at a height of greater than about one feet above the ground and directed to be capable of obtaining a point cloud from a volume of space that includes a floor plane in a direction of movement of the mobile robot. The controller receives point cloud signals from the imaging device and issues drive commands to the drive system based at least in part on the received point cloud signals.
    Type: Application
    Filed: November 14, 2014
    Publication date: March 12, 2015
    Applicant: iRobot Corporation
    Inventors: Michael T. Rosenstein, Chikyung Won, Michael Halloran, Steven V. Shamlian, Mark Chiappetta
  • Publication number: 20150059175
    Abstract: A system and method for automating an assembly process of threading a tube-nut onto a threaded connector. The system includes a robot having a force sensor and a tube-nut runner tool coupled to the robot and having a tool head with a rotatable socket therein. The method includes engaging the socket to the tube-nut under force control using the force signal from the force sensor. The tool controller causes the socket to rotate the tube-nut where the tool controller controls the torque and/or angle displacement of the tool head to tighten the tube-nut on the threaded connector. The method also includes disengaging the tool head from the tube-nut after the tube-nut is properly tightened onto the threaded connector under force control to ensure that the end member is properly disengaged from the tube-nut.
    Type: Application
    Filed: August 18, 2014
    Publication date: March 5, 2015
    Inventors: Muhammad E. Abdallah, Gary L. Villeneuve, Sreten Zakula, Srinivas Chilpuri, Michael S. Cochran
  • Patent number: 8972059
    Abstract: In an automatic operation system including: a positioning robot having a holding tool and an inertial sensor at a tip end portion of an arm thereof; a working robot having an operation tool at a tip end portion of an arm thereof; and a robot control device, a positioning correcting method of the present invention includes: conveying and positioning the holding tool, which holds a work, by the positioning robot at a positioning reference position of the holding tool corresponding to an operation position of the work; detecting a displacement amount of the holding tool from the positioning reference position by the robot control device based on an inertial force of the inertial sensor when the working robot carries out a predetermined operation with respect to the work; and correcting based on the detected displacement amount the positioning reference position of the holding tool to a position of the holding tool before the holding tool is displaced.
    Type: Grant
    Filed: May 27, 2010
    Date of Patent: March 3, 2015
    Assignee: Kawasaki Jukogyo Kabushiki Kaisha
    Inventors: Hisashi Moriyama, Takahiro Inada, Motonobu Sasaki, Shinji Kajihara
  • Patent number: 8970233
    Abstract: A controller for use with a nondestructive inspection system communicates with the nondestructive inspection system and with a robot for moving an inspection probe of the nondestructive inspection system relative to an object under inspection. The controller is configured to periodically generate estimated position information of the probe moving relative to the object under inspection and communicate the estimated position information to the nondestructive inspection system as the nondestructive inspection system collects inspection data from the probe. The controller receives actual position information from the robot, the actual position information indicating an actual position of the probe, and corrects the estimated position information based on the actual position information.
    Type: Grant
    Filed: November 12, 2012
    Date of Patent: March 3, 2015
    Assignee: Spirit AeroSystems, Inc.
    Inventors: Adam Joseph Donar, W. Robert Nelson, Gregorio Balandran
  • Publication number: 20150057675
    Abstract: A system and a method for automating a medical process including a memory storing a software program, a computer connected to the memory for running the software program, a display connected to the computer for generating a visual representation of output data generated by the computer running the program, a user interface connected to the computer for obtaining image data representing a configuration of a patient treatment space and fixed markers in the treatment space and storing the image data in the memory, a robot arm connected to the computer, and a medical tool mounted on the robot arm wherein when a human inputs a selected treatment procedure into the computer, the computer runs the software program to generate a tool path based upon the treatment procedure and the image data, and the computer operates the robot arm to move the medical tool along the tool path without human guidance, and wherein the data generated during the treatment procedure is stored, analyzed, and shared among collaborating compu
    Type: Application
    Filed: August 21, 2013
    Publication date: February 26, 2015
    Inventors: Hadi Akeel, Yaz Shehab, George Wong
  • Patent number: 8965576
    Abstract: In accordance with various embodiments, a user-guidable robot appendage provides haptic feedback to the user.
    Type: Grant
    Filed: September 17, 2012
    Date of Patent: February 24, 2015
    Assignee: Rethink Robotics, Inc.
    Inventors: Elaine Y. Chen, Rodney Brooks, Christopher J. Buehler, Matthew M. Williamson, Bruce Blumberg, Noelle Dye, Joseph M. Romano, William A. Goodwin
  • Patent number: 8965581
    Abstract: A robot apparatus includes a gripping unit configured to grip a first component, a force sensor configured to detect, as detection values, a force and a moment acting on the gripping unit, a storing unit having stored therein contact states of the first component and a second component and transition information in association with each other, a selecting unit configured to discriminate, on the basis of the detection values, a contact state of the first component and the second component and select, on the basis of a result of the discrimination, the transition state stored in the storing unit, and a control unit configured to control the gripping unit on the basis of the transition information selected by the selecting unit.
    Type: Grant
    Filed: January 31, 2013
    Date of Patent: February 24, 2015
    Assignee: Seiko Epson Corporation
    Inventors: Takashi Nammoto, Kazuhiro Kosuge, Kentaro Kamei
  • Publication number: 20150051732
    Abstract: The present invention relates to an assistance device with which a robotic arm (B) is to be provided, said robotic arm being controlled by an operator (H) and having a tool (m) at the end thereof, characterized in that it includes a control handle (1), which is mounted via a ball-and-socket joint (R3) so as to form an extension of the arm (B) while being offset relative to the tool (m), and a force sensor (4) which is coupled to the robot and ensures the continuous detection, from the handle (1), of the intentional forces of the operator for controlling both the direction and the force of the tool (m). The invention also relates to the collaborative robot provided with the device of the invention, and to the use thereof.
    Type: Application
    Filed: March 25, 2013
    Publication date: February 19, 2015
    Applicant: Robotiques 3 Dimensions RB3D
    Inventors: Serge Grygorowicz, Ludovic Surgot
  • Patent number: 8958911
    Abstract: A mobile robot including a robot body, a drive system supporting the robot body, and a controller in communication with the drive system. The robot also includes an actuator moving a portion of the robot body through a volume of space adjacent the mobile robot and a sensor pod in communication with the controller. The sensor pod includes a collar rotatably supported and having a curved wall formed at least partially as a surface of revolution about a vertical axis. The sensor pod also includes a volumetric point cloud sensor housed by the collar and observing the volume of space adjacent the robot from within the collar along an observation axis extending through the curved wall. A collar actuator rotates the collar and the volumetric point cloud sensor together about the collar axis.
    Type: Grant
    Filed: July 23, 2012
    Date of Patent: February 17, 2015
    Assignee: iRobot Corporation
    Inventors: Cheuk Wah Wong, Eben Rauhut, Brian C. Benson, Peter J. Lydon, Michael T. Rosenstein, Michael Halloran, Steven V. Shamlian, Chikyung Won, Mark Chiappetta, Justin H. Kearns, Orjeta Taka, Robert Todd Pack, Timothy S. Farlow, Jasper Fourways Vicenti