Настройки

Укажите год
-

Небесная энциклопедия

Космические корабли и станции, автоматические КА и методы их проектирования, бортовые комплексы управления, системы и средства жизнеобеспечения, особенности технологии производства ракетно-космических систем

Подробнее
-

Мониторинг СМИ

Мониторинг СМИ и социальных сетей. Сканирование интернета, новостных сайтов, специализированных контентных площадок на базе мессенджеров. Гибкие настройки фильтров и первоначальных источников.

Подробнее

Форма поиска

Поддерживает ввод нескольких поисковых фраз (по одной на строку). При поиске обеспечивает поддержку морфологии русского и английского языка
Ведите корректный номера.
Ведите корректный номера.
Ведите корректный номера.
Ведите корректный номера.
Укажите год
Укажите год
Применить Всего найдено 28682. Отображено 100.
21-04-2021 дата публикации

Шарнирное соединение

Номер: RU0000203779U1
Автор: Владимир Васильевич Капустин, Галина Анатольевна Пилюшина, Евгений Анатольевич Памфилов, Мохаммад Хади Ибади
Принадлежит: ФЕДЕРАЛЬНОЕ ГОСУДАРСТВЕННОЕ БЮДЖЕТНОЕ ОБРАЗОВАТЕЛЬНОЕ УЧРЕЖДЕНИЕ ВЫСШЕГО ОБРАЗОВАНИЯ "Брянский государственный технический университет"

Полезная модель относится к конструкциям манипуляторов, в частности к шарнирным соединениям технологических машин, и может быть использована в лесозаготовительной, дорожно-строительной и других отраслях промышленности.Шарнирное соединение, содержащее запрессованные в один из неподвижных элементов манипулятора подшипники скольжения и зафиксированную относительно другого элемента манипулятора цилиндрическую ось, причем фиксация оси в неподвижном звене манипулятора осуществляется через промежуточный вкладыш, а неподвижность соединения оси в нем достигается за счет использования конической резьбовой неподвижной посадки между вкладышем и осью. Конструкция второй проушины представляет собой узел, состоящий из стакана, промежуточной втулки и позиционирующих элементов, а окончательное осевое позиционирование и оси во вкладыше второй проушины достигается за счет сжатия разжимных плавающих в осевом направлении позиционирующих элементов, при увеличении диаметра которых происходит фиксация оси во вкладыше неподвижного звена. А неподвижность соединения достигается за счет разжима промежуточной втулки вкладыша, имеющей повышенную податливость за счет наличия прорезей, и за счет воздействия позиционирующих элементов, деформируемых в различном направлении при их осевом сжатии, в результате затягивания гайки. При этом промежуточная втулка изготавливается из фрикционного материала, обладающего повышенным коэффициентом трения, составляющим 0,1-0,25. Кроме того, коническое и цилиндрическое резьбовые соединения шарнирного пальца имеют различные направления нарезки резьбы. РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 203 779 U1 (51) МПК B25J 17/00 (2006.01) F16C 11/04 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ПОЛЕЗНОЙ МОДЕЛИ К ПАТЕНТУ (52) СПК B25J 17/00 (2021.02); F16C 11/04 (2021.02) (21)(22) Заявка: 2021103326, 10.02.2021 (24) Дата начала отсчета срока действия патента: Дата регистрации: 21.04.2021 Адрес для переписки: 241035, г. Брянск, б-р 50-летия ...

Подробнее
Номер записи: 1
26-01-2012 дата публикации

Automated image analysis of an organic polarized object

Номер: US20120020531A1
Автор: Kenneth Dewane Owens, JR.
Принадлежит: COGNISENSE LABS Inc

In one embodiment, a method includes capturing an image of a first organic polarized object using an image capture device. The method also includes collecting a first image data of the first organic polarized object. The method further includes algorithmically calculating a first dimension data based on the first image data. The method further includes generating a first data table of the first dimension data. The method also includes forming a training data set using the first data table. The method also includes computing high vote count data for second organic polarized object using the training data and second dimension data sets to identify precise shape, size, location and orientation. The method further includes calibrating coordinate systems of a robotic end effector with an image capture device and commanding the robotic end effector to pick up and place the second organic polarized object in a precise location and orientation.

Подробнее
Номер записи: 2
12-04-2012 дата публикации

Robot arm assembly

Номер: US20120085191A1
Автор: Bo Long
Принадлежит: Hon Hai Precision Industry Co Ltd, Hongfujin Precision Industry Shenzhen Co Ltd

A robot arm assembly includes a first arm, a second arm; a first transmission assembly and a second transmission assembly. The first transmission assembly includes a first rotation shaft having a first bevel gear portion, a second rotation shaft having a second bevel gear portion engaging with the first bevel gear portion, and a third rotation shaft non-rotatably connected to the second rotation shaft. The second transmission assembly includes a forth rotation shaft and a fifth rotation shaft. The forth rotation shaft is rotatably sleeved on the first rotation shaft and includes a forth bevel gear potion. The fifth rotation shaft is rotatably sleeved on the second rotation shaft and includes a fifth bevel gear portion engaging with the forth bevel gear portion. An end of the fifth rotation shaft opposite to the fifth bevel gear portion is connected to the second arm.

Подробнее
Номер записи: 3
21-06-2012 дата публикации

Method to generate humanlike motion of humanoid robot

Номер: US20120158174A1
Автор: Jong Do Choi, Kyung Won Moon
Принадлежит: SAMSUNG ELECTRONICS CO LTD

A method and apparatus to generate a humanlike motion of a humanoid robot which is capable of performing a humanlike breathing motion. For example, the method includes calculating target rotational angles of respective rotary joints to perform a basic motion according to a user command, calculating rotational angles of respective rotary joints to perform a breathing motion, and generating the breathing motion by adding up the target rotational angles of the respective rotary joints to perform the basic motion and the rotational angles to perform the breathing motion and providing the angles obtained thereby to respective rotary joints constituting joint units related to the breathing motion, thus providing intimacy and aesthetic stability to users.

Подробнее
Номер записи: 4
28-06-2012 дата публикации

Mobile robot apparatus, door control apparatus, and door opening and closing method therefor

Номер: US20120165984A1
Автор: Chan Kyu Park, Jae Hong Kim, Joo Chan Sohn, Sang Seung Kang
Принадлежит: Electronics and Telecommunications Research Institute ETRI

A mobile robot apparatus includes a video recognition unit for recognizing a position of an opening button mounted around a door through video analysis after acquiring peripheral video information. Further, the mobile robot apparatus includes a mobile controller for performing an operation on the opening button at the position recognized by the video recognition unit to generate an opening selection signal, thereby allowing a door control apparatus to open the door according to the generated opening selection signal.

Подробнее
Номер записи: 5
28-06-2012 дата публикации

Robotic picking of parts from a parts holding bin

Номер: US20120165986A1
Автор: Carlos Martinez Martinez, Gregory F. Rossano, Steve W. West, Thomas A. Fuhlbrigge
Принадлежит: ABB Research Ltd Switzerland

A robot system ( 10 ) for picking parts ( 41 ) from a bin ( 40 ) use the image from one or more cameras ( 38 ) to determine if the robot gripper ( 24 ) has picked one part or more than one part and uses one or more images from one or more cameras ( 38 ) to determine the position/orientation of a picked part. If the robot ( 12 ) has picked more than one part from the bin ( 40 ) then attempt is made to return the excess picked parts to the bin ( 40 ). The position/orientation of a picked part that does not meet a predetermined criteria is changed.

Подробнее
Номер записи: 6
05-07-2012 дата публикации

Fluid pressure transmission device and robot hand device

Номер: US20120169081A1
Автор: Hironori Waita, Toru Takenaka
Принадлежит: Honda Motor Co Ltd

A fluid pressure transmission device is equipped with a plurality of driving fluid pressure cylinders 37 1 , 37 2 , a plurality of driven fluid pressure cylinders 23, 24 with cylinder chambers 23 a, 24 a thereof being communicated with cylinder chambers 371 1 , 371 2 of the main driving fluid pressure cylinders 37 1 , 37 2 via fluid pressure transmission pipes 38 1 , 38 2 , and a sub driving fluid pressure cylinder 41 which is divided into two cylinder chambers 41 a, 41 b by a piston 412, and the fluid pressure generated by the main driving fluid pressure cylinders 37 1 , 37 2 is transmitted to the driven fluid pressure cylinders 23, 24. Pistons 371 1 , 371 2 are driven by the main motor 40, and the piston 412 is driven by the assistant motor 43. The fluid pressure transmission pipes 38 1 , 38 2 and the cylinder chambers 41 a, 41 b of the sub driving fluid pressure cylinder are connected via connecting pipes 42 1 , 42 2 .

Подробнее
Номер записи: 7
05-07-2012 дата публикации

Computing device and method of compensating center position of mechanical arms

Номер: US20120173194A1
Автор: Hsien-Chuan Liang, Shen-Chun Li, Shou-Kuo Hsu
Принадлежит: Hon Hai Precision Industry Co Ltd

In a method of compensating the center position of a mechanical arm which has a first probe, a second probe, and a platform, a first test point and a second test point are selected on an electronic product and coordinates of the two points are acquired. A distance R between the first probe and the mechanical arm is received, and an angle θ between the platform and a line formed according to the two points is computed to obtain compensated coordinates of the mechanical arm. The mechanical arm moves to the location of the compensated coordinates, and thus locating the first probe and the second probe respectively at the first test point and the second test point.

Подробнее
Номер записи: 8
09-08-2012 дата публикации

Workpiece transfer apparatus

Номер: US20120201641A1
Автор: Haruo Maetani, Kota Hoshijima, Yoshiyuki Matsuzaki
Принадлежит: Daihen Corp

A workpiece transfer apparatus includes a stationary base, an elevation base, first and second arms, a workpiece-holding hand, and a driving mechanism for the hand. The first arm is supported on the elevation base so as to be rotatable about a first vertical axis. The second arm is supported on the distal end of the first arm such that the second arm is rotatable about a second vertical axis. The hand is supported on the distal end of the second arm so as to be rotatable about a third vertical axis. A motor is arranged in the first arm, whereas a transmission is arranged to extend in a region from the interior of the first arm through the interior of the second arm.

Подробнее
Номер записи: 9
03-01-2013 дата публикации

Control apparatus and control method for robot, robot, and control program therefor

Номер: US20130006422A1
Автор: Mayumi Komatsu
Принадлежит: Panasonic Corp

There are included a desired joint torque output limiting unit for limiting operations of a desired joint torque output unit and a limit cancellation unit for canceling the limitation by the output limiting unit. An actuator of a joint of a robot is controlled in accordance with modified desired joint torque outputted from the output limiting unit, so that the robot can be controlled to be kept stopped even upon switching between dynamics parameters.

Подробнее
Номер записи: 10
28-03-2013 дата публикации

METHOD OF DRIVING JOINT DEVICE

Номер: US20130074636A1
Автор: Doi Masahiro
Принадлежит: TOYOTA JIDOSHA KABUSHIKI KAISHA

Provided is a method of driving a joint device suitably used for a robot joint with improved back drivability. A first motor and a second motor are fixedly connected to a first link. An output shaft of the first motor is coupled to an internal gear of a differential speed reducer. An output shaft of the second motor is coupled to an external gear of the differential speed reducer. A second link is coupled to the internal gear of the differential speed reducer. When the first link and the second link are relatively stopped to keep a joint angle fixed, both of the first motor and the second motor are rotated with a rotational speed larger than zero, and the rotational speed of the first motor and that of the second motor are differentiated to stop the second link. 1. A method of driving a joint device comprising a drive unit and a differential speed reducer provided between a first link and a second link , the joint device controlling drive of the first link and the second link as joints , whereinthe differential speed reducer comprises an internal gear, an intermediate gear, and an external gear, andthe drive unit comprises a first motor and a second motor, the method comprising:fixedly connecting the first motor and the second motor to the first link;coupling an output shaft of the first motor to one of the internal gear, the intermediate gear, and the external gear of the differential speed reducer;coupling an output shaft of the second motor to one of the internal gear, the intermediate gear, and the external gear of the differential speed reducer which is different from the gear coupled to the output shaft of the first motor; andcoupling to the second link one of gears of the internal gear, the intermediate gear, and the external gear of the differential speed reducer which is different from the gear coupled to the output shaft of the first motor and the gear coupled to the output shaft of the second motor; androtating both of the first motor and the second motor ...

Подробнее
Номер записи: 11
28-03-2013 дата публикации

One-Degree-Of-Freedom Link Device, A Robot Arm Using The Same And A Surgical Robot Comprising The Same

Номер: US20130074637A1
Автор: Choi Youngjin, Lee Hoyul, Yi Byung-Ju
Принадлежит: Industry-University Cooperation Foundation Hanyang University ERICA Campus

The present invention comprises: a fixed four-node link in which four links are joined together in a hinged fashion, comprising a fixed link of which the position is fixed, a connecting rod positioned on the opposite side of the first link, an input-side transmission link connecting the end on one side of the connecting rod and the first link, and an output-side transmission link positioned on the opposite side of the input-side transmission link; an input link part to which an actuator is attached, and which is joined in hinged fashion between the two ends of the input-side transmission link; and an output link part which is fixedly joined to the output-side transmission link and is rotated by means of the output-side transmission link, and the one-degree-of-freedom link device according to the present invention and the robot arm using the same can be used to allow easy attachment and detachment between link devices and achieve smooth action in a robot arm in accordance with what is desired. 1. A one-degree-of-freedom link device , comprising:a fixed four-node link comprising four links hingedly joined together, the four links comprising a fixed link whose position is fixed, a connecting rod positioned at an opposite side of the fixed link, an input-side transmission link connecting the fixed link to one end of the connecting rod, and an output-side transmission link positioned at an opposite side of the input-side transmission link;an input link part hingedly coupled between two ends of the input-side transmission link and having an actuator mounted thereon; andan output link part fixedly coupled to the output-side transmission link to be rotated by the output-side transmission link.2. An n-degree-of-freedom robot driving mechanism , comprising:{'claim-ref': {'@idref': 'CLM-00001', 'claims 1'}, 'the one-degree-of-freedom link device according to ; and'}n−1 link devices coupled to each other and to the one-degree-of-freedom link device in a stacking arrangement, ...

Подробнее
Номер записи: 12
02-05-2013 дата публикации

JOINT MECHANISM AND ROBOT HAVING THE SAME

Номер: US20130104686A1
Автор: Yamazaki Yasuhiro
Принадлежит: HONDA MOTOR CO., LTD.

In a joint mechanism having at least one joint member connected to a connectable member via a joint to be rotatable in a range between an extended position and a bent position, it is configured to have a movable cover constituting a part of a joint member cover that covers the joint member and the movable cover is moved into interior of remaining portion of the joint member cover as the joint member is rotated relative to the connectable member about the joint from the extended position to the bent position. The joint mechanism can be suitably used in fingers of a hand of a humanoid robot. 1. A joint mechanism having at least one joint member connected to a connectable member via a joint to be rotatable in a range between an extended position and a bent position , comprising:a movable cover constituting a part of a joint member cover that covers the joint member, the movable cover being adapted to move into interior of remaining portion of the joint member cover as the joint member is rotated relative to the connectable member about the joint from the extended position to the bent position.2. The joint mechanism according to claim 1 , wherein the movable cover is connected at its one end with a link that is connected to the joint member to be relatively rotatable and at its other end with the connectable member to be relatively rotatable via a rotary shaft.3. The joint mechanism according to claim 2 , further including:a rotary shaft cover adapted to cover the rotary shaft,and the movable cover is connected through the rotary shaft cover to the connectable member to be relatively rotatable via the rotary shaft.4. A joint mechanism claim 2 , comprising:a first link;a second link connected at its one end with the first link to be relatively rotatable via a first rotary shaft;a recess locally formed at one side of the second link at a position between the second link and the first rotary shaft and is closed by the first link when the second link is rotated relative to ...

Подробнее
Номер записи: 13
16-05-2013 дата публикации

ACTIVE COMPLIANT PARALLEL MECHANISM

Номер: US20130118287A1
Автор: Holgate Matthew Aaron
Принадлежит: SpringActive, Inc.

An active compliant parallel device includes a movable body; a base body; and a plurality of linking members. The plurality of linking members are coupled to the movable body and the base body by a plurality of joints and include at least one compliant linking member, having a compliant element, and at least one actuating linking member, having an actuating element. The device may further include at least one damping linking member having a damping element and/or at least one passive linking member. The actuating, compliant, passive, and/or damping linking members are arranged in a parallel arrangement or structure such that each linking member makes a connection, using a connection element, such as a joint, with the base body and the movable body. The potential configurations of the device allow for movement and positioning of one or more unrestricted and externally loaded elements in space. 1. An active compliant parallel device comprising:a movable body;a base body; and 'at least one compliant linking member and at least one actuating linking member.', 'a plurality of linking members coupled to each of the movable body and the base body by one of a plurality of joints, the plurality of linking members comprising2. The device of claim 1 , wherein each compliant member includes a compliant element.3. The device of claim 1 , wherein each actuating member includes an actuating element.4. The device of claim 1 , further comprising at least one passive linking member.5. The device of claim 1 , wherein the movable body is used as the output to the device.6. The device of claim 1 , wherein at least one member of the plurality of linking members is used as the output to the device.7. An active compliant parallel device comprising:a movable body;a base body; and at least one compliant linking member,', 'at least one actuating linking member, and', 'at least one damping linking member., 'a plurality of linking members coupled to each of the movable body and the base body by ...

Подробнее
Номер записи: 14
16-05-2013 дата публикации

Robot arm assembly

Номер: US20130118288A1
Автор: Zhen-Xing Liu
Принадлежит: Individual

A robot arm assembly includes a supporting arm, first and second mechanical arms, a first driving member, a second driving member, a first transmission mechanism between the first mechanical arm and the first driving member, and a second transmission mechanism between the second mechanical arm and the second driving member. The first driving member drives the first transmission mechanism to rotate the first mechanical arm. The second driving member drives the second transmission mechanism to rotate the second mechanical arm. The first driving member and the second driving member are both carried in the supporting arm and are arranged side by side.

Подробнее
Номер записи: 15
16-05-2013 дата публикации

Method and apparatus for calibration of a robot positioned on a movable platform

Номер: US20130123983A1
Автор: Torgny Brogardh
Принадлежит: ABB Research Ltd Switzerland

A method and apparatus for calibration of a robot on a platform and a robot, in relation to an object using a measuring unit mounted on the robot including placing CAD models so that the robot reaches the object, manipulating the CAD models to move the measuring unit to a pose in relation to the platform allowing measurement of a feature on the object, storing the pose, and generating a CAD model of the feature. The real robot is moved to the pose, the real platform is moved where measurements of the feature can be made, 3D measurements of the feature are performed and based thereon generating a second CAD model, performing a best fit between the CAD models, and calculating a 6 degrees of freedom pose difference between the CAD models, and instructing the mobile platform to move to compensate for the pose difference.

Подробнее
Номер записи: 16
23-05-2013 дата публикации

Protocol for a Remotely Controlled Videoconferencing Robot

Номер: US20130131866A1
Автор: Jordan Charles S., Pinter Marco, Southard Jonathan, Wang Yulun
Принадлежит: INTOUCH TECHNOLOGIES, INC.

A robotic system that includes a robot and a remote station. The remote station can generate control commands that are transmitted to the robot through a broadband network. The control commands can be interpreted by the robot to induce action such as robot movement or focusing a robot camera. The robot can generate reporting commands that are transmitted to the remote station through the broadband network. The reporting commands can provide positional feedback or system reports on the robot. 175-. (canceled)76. A robot system that communicates through a broadband network , comprising:a robot that has a camera and a monitor, said robot generates at least one reporting command that is transmitted through the broadband network; and,a remote station that has a camera and a monitor, said remote station generates at least one command that is transmitted through the broadband network, and receives the reporting command from said robot.77. The system of claim 76 , wherein said robot includes a head and the control command includes a HEAD command that causes said robot to move said head.78. The system of claim 76 , wherein the control command includes a USERTASK command that identifies a user of said remote station.79. The system of claim 76 , wherein the reporting command includes a BODYTYPE command that reports a type of robot.80. The system of claim 76 , wherein the control command includes a STOP command that causes said robot to stop moving.81. The system of claim 76 , wherein the control command includes a TIMING command that is utilized to determine a latency in the transmission of the control and reporting commands through the broadband network.82. The system of claim 76 , wherein the control command includes a SETCAMERAFOCUS command that causes said robot camera to focus.83. The system of claim 76 , wherein the control command includes a CAMERAZOOM command that causes said robot camera to zoom.84. A method for controlling a robot through a broadband network claim 76 ...

Подробнее
Номер записи: 17
06-06-2013 дата публикации

ROTARY ACTUATOR EQUIPPED WITH SENSING MECHANISM, AND JOINT UNIT

Номер: US20130139636A1
Автор: Tanioka Nozomu
Принадлежит: Harmonic Drive Systems Inc.

A rotary actuator equipped with a sensing mechanism includes a motor and a reducer concentrically disposed inside a cylindrical housing; a scale for detecting the rotational position of a rotary arm, the scale being disposed on the circular outer face of the cylindrical housing; and a position sensor mounted in the facing section of the rotary arm that rotates along the circular outer face, the facing section being in a facing arrangement with the circular outer face. A detection mechanism includes the scale and the position sensor detects the rotational position of the rotary arm capable of rotating within a finite angular range along the circular outer face of the cylindrical housing. The components are concentrically disposed. The actuator is suitable for use as a digital joint unit. 2. The rotary actuator with a sensing mechanism according to claim 1 , whereinthe scale has light-reflecting surfaces formed at a designated interval along the circular outer direction,the position sensor is a reflecting photosensor having a light-emitting element for sending outgoing detection light to the scale and a light-receiving element for receiving a detection light component reflected by the reflecting surfaces of the scale.3. The rotary actuator with a sensing mechanism according to claim 1 , whereinthe cylindrical housing has a cylindrical barrel part on which the circular outer surface is formed, a first end plate that seals one end of the cylindrical barrel part, and a second end plate that seals the other end of the cylindrical barrel part,the fixed spindle is formed integrally with the first end plate,the revolving output shaft is disposed to pass through a through-hole formed in the second end plate, andthe revolving output shaft is rotatably supported by a bearing attached to an inner face of the through-hole.4. The rotary actuator with a sensing mechanism according to claim 3 , wherein the motor has:a cylindrical motor stator attached to an inner face of the ...

Подробнее
Номер записи: 18
20-06-2013 дата публикации

Inflatable Robots, Robotic Components and Assemblies and Methods Including Same

Номер: US20130152724A1
Автор: Buehler Martin, Claffee Mark Robert, Mozeika Annan Michael
Принадлежит: iRobot Corporation

A robotic joint assembly includes a first structural member, a second structural member, and a rolling flexure joint joining the first structural member to the second structural member to provide at least one degree of freedom between the first and second structural members. The rolling flexure joint includes first and second flexible hinge members each having one end secured to the first structural member and an opposing end secured to the second structural member. The first and second flexible hinge members cross one another between the first and second structural members. 1. A robotic joint assembly comprising:a first structural member;a second structural member; and the rolling flexure joint includes first and second flexible hinge members each having one end secured to the first structural member and an opposing end secured to the second structural member; and', 'the first and second flexible hinge members cross one another between the first and second structural members., 'a rolling flexure joint joining the first structural member to the second structural member to provide at least one degree of freedom between the first and second structural members, wherein2. The robotic joint assembly of wherein the first and second flexible hinge members are first and second ribbons.3. The robotic joint assembly of including a third flexible hinge member having one end secured to the first structural member and an opposing end secured to the second structural member claim 1 , wherein the third flexible hinge member crosses the second flexible hinge member between the first and second structural members and the second flexible hinge member is interposed between the first and third flexible hinge members.4. The robotic joint assembly of wherein;the first structural member has a first end surface and first and second side surfaces on opposed sides of the first end surface;the second structural member has a second end surface and third and fourth side surfaces on opposed ...

Подробнее
Номер записи: 19
20-06-2013 дата публикации

Taking out device having function for correcting posture of an article

Номер: US20130158710A1
Автор: Masaru Oda
Принадлежит: FANUC Corp

A taking out device capable of correcting a posture of an article to be taken out and taking out the article, while considering interference between a robot hand and a container for containing the article. Since the article is inclined to the left side, the hand approaches and contacts the article from the left side. Then, the hand pushes to the right side while claws of the hand engage a hole portion of the article in order to correct the posture of the article such that the positional relationship between the article and the hand represents a reference position/posture. In this way, the hand is positioned at a second position/posture in which the posture of the article relative to the claws allows the article to be taken out.

Подробнее
Номер записи: 20
20-06-2013 дата публикации

ACOUSTIC PROXIMITY SENSING

Номер: US20130158711A1
Автор: Jiang Liang-Ting, Smith Joshua R.
Принадлежит: University of Washington through its Center for Commercialization

An acoustic pretouch sensor or proximity sensor () includes a cavity () with a first microphone () disposed therein, and optionally a second microphone () disposed outside of the cavity. A processing system () receives the signals generated by the first microphone and analyzes the spectrum to produce a result representing the resonant frequency of the cavity. The processing system may optionally subtract the second microphone signal spectrum from the first to automatically compensate for changes in ambient noise. The processing system uses the resonant frequency to estimate the distance from the cavity opening to a surface (). For example, the pretouch sensors may be incorporated into a stand alone device (), into a robotic end effector (), or into a device such as a phone (). 1. An acoustic proximity sensor comprising:a housing defining a cavity;a first microphone disposed in the cavitya second microphone disposed outside of the cavity; anda processing system configured to receive a first signal from the first microphone and a second signal from the second microphone, and to analyze the first and second signals to estimate a resonant frequency of the cavity;wherein the processing system is further configured to use the resonant frequency of the cavity to calculate a distance from the cavity to a surface.2. The acoustic proximity sensor of wherein the sensor is operable to calculate the distance to the surface in a range of 0-10 mm.3. The acoustic proximity sensor of claim 1 , wherein the first microphone is an electret condenser microphone.4. The acoustic proximity sensor of claim 1 , wherein the first signal corresponds to sound detected in the cavity and the second signal corresponds to ambient noise outside of the cavity.5. The acoustic proximity sensor of claim 4 , wherein the processing system estimates a first signal power spectrum for the first signal and a second signal power spectrum for the second signal and subtracts the second signal power spectrum from ...

Подробнее
Номер записи: 21
27-06-2013 дата публикации

ROBOT MODULE AND ROBOT

Номер: US20130164107A1
Автор: Jaeger Michael, Pehlivan Armin, Rettig Thomas
Принадлежит: Beckhoff Automation GmbH

A robot module including a robot drive and a robot body, the robot body having a spacer rod, a robot head and at least one control arm, wherein a drive platform of the robot drive and an attachment group of the robot head are connected to each other via the spacer rod and the control arm, wherein the robot drive is configured to swivel the robot head by means of the spacer rod and the control arm, wherein an attachment surface of the attachment group comprises a first gravity center and an attachment surface of the drive platform comprises a second gravity center, and wherein the spacer rod is arranged in the first and the second gravity center. 1. A robot module comprisinga robot drive and a robot body, the robot body having a spacer rod, a robot head and at least one control arm,wherein a drive platform of the robot drive and an attachment group of the robot head are connected to each other via the spacer rod and the control arm, wherein the robot drive is configured to swivel the robot head by means of the spacer rod and the control arm, and wherein an attachment surface of the attachment group comprises a first gravity center and an attachment surface of the drive platform comprises a second gravity center, wherein the spacer rod is arranged in the first and the second gravity center.2. The robot module according to claim 1 , wherein the spacer rod is connected to the drive platform of the robot drive and to the attachment group of the robot head claim 1 , respectively claim 1 , via a joint in a torsion-proof manner with regard to a twist about a longitudinal axis of the spacer rod.3. The robot module according to claim 2 , wherein the torsion-proof joint is configured as homokinetic joint or cardan joint.4. The robot module according to claim 1 , wherein the spacer rod is configured in a telescope-like manner and comprises an alterable length.5. The robot module according to claim 1 , wherein at least three cable pulls with corresponding cable pull drives are ...

Подробнее
Номер записи: 22
15-08-2013 дата публикации

PARALLEL LINK ROBOT SYSTEM

Номер: US20130209209A1
Автор: FUKUDOME Kazuhiro, MIHARA Nobuhiko
Принадлежит: KABUSHIKI KAISHA YASKAWA DENKI

A parallel link robot system includes a picking section from which a target object is picked, a placing section on which the target object picked from the picking section is placed, the placing section being arranged in a height position lower than the picking section, a parallel link robot including a plurality of parallel-connected link mechanism units and a holding unit attached to tip end portions of the link mechanism units, and a control unit for controlling an operation of the parallel link robot. The control unit is configured to execute a control for causing the parallel link robot to perform a picking operation by which the target object is held and picked from the picking section and a placing operation by which the target object picked by the picking operation is placed on the placing section. 1. A parallel link robot system , comprising: a placing section on which the target object picked from the picking section is placed, the placing section being arranged in a height position lower than the picking section;', 'a parallel link robot including a plurality of parallel-connected link mechanism units respectively driven by a plurality of drive power sources and a holding unit attached to tip end portions of the link mechanism units; and', 'a control unit for controlling an operation of the parallel link robot,', 'wherein the control unit is configured to execute a control for causing the parallel link robot to perform a picking operation by which the target object is held and picked from the picking section and a placing operation by which the target object picked by the picking operation is placed on the placing section., 'a picking section from which a target object is picked;'}2. The system of claim 1 , wherein the picking section and the placing section are arranged below the parallel link robot.3. The system of claim 1 , wherein the control unit is configured to cause the parallel link robot to perform the picking operation and the placing operation ...

Подробнее
Номер записи: 23
22-08-2013 дата публикации

Manipulator system

Номер: US20130213172A1
Автор: Ken'ichi Yasuda, Takahiro Maeda
Принадлежит: Yaskawa Electric Corp

From a desired wrist joint position and a desired elbow rotation angle, a temporary elbow joint position is calculated on the assumption that a distance between a shoulder joint and an elbow joint is fixed. The shoulder joint has a first axis, a second axis, and a third axis, and the elbow joint has a fourth axis. From the calculated temporary elbow joint position, temporary angles of the first and second axes or temporary angles of the first to fourth axes are determined. The temporary angles are corrected in accordance with at least one evaluation function calculated from the temporary angles.

Подробнее
Номер записи: 24
22-08-2013 дата публикации

Control Of A Robot

Номер: US20130218334A1
Автор: Hollmann Stefan
Принадлежит: KUKA ROBOTER GMBH

In addition to an automatic operating mode (“AUTOMATIC”), in which protective monitoring (1) is carried out, and a set-up operating mode (“SET-UP”), in which manual control input (3, 6) is provided, a method according to the invention for controlling a robot comprises a remote access operating mode (“REMOTE ACCESS”) in which the protective monitoring (1) is carried out and manual control input (3, 5, 7) is provided 1. A process to control a robot , where protective monitoring is carried out in an automatic operating mode and manual control input is provided in a set-up operating mode , characterized by having protective monitoring carried out in a remote access operating mode while manual control input is provided.2. The process of claim 1 , characterized by having limits in the remote access operating mode to manual and/or program-controlled operations of the robot claim 1 , specifically the speed.3. The process of claim 2 , characterized by having limits in the remote access operating mode to the operation of the robot in selected and/or sequential segments.4. The process of claim 1 , characterized by having the option to modify a pose of the robot manually in the remote access operating mode claim 1 , specifically within a pre-specified range.5. The process of claim 1 , characterized by having the option to modify an operating program and/or the control of the robot in the remote access operating mode.6. The process of claim 1 , characterized by having the option to modify the signal output of a control component manually in the remote access operating mode.7. The process of claim 1 , characterized by having at least one function of the set-up operating mode included in the remote access operating mode.8. The process of claim 1 , characterized by having the protective monitoring include the monitoring of the working space of the robot claim 1 , specifically the monitoring of at least one separating protective device and/or one non-separating protective device.9. ...

Подробнее
Номер записи: 25
05-09-2013 дата публикации

Mobile Inspection Robot

Номер: US20130231779A1
Автор: Monti Kimberly Susanne, Purkayastha Indrajit, Smith Jason R., Tirozzi Michael John
Принадлежит: iRobot Corporation

A mobile inspection robot that includes a robot body and a drive system supporting the robot body and configured to maneuver the robot over a work surface. A controller communicates with the drive system and a sensor system. The controller executes a control system that includes a control arbitration system and a behavior system in communication with each other. The behavior system executes an inspection behavior, the inspection behavior influencing execution of commands by the control arbitration system based on sensor signals received from the sensor system to identify and inspect electrical equipment. 1. A mobile inspection robot comprising:a robot body;a drive system supporting the robot body and configured to maneuver the robot over a work surface;a controller in communication with the drive system and executing a control system; anda sensor system in communication with the controller;wherein the control system comprises a control arbitration system and a behavior system in communication with each other, the behavior system executing an inspection behavior, the inspection behavior influencing execution of commands by the control arbitration system based on sensor signals received from the sensor system to identify and inspect electrical equipment.2. The mobile robot of claim 1 , wherein the inspection behavior causes the robot to identify a navigation reference using the sensor system and maneuver relative to the navigation reference.3. The mobile robot of claim 2 , wherein the navigation reference comprises a visual fiducial.4. The mobile robot of claim 2 , wherein the inspection behavior causes the robot to identify the electrical equipment using the navigation reference and execute an environmental scan on the identified electrical equipment.5. The mobile robot of claim 1 , wherein the inspection behavior causes the robot to:identify at least one of a circuit breaker, a contractor, a motor control center, a fuse, a switch, a relay, a capacitor bank, an ...

Подробнее
Номер записи: 26
12-09-2013 дата публикации

Information processing apparatus and information processing method

Номер: US20130238125A1
Автор: Masahiro Suzuki
Принадлежит: Canon Inc

The state of an area where one or more target objects are arranged is determined based on the result of measurement by a first sensor. A robot is controlled to grip one of the target objects by the grip unit of the robot. The gripping state of the gripping target object gripped by the grip unit is determined from the result of measuring the gripping target object by using a second sensor. When it is determined that gripping has failed, a rearrangement area where the gripping target object is to be rearranged is decided using the result of measurement by the first sensor or that of measurement by the second sensor. The robot is controlled to rearrange the gripping target object in the rearrangement area by the grip unit.

Подробнее
Номер записи: 27
12-09-2013 дата публикации

Calibration method and calibration system for robot

Номер: US20130238126A1
Автор: Hiromichi Ohta, Kazuya NUMAZAKI, Yasuharu Mukai
Принадлежит: JTEKT Corp

A distal end of a manipulator having a redundancy is constrained so as to leave one degree of freedom, an attitude of the manipulator is changed into a plurality of attitudes that are allowed by the redundancy by outputting joint position command values from a controller to servomotors that drive links that constitute the manipulator of which the distal end is fixed, and calibration is performed by obtaining parameter deviations of a robot constant of the manipulator on the basis of the joint position command values and actual measured values from rotary encoders, which are respectively provided at the servomotors, after each attitude change.

Подробнее
Номер записи: 28
12-09-2013 дата публикации

CALIBRATION METHOD AND CALIBRATION SYSTEM FOR ROBOT

Номер: US20130238127A1
Автор: Mukai Yasuharu, Numazaki Kazuya, Ohta Hiromichi
Принадлежит: JTEKT CORPORATION

A pair of manipulators are caused to take a plurality of attitudes in a state where distal ends of the manipulators are coupled to each other, coordinates of joints between links at each attitude change are acquired on the basis of detection signals, at each attitude change, of rotary encoders provided for servomotors that drive the links of the manipulators, and a position and attitude of an installation point of a slave robot with reference to an installation point of a master robot are calculated on the basis of the joint coordinates acquired at the corresponding attitude change in a forward kinematics manner. A deviation vector for each attitude change between actual measured values of the installation point of the slave robot and the calculated values of the installation point of the slave robot is calculated, and robot constants of both manipulators are identified from the deviation vector. 1. A calibration method for a robot , comprising:coupling distal ends of a pair of manipulators to each other;setting one of the manipulators as a master robot;setting the other one of the manipulators as a slave robot;causing the master robot and the slave robot to take a plurality of attitudes by outputting commands from a control device to actuators that drive links of the master robot in a state where the master robot and the slave robot are coupled to each other;acquiring coordinates of joints between the links at the time of each attitude change on the basis of position detection signals of position detectors respectively provided at the actuators that drive the links of the master robot and links of the slave robot at the time of each attitude change;calculating a position and attitude of an installation point of the slave robot at the time of each attitude change with reference to an installation point of the master robot on the basis of the coordinates of the joints, which are acquired at the time of the corresponding one of the attitude changes, in a forward ...

Подробнее
Номер записи: 29
12-09-2013 дата публикации

ROBOT APPARATUS, METHOD FOR CONTROLLING THE SAME, AND COMPUTER PROGRAM

Номер: US20130238131A1
Автор: Kondo Genta, Miyamoto Atsushi, Shimizu Satoru
Принадлежит: SONY CORPORATION

A robot apparatus includes an output unit that displays an image including an object on a screen, an input unit that receives an operation performed by a user for specifying information relating to an approximate range including the object in the image, an object extraction unit that extracts information regarding a two-dimensional contour of the object on the basis of the specification received by the input unit, and a position and attitude estimation unit that estimates information regarding a three-dimensional position and attitude of the object on the basis of the information regarding the two-dimensional contour. 1. A robot apparatus comprising:an output unit that displays an image including an object on a screen;an input unit that receives an operation performed by a user for specifying information relating to an approximate range including the object in the image;an object extraction unit that extracts information regarding a two-dimensional contour of the object on the basis of the specification received by the input unit; anda position and attitude estimation unit that estimates information regarding a three-dimensional position and attitude of the object on the basis of the information regarding the two-dimensional contour.2. The robot apparatus according to claim 1 , further comprising:an image pickup unit,wherein the output unit displays an image captured by the image pickup unit on the screen.3. The robot apparatus according to claim 1 , further comprising:a holding unit;a holding planning unit that plans a trajectory of the holding unit for holding the object on the basis of the estimated information regarding the three-dimensional position and attitude of the object; anda holding control unit that controls a holding operation for the object performed by the holding unit in accordance with the planned trajectory.4. The robot apparatus according to claim 1 ,wherein a terminal device including the output unit and the input unit performs wireless ...

Подробнее
Номер записи: 30
19-09-2013 дата публикации

ARTICULATING MECHANISM

Номер: US20130239734A1
Автор: Hinman Cameron D.
Принадлежит: INTUITIVE SURGICAL OPERATIONS, INC.

An articulating mechanism is provided with at least one pair of spherical joints interconnected by a set of tension members. Each joint includes a ball member, a socket member configured to pivotably receive at least a portion of the ball member, and at least one tension member extending through both the ball and socket members parallel to and offset from a central longitudinal axis of the joint. 118-. (canceled)19. An articulating mechanism comprising:a joint having a central longitudinal axis extending therethrough, the joint including a convex component and a mating concave component sized to receive at least a portion of the convex component,wherein the concave component includes a spherical surface and includes a base surface intersecting the spherical surface, the base surface inclined with respect to the central longitudinal axis to limit angular rotation between the mating components andwherein each of the convex and concave components includes a plurality of channels, the channels in the concave component having an opening located on the spherical surface; anda set of tension members, wherein individual tension members from the set of tension members extend through each of the plurality of channels to transmit motion between the mating convex and concave components.20. The articulating mechanism of wherein each of the convex and concave components comprises a central axial bore therethrough.21. The articulating mechanism of wherein the joint is connected to a paired joint by the set of tension members such that motion of the joint causes corresponding motion of the paired joint.22. The articulating mechanism of wherein the joint and paired joint are interconnected by a discrete plurality of tension members of the set of tension members.23. The articulating mechanism of further comprising a spacer component extending between the joint and its paired joint claim 21 , the spacer component including a channel sized to receive the set of tension members ...

Подробнее
Номер записи: 31
19-09-2013 дата публикации

WORKING HANGING APPARATUS AND WORK HANGING METHOD FOR HANGING WORK ON HANGER THROUGH MOVEMENT OF WORK UNDER CORRECTION

Номер: US20130245814A1
Автор: NUKUI Kotaro, YAJIMA Takashi
Принадлежит: NHK SPRING CO., LTD.

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. 1. A work hanging apparatus comprising:a hanger line that continuously conveys a plurality of hangers each having a hook;a robot that has a movable 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 that controls a movement of the hand to catch the hook of a given one of the hangers as an target hanger with the hole of the work at the hanging location for hanging the work on the target hanger;a hole deviation detector that detects a positional deviation of the hole of the work with respect to a reference hole position before hanging the work on the target hanger;an attitude deviation detector that detects an attitudinal deviation of the target hanger with respect to a reference hanger attitude defining a hook of a reference hanger to be allowed to be caught with a hole of a reference work in the reference hole position at the hanging location before hanging the work on the target hanger; anda corrector that corrects the movement of the hand controlled by the controller according to the detected positional deviation and attitudinal deviation so that the hole of the held work correctly catches the hook of the target hanger at the hanging location,2. The work hanging apparatus of claim 1 , wherein the hole deviation detector detects the ...

Подробнее
Номер записи: 32
19-09-2013 дата публикации

SAFETY DEVICE FOR THE SAFE USE OF INDUSTRIAL APPARATUSES AND ROBOTS, AND CONTROL METHOD FOR REALTIME VERIFICATION OF THE KINEMATIC STATE VALUES OF A ROBOTIZED APPARATUS

Номер: US20130245825A1
Автор: Malosio Matteo, PEDROCCHI Nicola, Vicentini Federico
Принадлежит: C.N.R. Consiglio Nazionale Ricerche

A safety device () for the safe use of industrial apparatuses and robots, includes a movable structure (), or robot, composed of rigid bodies () which are mutually articulated and provided with movers () for moving them with respect to each other, the movers () being managed by a control and management system () for the movement of the movable structure () according to a series of nominal kinematic state values. Inertial sensors () are applied to at least one of the rigid bodies () to make additional measurements of the kinematic state values of the movable structure () independently of the movers () and are functionally associated with at least one safety module () which is connected to the control and management system () to verify the congruity between the kinematic state values measured by the inertial sensors () and conditioned and integrated over time by a processing module () and an algorithm for integrating the inertial signal to estimate the spatial kinematic status of the rigid bodies () over time and the actual kinematic state values of the movable structure () measured by the control and management system (). A processing module () for processing the signal originating from the inertial sensors () is functionally connected to the inertial sensor means () and is functionally connected to the safety module (). 1. A safety device for safe use of industrial apparatuses and robots , comprising a movable structure including rigid bodies which are mutually articulated and provided with moving means for moving the rigid bodies with respect to each other , said moving means being managed by control and managing means for the movement of said movable structure according to a series of nominal kinematic state values , an inertial sensor which is applied to at least one of said rigid bodies to make additional measurements of the kinematic state values of said movable structure independently of said moving means and are functionally associated with at least one ...

Подробнее
Номер записи: 33
19-09-2013 дата публикации

METHOD AND APPARATUS FOR REMOTE MONITERING

Номер: US20130245827A1
Автор: Shetty Krishna
Принадлежит: Samsung Electronics Co., Ltd

A monitoring control method in an electronic device is provided. The method includes displaying an area map for monitoring, and determining a virtual boundary on the area map. The area map is a specific space of the indoor or outdoor and displays objects or articles that are within the specific space of the indoor or outdoor. The virtual boundary constitutes a movement area for a monitoring target therewithin. 1. A method for remote monitoring in an electronic device , the method comprising:displaying an area map for monitoring; anddetermining a virtual boundary on the area map,wherein the area map represents a specific space of indoor or outdoor, and the virtual boundary designates a movement area for a monitoring target therewithin.2. The method of claim 1 , further comprising:instructing a monitoring robot device to monitor the monitoring target within the virtual boundary of the area map, along with the virtual boundary information and the monitoring target information; andreceiving a notification of monitoring start from the monitoring robot device.3. The method of claim 1 , further comprising receiving a monitoring video from the monitoring robot device claim 1 , and displaying the monitoring video.4. The method of claim 1 , further comprising receiving a monitoring event from a monitoring robot device.5. The method of claim 1 , further comprising instructing a monitoring robot device to take care of the monitoring target within the virtual boundary.6. A method for monitoring in a monitoring robot device claim 1 , the method comprising:receiving, from a user, an instruction for monitoring a monitoring target within a virtual boundary on an area map, along with information on the virtual boundary and the monitoring target;determining if the monitoring target is within the virtual boundary of the area map; andnotifying the user of monitoring start when the monitoring target is within the virtual boundary of the area map, or otherwise notifying the user that the ...

Подробнее
Номер записи: 34
26-09-2013 дата публикации

SYSTEM AND METHOD FOR CONTROLLIJNG AUTONOMOUS PLATFORM USING WIRE

Номер: US20130253751A1
Автор: Choi Yun-Seo, Eun Jong Ho, Woo Gap Joo
Принадлежит:

Disclosed are a system and method for controlling an autonomous platform using a wire. According to one embodiment of the present invention, an autonomous platform control system for controlling an autonomous platform connected to a wire comprises: a route setting unit which generates movement control information of the autonomous platform using final position information and first position information; a speed management unit which moves the autonomous platform by controlling the speed of the autonomous platform using the movement control information; a processing unit which generates current position information by setting the position and posture of the autonomous platform using a measurement value of a rotation angle of the wire with respect to the moved autonomous platform, and generates wire operation length information by setting the length of the wire using the current position information; and a sagging management unit which determines the sagging of the wire using measurement information on a wire tension acting on the wire, and adjusts the wire using the measurement information on the wire tension when the wire sags. 1. A system for controlling an autonomous platform connected with a wire , the system comprising:a route setting unit configured to generate movement control information by using final position information and initial position information;a speed management unit configured to move the autonomous platform by controlling a speed of the autonomous platform by use of the movement control information;a processing unit configured to generate current position information by using a rotation angle measurement value with respect to the wire and the moved autonomous platform and configured to generate wire operation length information by using the current position information and the movement control information; anda sagging management unit configured to determine sagging of the wire by using measurement information of wire tension acting on the wire ...

Подробнее
Номер записи: 35
03-10-2013 дата публикации

ROBOT

Номер: US20130255429A1
Автор: HAHAKURA Seiji, OWA Takuya
Принадлежит: SEIKO EPSON CORPORATION

A robot includes an arm , a wrist and a rotation support mechanism The rotation support mechanism has a shaft section provided in the wrist and an outer shape of which is a column shape; a bearing which is disposed on an outer periphery section of the shaft section and rotatably supports the shaft section around a center axis thereof; an annular-shaped ring member provided in the wrist and is concentrically disposed with the bearing by separating on the outer periphery side of the bearing; and an annular-shaped oil seal provided in the arm and slides with respect to the ring member by abutting the outer periphery section of the ring member and holding airtightness with the ring member according to the rotation of the center shaft of the shaft section. 1. A robot comprising:two arms connected to each other; anda rotation support mechanism rotatably supporting one side arm to the other side arm of the two arms, a shaft section which is provided in the one side arm and an outer shape of which is a column shape;', 'a bearing which is disposed on an outer periphery section of the shaft section and rotatably supports the shaft section around a center axis of the shaft section;', 'a ring-shaped ring member which is provided in the one side arm and is concentrically disposed with the center axis of the bearing in the outer periphery side of the bearing; and', 'a ring-shaped oil seal which is provided in the other side arm and slides with respect to the ring member by abutting the outer periphery section of the ring member according to the rotation of the shaft section., 'wherein the rotation support mechanism includes;'}2. The robot according to claim 1 ,wherein the oil seal has a concave section which is formed in a circumferential direction of a ring of the oil seal and is open to the other side arm, andwherein the opening of the oil seal abuts the other side arm.3. A robot comprising:two arms connected to each other; anda rotation support mechanism rotatably supporting ...

Подробнее
Номер записи: 36
10-10-2013 дата публикации

Operating A Mobile Robot

Номер: US20130268118A1
Автор: Marshall GRINSTEAD, Orin P.F. Hoffman
Принадлежит: iRobot Corp

A robot system that includes an operator control unit, mission robot, and a repeater. The operator control unit has a display. The robot includes a robot body, a drive system supporting the robot body and configured to maneuver the robot over a work surface, and a controller in communication with the drive system and the operator control unit. The repeater receives a communication signal between the operator control unit and the robot and retransmits the signal.

Подробнее
Номер записи: 37
17-10-2013 дата публикации

TOOL GRIP CALIBRATION FOR ROBOTIC SURGERY

Номер: US20130274922A1
Автор: NIXON TOM
Принадлежит:

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. 137-. (canceled)38. An apparatus comprising:a processor;a robotic manipulator configurable to support a mounted end effector, the robotic manipulator movable in a plurality of degrees of freedom, the robotic manipulator transmitting a signal to the processor in response to the end effector being mounted on the manipulator;wherein the processor is configured to calibrate the end effector in response to receive the signal indicating mounting of the end effector onto the robotic manipulator.39. The apparatus of claim 38 , wherein the processor is further configured not to calibrate any other degree of freedom of the robotic manipulator between mounting of the end effector and a robotic procedure performed using the end effector.40. The apparatus of claim 39 , the end effector comprising two mutually engageable elements claim 39 , wherein the processor is configured to calibrate the end effector by calibrating engagement of the two engageable elements.41. The apparatus of claim 40 , the two mutually engageable elements comprising jaw elements.42. The apparatus of claim 38 , the robotic manipulator comprising a drive system to drive the end effector claim 38 , wherein the processor is configured to calibrate the end ...

Подробнее
Номер записи: 38
17-10-2013 дата публикации

Active Alignment Using Continuous Motion Sweeps and Temporal Interpolation

Номер: US20130274923A1
Автор: By Andre
Принадлежит: Automation Engineering, Inc.

Methods and apparatus for actively aligning a first optical element, such as a lens, to a second optical element, such as an image sensor, use continuous scans, even absent a synchronization signal from one of the optical elements. During a scan, timed position information about the scanned optical element is collected, and then a relationship between position of the scanned optical element and time is estimated, such as by fitting a curve to a set of position-time pairs. This relationship can then be used to estimate locations of the scanned optical element at times when image data or other alignment quality-indicating data samples are acquired. From this alignment quality versus location data, an optimum alignment position can be determined, and the scanned optical element can then be positioned at the determined alignment position. 1. A computer-implemented method for actively aligning a first optical element to a second optical element , the method comprising performing , by a processor , operations ofcausing a robot to continuously scan the first optical element along a trajectory from a starting location to an ending location; storing a plurality of time spaced-apart positions of the first optical element; and', results from an optical signal that passed through the first optical element and was received by the second optical element; and', 'contains data indicative of a degree of optical alignment between the first optical element and the second optical element;, 'acquiring a plurality of time spaced-apart alignment data items, wherein each alignment data item of the plurality of time spaced-apart alignment data items], 'while the robot continuously scans the first optical element from the starting location to the ending locationestimating a desired alignment position, based at least in part on the plurality of time spaced-apart alignment data items and the plurality of time spaced-apart positions of the first optical element; andcausing the robot to move the ...

Подробнее
Номер записи: 39
17-10-2013 дата публикации

METHOD, MEDIUM AND APPARATUS CLASSIFYING AND COLLECTING AREA FEATURE INFORMATION ACCORDING TO A ROBOT'S MOVING PATH, AND A ROBOT CONTROLLED BY THE AREA FEATURES

Номер: US20130274924A1
Автор: CHUNG Seung-Nyung, KIM Hyun-Jin, LEE Hyun-Jeong, MYEONG Hyeon
Принадлежит:

A method of classifying and collecting feature information of an area according to a robot's moving path, a robot controlled by area features, and a method and apparatus for composing a user interface using the area features are disclosed. The robot includes a plurality of sensor modules to collect feature information of a predetermined area along a moving path of the robot, and an analyzer to analyze the collected feature information of the predetermined area according to a predetermined reference range and to classify the collected feature information into a plurality of groups. 1. An apparatus for composing a user interface using area features , comprising:a menu construction module to construct a plurality of menus using feature information of a predetermined area, the feature information being collected along a moving path of a robot; anda transmitter to transmit a control signal corresponding to the menus.2. The apparatus of claim 1 , further comprising an output module outputting the menus to a screen claim 1 , wherein the menus comprise at least one of a floor material of an area where the robot is located claim 1 , a dust pollution level claim 1 , a cleaning frequency claim 1 , and information regarding an obstacle located above the robot.3. A method of composing a user interface using area features claim 1 , comprising:constructing a plurality of menus using feature information of a predetermined area, the feature information being collected along a moving path of a robot; andtransmitting a control signal corresponding to the menus.4. The method of claim 3 , further comprising outputting the menus to a screen claim 3 , wherein the menus comprise least one of a floor material of an area where the robot is located claim 3 , a dust pollution level claim 3 , a cleaning frequency claim 3 , and information regarding an obstacle located above the robot.5. At least one medium comprising computer readable code to control at least one processing element to implement ...

Подробнее
Номер записи: 40
17-10-2013 дата публикации

Flexure Elements for Series Elastic Actuators and Related Methods

Номер: US20130275060A1
Автор: Ben Berkowitz, Josiah Rosmarin
Принадлежит: Individual

An arcuate metal element for detecting a rotary force and generating a deformation in response thereto.

Подробнее
Номер записи: 41
24-10-2013 дата публикации

DEVICES AND METHODS FOR PROGRAMMABLE MANIPULATION OF PIPETTES

Номер: US20130280143A1
Автор: Horak Giorgio, Jordan Antoine, Zucchelli Piero
Принадлежит: Andrew Alliance S.A.

The present invention is directed generally to devices and methods for manipulating laboratory pipettes in a programmable manner. The present invention is directed to an apparatus and methods for allowing a user to instruct the device to perform a specific process; identifying the type, location and identity of the consumables to be used; manipulating a plurality of pipettes for performing the liquid handling; monitoring the process during and after its execution; generating a detailed report for the plurality of actions. Other aspects of this invention include optimization of the liquid dispensing performances of a pipette; monitoring and controlling individual actions by means of vision; virtualization of the protocol definition by means of a reality augmented software interface; integration of the system in a conventional laboratory environment workflow. 1. An apparatus for processing biological or chemical fluids , comprisingat least one pipette wherein said at least one pipette is configured to allow for a pipette volume to be determined by vision feedback;at least one mechanical arm to manipulate at least one pipette said manipulation is assisted by computer vision feedback; anda software interface governing the manipulation of the pipettes.25-. (canceled)6. The apparatus according to claim 1 , wherein the software interface allows for programming of a liquid handling protocol.7. (canceled)8. The apparatus according to claim 1 , wherein the arm manipulation includes movement of the at least one pipette claim 1 , tip insertion and ejection claim 1 , setting of the desired volumes claim 1 , aspiration and dispensing of liquids.9. The apparatus according to claim 8 , wherein the manipulation of the at least one pipette by sequences of aspiration and dispenses allows for liquid mixing.10. An apparatus for processing biological or chemical fluids claim 8 , comprisinga camera mounted on a moving arm and capable of imaging; anda deck area comprising a plurality of ...

Подробнее
Номер записи: 42
24-10-2013 дата публикации

AUTOMATION EQUIPMENT CONTROL SYSTEM

Номер: US20130282176A1
Автор: Lapham John R.
Принадлежит:

A automation equipment control system comprises a general purpose computer with a general purpose operating system in electronic communication with a real-time computer subsystem. The general purpose computer includes a program execution module to selectively start and stop processing of a program of equipment instructions and to generate a plurality of move commands. The real-time computer subsystem includes a move command data buffer for storing the plurality of move commands, a move module linked to the data buffer for sequentially processing the moves and calculating a required position for a mechanical joint. The real-time computer subsystem also includes a dynamic control algorithm in software communication with the move module to repeatedly calculate a required actuator activation signal from a joint position feedback signal. 19-. (canceled)10. A control system suitable for controlling automation equipment of different electromechanical configurations , the control system comprising:an automation equipment-independent computer unit comprising a first digital processor for running an operator interface module, the automation equipment-independent computer unit configured to create a move command; and 'wherein the equipment-specific controller unit is in communication with the automation equipment-independent computer unit.', 'an equipment-specific controller unit operably linked to an automation equipment component, the equipment-specific controller unit comprising a move module configured to translate the move command for the automation equipment component,'}11. The control system of wherein the automation equipment component comprises a mechanical joint and a sensor claim 10 , and wherein the equipment-specific controller unit translates the move command by receiving a position signal from the sensor and calculates a different position corresponding to the move command.12. The control system of wherein the sensor of the automation equipment component is a ...

Подробнее
Номер записи: 43
31-10-2013 дата публикации

ARTICULATED MECHANICAL ARM EQUIPPED WITH A PASSIVE DEVICE FOR COMPENSATION FOR GRAVITY

Номер: US20130283958A1
Автор: DEWARRAT Stephane, DORIGATTI Luca
Принадлежит: TRIMOS S.A.

An articulated mechanical arm includes a passive device designed to compensate for the effects of gravity on at least a first pivot connection which articulates a first member of the arm on a second member of the arm, and constitutes a first degree of freedom of the arm. The passive device includes a drive mechanism and at least one magnetic device. The drive mechanism is designed to transmit to the magnetic device any rotation of the second member relative to the first pivot connection. The magnetic device is designed to produce torque further to the rotation of the second member. The drive mechanism and the magnetic device are also designed such that the torque is retransmitted by the drive mechanism to the first pivot connection, such that the retransmitted torque cancels the moment of force caused by gravity exerted on the articulated mechanical arm, relative to the first pivot connection. 1300150305304307150307. Articulated mechanical arm () comprising a passive device for compensation for gravity () , which is designed to compensate for the effects of gravity on at least a first pivot connection () which articulates a first member () of the said arm on a second member () of the said arm , and constitutes a first degree of freedom of the said arm , characterised in that the said passive device for compensation for gravity () comprises a drive mechanism and at least one magnetic device , the drive mechanism being designed to transmit to the magnetic device any rotation of the second member () relative to the said first pivot connection , the magnetic device being designed to produce torque further to the said rotation of the second member , the drive mechanism and the magnetic device also being designed such that the said torque is retransmitted by the drive mechanism to the first pivot connection , such that the said retransmitted torque cancels the moment of force caused by the gravity which is exerted on the articulated mechanical arm , relative to the said ...

Подробнее
Номер записи: 44
31-10-2013 дата публикации

WIND TURBINE ASSEMBLY AND MANAGEMENT ROBOT AND WIND TURBINE SYSTEM COMPRISING THE SAME

Номер: US20130289769A1
Автор: Ha Youngyoul, Park Youngjun
Принадлежит: SAMSUNG HEAVY IND. CO., LTD.

There is provided a wind turbine assembly and management robot that performs wind turbine assembly and management by itself. A wind turbine assembly and management robot according to exemplary embodiments of the present invention comprises: a recognizing unit configured to recognize a 3D space in a wind turbine and acquire and transmit image information; a working unit configured to bolt tower section flange coupling portions; an operating unit configured to move bolts, nuts, and the working unit to the flange coupling portions and perform bolting; a moving unit configured to horizontally move along the flange coupling portions or configured to move by using a ladder or an elevator in the wind turbine; a control unit configured to control any one or more of the recognizing unit, the working unit, the operating unit, and the moving unit; and a communication unit configured to communicate with a remote control system. 1. A wind turbine assembly and management robot , comprising:a recognizing unit configured to recognize a 3D space in a wind turbine and acquire and transmit image information;a working unit configured to bolt tower section flange coupling portions;an operating unit configured to move bolts, nuts, and the working unit to the flange coupling portions and perform bolting;a moving unit configured to horizontally move along the flange coupling portions or configured to move by using a ladder or an elevator in the wind turbine;a control unit configured to control any one or more of the recognizing unit, the working unit, the operating unit, and the moving unit; anda communication unit configured to communicate with a remote control system.2. The robot of claim 1 , wherein the operating unit is attachable/detachable to/from the working unit or the moving unit.3. The robot of claim 2 , wherein the operating unit includes a manipulator and a coupler attachable/detachable to/from the working unit or the moving unit.4. The robot of claim 3 , wherein the coupler ...

Подробнее
Номер записи: 45
07-11-2013 дата публикации

Monitoring Device For Position Monitoring A Robotic Device and Production System Including A Monitoring Device

Номер: US20130297071A1
Автор: Hediger Hans
Принадлежит: Erowa AG

Proposed is a monitoring device for monitoring and/or sensing predefined positions of a robotic device () having at least two axes of motion. The monitoring device comprises at least two sensors (), the first () of which is defined to sense a horizontal position and/or rotative position of the main support () and the second sensor () a defined horizontal position of the robotic arm (). The monitoring device comprises furthermore sensor active faces () arranged selectively for the first sensor () arranged in the horizontal motion zone and/or swivelling zone of the robotic device (). 1. A monitoring device for monitoring and/or sensing predefined positions of a robotic device having at least two axes of motion , comprising a main support rotatable about a Z axis and a robotic arm supported thereby , the monitoring device comprising at least two sensors and sensor active faces assigned to the sensors , and said monitoring device sending the robotic device an enabling signal as a function of the signal available at the one and/or other sensor to implement predefined movements , wherein wherein said first sensor is defined to sense a horizontal position and/or rotational position of the main support and the second sensor a defined horizontal position of the robotic arm , particularly in its retracted position and selective sensor active faces are arranged in the horizontal motion zone and/or swivelling zone of the robotic device independently of the robotic device for the first sensor.2. The monitoring device as set forth in claim 1 , wherein said sensor active faces assigned to the first sensor are arranged fixed in location.3. The monitoring device as set forth in claim 1 , wherein at least one sensor active face assigned to the first sensor is arranged movable in an axis and independently of the robotic device.4. The monitoring device as set forth in claim 1 , wherein at least some of said sensors are configured as digital proximity switches at which when activated an ...

Подробнее
Номер записи: 46
14-11-2013 дата публикации

MEDICAL TELE-ROBOTIC SYSTEM WITH A MASTER REMOTE STATION WITH AN ARBITRATOR

Номер: US20130304257A1
Автор: Jordan Charles S., Laby Keith Phillip, Southard Jonathan, Wang Yulun
Принадлежит:

A robotic system that includes a mobile robot linked to a plurality of remote stations. One of the remote stations includes an arbitrator that controls access to the robot. Each remote station may be assigned a priority that is used by the arbitrator to determine which station has access to the robot. The arbitrator may include notification and call back mechanisms for sending messages relating to an access request and a granting of access for a remote station. 160-. (canceled)61. A robot system , comprising:a robot that has a camera and a monitor;a first remote station that has a monitor and is configured to access and control said robot, said first remote station having a first input device operated by a first user to cause movement of said robot;a second remote station that has a monitor and is configured to access and control said robot, said second remote station having a second input device operated by a second user to cause movement of said robot; and,an arbitrator that can operate in an exclusive mode to control access and control movement of said robot exclusively by said first remote station or second remote station, said arbitrator provides a mechanism that allows said first remote station to exclusively access and control movement of said robot, said mechanism denies exclusive access to said robot by said second remote station and notifies the second user that exclusive access to said robot is denied, and subsequent to when access is denied notifies the second user that said robot can be exclusively accessed and controlled.62. The system of claim 62 , further comprising a broadband network coupled to said robot and said first and second remote stations.63. The system of claim 62 , wherein said first and second remote stations each have a priority and said arbitrator provides robot access to said remote station with a highest priority.64. The system of claim 63 , wherein said first and second remote stations may be given priority as a local user claim 63 ...

Подробнее
Номер записи: 47
21-11-2013 дата публикации

Industrial Robot With A Ring-Shaped Trailing Stop

Номер: US20130305866A1
Автор: Christoph Groll, Franz Liebl, Rainer Krumbacher
Принадлежит: KUKA ROBOTER GMBH

The invention relates to an industrial robot which comprises a robot arm having multiple connecting links that are connected by means of joints, in which at least two adjacent connecting links, respectively, are connected by means of a joint, which is designed as a swivel joint, can be adjusted by means of a motor and is defined in its maximum rotatable adjustment angle by means of a mechanical stop device, which connecting links comprise a stop projection which is connected to one of the two adjacent connecting links, an engaging piece which is connected to the other one of the two adjacent connecting links and a drag stop which can be adjusted by the engaging piece, which drag stop comprises a drag stop body and an annular body which is connected with the drag stop body which is pivoted in an annular groove in an inner wall of a housing component of one of the two adjacent connecting links.

Подробнее
Номер записи: 48
21-11-2013 дата публикации

Tension Stiffened and Tendon Actuated Manipulator and a Hinge for Use Therein

Номер: US20130305867A1
Автор: Corbin Cole K., Doggett William R., Dorsey John T., Ganoe George G., Jones Thomas C., King Bruce D., Mercer Charles D.
Принадлежит:

A tension stiffened and tendon actuated manipulator is provided performing robotic-like movements when acquiring a payload. The manipulator design can be adapted for use in-space, lunar or other planetary installations as it is readily configurable for acquiring and precisely manipulating a payload in both a zero-g environment and in an environment with a gravity field. The manipulator includes a plurality of link arms, a hinge connecting adjacent link arms together to allow the adjacent link arms to rotate relative to each other and a cable actuation and tensioning system provided between adjacent link arms. The cable actuation and tensioning system includes a spreader arm and a plurality of driven and non-driven elements attached to the link arms and the spreader arm. At least one cable is routed around the driven and non-driven elements for actuating the hinge. 1. A manipulator comprising:a plurality of link arms;a hinge connecting adjacent link arms together to allow said adjacent link arms to rotate relative to each other; at least one spreader arm,', 'at least one driven element attached to one of said adjacent link arms or to said at least one spreader arm,', 'a non-driven element provided on each of the others of said adjacent link arms and said at least one spreader arm,', 'at least one cable routed around the driven and non-driven elements, and', 'a motor for driving said driven element to circulate the cable around the driven and non-driven elements., 'a cable actuation and tensioning system provided between adjacent link arms, said cable actuation and tensioning system comprising'}2. The manipulator of claim 1 , wherein said at least one driven element is a capstan.3. The manipulator of claim 1 , wherein a plurality of driven elements are provided claim 1 , and each driven element is a hoist rotated by a motor.4. The manipulator of claim 1 , wherein each said non-driven element is a pulley.5. The manipulator of claim 1 , wherein one of said non-driven ...

Подробнее
Номер записи: 49
28-11-2013 дата публикации

Control apparatus, control method, and control program for pneumatic artificial muscle drive mechanism

Номер: US20130317647A1
Автор: Masaki Yamamoto, Yasunao Okazaki
Принадлежит: Panasonic Corp

There is provided a control apparatus for a drive mechanism driven by a pneumatic artificial muscle, the control apparatus including a pressure controller that controls pressure of the pneumatic artificial muscle, a desired pressure calculator that calculates, based on a pneumatic artificial muscle model, a desired pressure of the pneumatic artificial muscle in order to control motion of the drive mechanism, a pneumatic artificial muscle model error estimator that estimates aging variation in a contraction percentage error between the pneumatic artificial muscle and the pneumatic artificial muscle model, a pneumatic artificial muscle model updater that updates the pneumatic artificial muscle model so as to reflect the aging variation based on an estimation result of the pneumatic artificial muscle model error estimator, and a lifetime predictor that predicts a lifetime of the pneumatic artificial muscle based on the estimation result of the pneumatic artificial muscle model error estimator.

Подробнее
Номер записи: 50
28-11-2013 дата публикации

ROBOTIC DEVICE TESTER

Номер: US20130317650A1
Автор: Jenkinson David, Lee Bobby, Liaw Gavin
Принадлежит: T-MOBILE USA, INC.

A system, method, and device may include software and hardware which simplify and quicken configuration of the system for testing a device, enhance testing procedures which may be performed, and provide data via which to easily discern a cause and nature of an error which may result during testing. A camera may capture still images of a display screen of a tested device and another camera may capture video images of the tested device and a partner device. A wizard may be used to generate a configuration file based on one previously generated for a similar device. A mount for a tested device may be structured so that: it is suitable for mounting thereon a plurality of differently structured devices; and adjustments in a vertical direction and a horizontal direction in a plane and adjustments of an angle of the device relative to the plane may be easily made. 119-. (canceled)20. A device testing system , comprising:a memory storing a plurality of screenshots associated with a device;a first camera;a second camera;a platform arranged such that at least a portion of the platform is in a field of view of the first camera and in a field of view of the second camera;a robotic arm; anda processor coupled to the first and second cameras and to the memory; the first camera is arranged such that an axis that extends through a lens of the first camera extends approximately perpendicularly towards the platform;', 'the second camera is arranged such that an axis that extends through a lens of the second camera extends at a substantially non-perpendicular angle towards the platform, and such that the second camera has a lesser zoom setting than the first camera, the second camera thereby sensing a greater viewing area than the first camera;', 'the first camera is configured to transmit captured images to the processor; and', cause the robotic arm to operate the device when the device is arranged on the platform;', 'compare images received from the first camera during the operation ...

Подробнее
Номер записи: 51
05-12-2013 дата публикации

Wrist unit of industrial robot

Номер: US20130319160A1
Автор: Akihiro OIKAWA
Принадлежит: FANUC Corp

A wrist unit of an industrial robot including an eccentric rocking-type reduction gear. The eccentric rocking-type reduction gear includes a hollow forming part forming a hollow part along the rotation center axial line; a through shaft supported rotatably at the hollow forming part and passing through the hollow part to transmit a rotation from the third wrist drive motor from a first wrist element side to a second wrist element side; a plurality of crankshafts arranged around the through shaft and having input gears at ends of the side of the first wrist element; and a gear member provided rotatably centered about the rotation center axial line, the gear member having a first gear to which a rotational force from the second wrist drive motor is input and a second gear with which the input gears of the plurality of crankshafts engage.

Подробнее
Номер записи: 52
12-12-2013 дата публикации

ROBOTIC ARM

Номер: US20130330162A1
Автор: HORINOUCHI Takashi
Принадлежит: Panasonic Corporation

A robotic arm includes: an arm having one or more joints; an arm securing unit provided at at least one of the one or more joints and configured to secure, by electrostatic adhesion, a positional relationship between two parts coupled by each of the at least one of the one or more joints; and a control unit configured to turn on and off the electrostatic adhesion of the arm securing unit. 1. A robotic arm comprising:an arm having one or more joints;an arm securing unit provided at at least one of the one or more joints and configured to secure, by electrostatic adhesion, a positional relationship between two parts coupled by each of the at least one of the one or more joints; anda control unit configured to turn on and off the electrostatic adhesion of the arm securing unit.2. The robotic arm according to claim 1 ,wherein the arm securing unit is configured to electrostatically adhere together the two parts coupled by each of the at least one of the one or more joints of the arm, to secure the positional relationship between the two parts.3. The robotic arm according to claim 1 ,wherein each of the one or more joints of the arm is provided with the arm securing unit.4. The robotic arm according to claim 1 , further comprising:a hand having one or more joints and coupled to the arm by at least one of the one or more joints of the arm, the hand being for grasping an object; anda hand securing unit provided at at least one of the one or more joints of the hand and configured to secure, by electrostatic adhesion, a positional relationship between two parts coupled by each of the at least one of the one or more joints of the hand,wherein the control unit is further configured to turn on and off the electrostatic adhesion of the hand securing unit.5. The robotic arm according to claim 4 ,wherein the hand securing unit is configured to electrostatically adhere together the two parts coupled by each of the at least one of the one or more joints of the hand, to secure the ...

Подробнее
Номер записи: 53
19-12-2013 дата публикации

SAFETY DEVICE FOR A HANDLING APPARATUS, IN PARTICULAR AN INDUSTRIAL ROBOT, AND METHOD FOR OPERATING THE SAFETY DEVICE

Номер: US20130338829A1
Автор: Frangen Joachim, Schlaich Peter
Принадлежит:

A safety device is described for a handling apparatus, particularly an industrial robot, having at least one movable gripping arm and a gripping device situated on the gripping arm, as well as having a first sensor device, connected to a control device, that is associated with the gripping arm, for collision detection. The first sensor device includes a first recording range. The safety device includes a second sensor device connected to the control device and including a second recording range. The second recording range records a range which has a greater distance from the handling apparatus than the first recording range. Both recording ranges extend outside the handling apparatus. 110-. (canceled)11. A safety device for a handling apparatus that includes at least one movable gripping arm , comprising:a control device;a first sensor device connected to a control device and associated with the gripping arm for collision detection, the first sensor device having a first recording range; anda second sensor device connected to the control device and having a second recording range, the second recording range recording a range which has a greater distance from the handling apparatus than the first recording range, wherein the first and second recording ranges extend outside the handling apparatus.12. The safety device as recited in claim 11 , wherein the handling apparatus includes an industrial robot.13. The safety device as recited in claim 11 , wherein a gripping device is situated on the gripping arm.14. The safety device as recited in claim 11 , wherein an intermediate zone is developed between the first and second recording ranges claim 11 , the intermediate zone not monitored by either of the first and second sensor devices.15. The safety device as recited in claim 11 , wherein the second sensor device is situated outside the handling apparatus.16. The safety device as recited in claim 15 , wherein the second sensor device is situated on a stand.17. The safety ...

Подробнее
Номер записи: 54
19-12-2013 дата публикации

ROBOT CLEANER AND CONTROLLING METHOD OF THE SAME

Номер: US20130338831A1
Автор: Baek Seungmin, Noh Dongki, Yoon Jeongsuk
Принадлежит:

A robot cleaner is provided. The robot cleaner may precisely detect a peripheral obstacle using a particular optical pattern. An asymmetric cross-shaped optical pattern may be irradiated, and a pattern image with respect to the optical pattern-irradiated region may be analyzed to determine whether or not an obstacle is in the moving path, and a width or a height of the obstacle. Further, the robot cleaner may perform operations such as a forward motion, a backward motion, a stopping motion and a detour motion, based the obstacle detection result. 1. A robot cleaner , comprising:a body;a cleaning device operably coupled in the body and configured to draw dust from a cleaning region into the body;an optical pattern sensor provided on a front surface of the body and configured to irradiate an optical pattern and generate a corresponding pattern image; and an optical source module configured to irradiate one or more cross-shaped optical patterns outward from a front side of the body; and', 'a camera module configured to capture the pattern image of the region irradiated by the one or more optical patterns., 'a controller configured to recognize an obstacle based on the pattern image generated by the optical pattern sensor, wherein the optical pattern sensor comprises2. The robot cleaner of claim 1 , wherein the optical pattern sensor is configured to irradiate an asymmetric cross-shaped optical pattern having a horizontal pattern and a vertical pattern claim 1 , a length of the horizontal pattern being greater than a length of the vertical pattern.3. The robot cleaner of claim 2 , wherein the controller comprises an obstacle recognition module configured to process the pattern image to recognize the obstacle.4. The robot cleaner of claim 3 , wherein the obstacle recognition module recognizes a height of the obstacle using the vertical pattern of the pattern image.5. The robot cleaner of claim 1 , further comprising an image detector configured to capture a peripheral ...

Подробнее
Номер записи: 55
26-12-2013 дата публикации

APPARATUS, SYSTEMS, AND METHODS FOR RECONFIGURABLE ROBOTIC MANIPULATOR AND COUPLING

Номер: US20130340560A1
Автор: BURRIDGE Robert Raven, CHU Mars Wei, WOLFE Bryn Tyler
Принадлежит:

A robotic manipulator arm is disclosed. The arm includes joints that are attachable and detachable in a tool-free manner via a universal mating adapter. The universal mating adapter includes a built-in electrical interface for an operative electrical connection upon mechanical coupling of the adapter portions. The universal mating adapter includes mechanisms and the ability to store and communicate parameter configurations such that the joints can be rearranged for immediate operation of the arm without further reprogramming, recompiling, or other software intervention. 1. A reconfigurable robotic manipulator arm comprising: a first end assembly having a mechanical coupling interface and an electrical interface; and', 'a second end assembly having a mechanical coupling interface and an electrical interface;, 'a first joint including a third end assembly having a mechanical coupling interface and an electrical interface; and', 'a fourth end assembly having a mechanical coupling interface and an electrical interface;, 'a second joint includingwherein the first and fourth end assemblies are connectable at the first and fourth mechanical coupling interfaces to form a first adapter between the first and second joints including an operative electrical connection between the first and fourth electrical interfaces; andwherein the first and second joints are detachable at the first adapter and re-connectable at the second and third mechanical coupling interfaces to form a second adapter between the first and second joints including an operative electrical connection between the second and third electrical interfaces.2. The robotic manipulator arm of wherein one or more joints has a brake and has a magnetic brake release switch configured to be activated by a removable external magnet claim 1 , and wherein a ferrous metal member may augment the performance of the magnetic brake release switch.3. The robotic manipulator arm of wherein the arm further comprises an end-effector ...

Подробнее
Номер записи: 56
26-12-2013 дата публикации

SUSPENDED ROBOT SYSTEMS AND METHODS FOR USING SAME

Номер: US20130345876A1
Автор: Rudakevych Pavlo
Принадлежит:

Robotic systems and methods are provided for tending, manipulating, engaging, acting upon, observing and/or monitoring objects and conditions in a defined volume or space (“work space”) in or overlying a target area. The robotic system includes a mobile robot supported by or suspended from suspension cables secured to spaced apart anchor locations. 1. A robot system comprising:at least one suspension cable;an autonomous mobile robot suspended by the at least one suspension cable in a work space, wherein the robot system is operative to selectively move the suspended mobile robot about the work space, the mobile robot including a camera to acquire image data from the work space; anda controller configured to use the image data from the camera to automatically determine a position of the mobile robot within the work space.2. The robot system of wherein:the mobile robot further includes an implement movable with the camera; andthe controller is configured to move the implement about the work space as a function of the image data acquired by the camera.3. The robot system of wherein the controller is configured to reposition the implement within the work space in at least two dimensions as a function of the image data acquired by the camera.4. The robot system of wherein the controller is configured to reposition the implement within the work space in three dimensions as a function of the image data acquired by the camera.5. The robot system of wherein the implement includes at least one of a tool and a sensor.6. The robot system of wherein the implement includes a mechanical tool.7. The robot system of wherein the controller is configured to correlate the image data from the camera with the position of the camera in the work space to generate a map of the image data with respect to the work space.8. The robot system of wherein the controller is configured to generate a three-dimensional map of the image data with respect to the work space.9. The robot system of wherein ...

Подробнее
Номер записи: 57
02-01-2014 дата публикации

APPARATUS FOR CONTROLLING MOBILE ROBOT

Номер: US20140005827A1
Автор: Ogawa Naohide, Toba Kaoru, Watari Katsuyoshi
Принадлежит: HONDA MOTOR CO., LTD.

In an apparatus for controlling a mobile robot having movement mechanisms and work mechanisms both connected to a body, actuators for driving them, and a controller for controlling an action of the movement mechanisms and the work mechanisms through the actuators, the controller comprises a person detector to detect a person located in a vicinity of the robot, a position determiner to determine whether the position of the detected person is within a first range or a second range, and a regulator to regulate the actions of the movement mechanisms and the work mechanisms when the position of the detected person is determined to be within the first range or the second range. 1. An apparatus for controlling a mobile robot having a body , movement mechanisms for walking operation and work mechanisms for working operation both connected to the body , a plurality of actuators for driving the movement mechanisms and the work mechanisms , and a controller for controlling an action of the movement mechanisms and the work mechanisms through the actuators ,wherein the controller comprises:a person detector that detects a person located in a vicinity of the robot;a position determiner that determines whether a position of the detected person is within a first range defined based on a length of the work mechanisms of the robot, or a second range defined based on a gravity length of the robot; anda regulator that regulates the actions of the movement mechanisms and the work mechanisms when the position of the detected person is determined to be within the first range or the second range.2. The apparatus according to claim 1 , wherein the regulator halts the actions of the movement mechanisms and the work mechanisms when the position of the detected person is determined to be within the first range.3. The apparatus according to claim 1 , wherein the regulator modifies the actions of the movement mechanisms and the work mechanisms to keep them within the first region when the ...

Подробнее
Номер записи: 58
02-01-2014 дата публикации

TERMINAL POSITIONING METHOD AND SYSTEM, AND MOBILE TERMINAL

Номер: US20140005832A1
Автор: He Zhiqiang, Li Nanjun
Принадлежит:

A terminal positioning method is applicable in a positioning system having at least an image acquisition apparatus, and the method includes: judging whether a positioning request message sent from a terminal is received; acquiring a current position feature of the terminal when the positioning request message sent from the terminal is received; calculating current position data of the terminal according to the position feature; generating position information according to the position data; and sending the position information to the terminal. In this way, the terminal itself does not need to calculate the current position, thus reducing computational burden on the terminal, which facilitates achieving of fast navigation of the terminal. 1. A terminal positioning method applicable in a positioning system , the positioning system at least comprising an image acquisition apparatus , the terminal positioning method comprising:judging whether a positioning request message sent from a terminal is received;acquiring a current position feature of the terminal when the positioning request message sent from the terminal is received;calculating current position data of the terminal according to the position feature;generating position information according to the position data; andsending the position information to the terminal.2. The method according to claim 1 , wherein the acquiring a current position feature of the terminal comprises:acquiring a current image of the terminal.3. The method according to claim 2 , wherein the calculating current position data of the terminal according to the position feature comprises:calculating a spatial distance between the terminal and the image acquisition apparatus according to the image of the terminal; anddetermining the current position data of the terminal according to the spatial distance.4. The method according to claim 1 , wherein the position information comprises:a map of a current environment and position coordinates of the ...

Подробнее
Номер записи: 59
09-01-2014 дата публикации

ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, PROGRAM, AND RECORDING MEDIUM

Номер: US20140012416A1
Автор: Iizuka Shinsuke, Negishi Mahito, Suzuki Hideaki
Принадлежит: CANON KABUSHIKI KAISHA

A first coordinate system Cof the hand unit, a second coordinate system Cof the first workpiece, and a third coordinate system Cof a second workpiece in a camera coordinate system are calculated (S, S, and S). First and second coordinate transformation matrices Tand Tare calculated (S and S). Coordinate data of a target point is set in the coordinate system of the first workpiece (S). Coordinate data of an instruction point is set in the coordinate system of the second workpiece (S). The coordinate data of the target point is subjected to coordinate transformation using the first coordinate transformation matrix T(S). The coordinate data of the instruction point is subjected to coordinate transformation using the second coordinate transformation matrix T(S). Operation instructions are generated using the converted coordinate data (S). 1. A robot control apparatus controlling a robot body including an arm unit having a plurality of link members coupled with one another and a hand unit which is disposed at an end of the arm unit , which grasps a first workpiece , and which attaches the grasped first workpiece to a second workpiece , the robot control apparatus , comprising:a camera configured to output image data obtained by capturing an image of the robot body, the first workpiece, and the second workpiece;a first coordinate system calculation unit configured to calculate a first coordinate system representing a position and orientation of the hand unit in a camera coordinate system of the camera from the image data;a second coordinate system calculation unit configured to calculate a second coordinate system representing a position and orientation of the first workpiece in the camera coordinate system of the camera from the image data;a third coordinate system calculation unit configured to calculate a third coordinate system representing a position and orientation of the second workpiece in the camera coordinate system of the camera from the image data;a first ...

Подробнее
Номер записи: 60
16-01-2014 дата публикации

GEAR TRANSMISSION MECHANISM AND ROBOT ARM CONNECTING STRUCTURE USING THE SAME

Номер: US20140013884A1
Автор: LONG BO
Принадлежит:

A gear transmission mechanism includes a housing, a first transmission assembly, a second transmission assembly, and a gear clearance adjustment assembly. The first transmission assembly includes an input shaft, and the second transmission assembly includes an output shaft. The gear clearance adjustment assembly includes an adjustment base mounted on the housing, fasteners, bearings, a washer, a fixing member, and a pair of freely rotatable adjusting gears for the transmission of rotative force. The adjusting gears mesh with the first and second transmission gears. 1. A gear transmission mechanism , comprising:a housing; an input shaft positioned in the housing; and', 'a first transmission gear sleeving on the input shaft;, 'a first transmission assembly positioned in the housing, the first transmission assembly comprising an output shaft positioned in the housing; and', 'a second transmission gear sleeving on the output shaft; and, 'a second transmission assembly positioned in the housing and separated from the first transmission assembly, the second transmission assembly comprising an adjustment base mounted on the housing, the adjustment base defining an adjustment hole;', 'a fastener passing through the adjustment hole and the housing to fix the adjustment base on the housing; and', 'an adjusting gear rotatably positioned on the adjustment base, and the adjusting gear meshing with the first transmission gear and the second transmission gear, wherein a width of the adjustment hole along a direction substantially perpendicular to the rotation axis of the adjusting gear is greater than a diameter of the fastener to make the adjustment base adjustably mount on the housing., 'a gear clearance adjustment assembly positioned in the housing between the first transmission assembly and the second transmission assembly, the gear clearance adjustment assembly comprising2. The gear transmission mechanism of claim 1 , wherein the adjustment base comprises a main body and a ...

Подробнее
Номер записи: 61
16-01-2014 дата публикации

Apparatus for the automated removal of workpieces arranged in a container

Номер: US20140017048A1
Автор: Alois Mundt, Bernhard Riedmiller, David Haenschke, Thomas Mattern
Принадлежит: Liebherr Verzahntechnik GmbH

An apparatus for the automated removal of workpieces arranged in a container comprising a first object recognition device for detecting the workpieces and a first gripper for picking and removing the workpieces from the container; and a control for evaluating the data of the first object recognition device, for track planning and for controlling the first gripper; wherein an intermediate station on which the first gripper places the workpiece after the removal from the container; and a positioning apparatus which positions the workpieces more accurately starting from the intermediate station and/or singularizes them.

Подробнее
Номер записи: 62
16-01-2014 дата публикации

ROBOT SYSTEM, ROBOT, ROBOT CONTROL DEVICE, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM

Номер: US20140018957A1
Автор: Matsumoto Shigeyuki
Принадлежит:

A robot system includes: a camera that captures an image of a movable unit to create a camera image; a storage unit that stores a shape model of the movable unit; a matching processing unit that detects, based on matching between the camera image and the shape model, position and orientation of the movable unit in a camera coordinate system; a control information acquisition unit that acquires information of position and orientation of the movable unit in a robot coordinate system recognized by a motion control unit that controls motion of the movable unit; and a coordinate system calibration unit that reconciles the camera coordinate system and the robot coordinate system based on the position and orientation of the movable unit in the camera coordinate system and the position and orientation of the movable unit in the robot coordinate system. 1. A robot system comprising:a movable unit that is changeable in position and orientation;a camera that captures an image of the movable unit to create a camera image;a storage unit that stores a shape model of the movable unit;a matching processing unit that detects, based on matching between the camera image and the shape model, position and orientation of the movable unit in a camera coordinate system;a control information acquisition unit that acquires information of position and orientation of the movable unit in a robot coordinate system recognized by a motion control unit that controls motion of the movable unit; anda coordinate system calibration unit that reconciles the camera coordinate system and the robot coordinate system based on the position and orientation of the movable unit in the camera coordinate system and the position and orientation of the movable unit in the robot coordinate system.2. The robot system according to claim 1 , whereinthe matching processing unit generates a two-dimensional image of the movable unit from the shape model in three dimensions, and detects position and orientation of the ...

Подробнее
Номер записи: 63
16-01-2014 дата публикации

SAFETY SYSTEM AND CONTROL DEVICE

Номер: US20140018958A1
Автор: MORIKAWA Akihiko, SATO Toshinori, UENO Jyunichi, USHIYAMA Takao
Принадлежит:

One aspect of the present invention provides a new safety system that can perform measurement in order to clearly set a realistic determination value and a control device constituting the safety system. The safety system, which causes a target device to transition to a safety state when an event matched with a predetermined safety condition is generated, is provided. The safety system includes a control device that includes a monitoring function of continuously collecting information on the safety condition and a management device that aggregates the information on the safety condition, which is collected by the control device. In response to generation of the event matched with the safety condition, the control device stores the information on the safety condition for a predetermined period based on generation timing of the event while correlating the generation timing with the collected information. The management device aggregates the information on the safety condition with the generation timing as a reference. 1. A safety system that causes a target device to transition to a safety state when an event matched with a predetermined safety condition is generated , the safety system comprising:a control device that includes a monitoring function of continuously collecting information on the safety condition; anda management device that aggregates the information on the safety condition, which is collected by the control device,wherein, in response to generation of the event matched with the safety condition, the control device stores the information on the safety condition for a predetermined period based on generation timing of the event while correlating the generation timing with the collected information, andthe management device aggregates the information on the safety condition with the generation timing as a reference.2. The safety system according to claim 1 , wherein the monitoring function determines whether the event matched with the safety condition is ...

Подробнее
Номер записи: 64
30-01-2014 дата публикации

SCOTT RUSSELL MECHANISM DEVICE

Номер: US20140026705A1
Автор: ICHIKAWA Yasunori, Sasaki Hiromichi, SHIMIZU Mikio
Принадлежит: SQUSE INC.

A joint unit pivotably coupled to a tip end part of a main arm member of a Scott Russell mechanism is pivoted in two ways. A Scott Russell mechanism device pivotably couples a main arm member and a sub arm member to each other, as well as it pivotably couples a joint unit to a tip end part of the main arm member. Moreover, by providing a pivot driving unit to the main arm member, as well as providing a fourth motor and a drive transmission mechanism unit to the sub arm member, the Scott Russell mechanism device can switch between pivoting the joint unit associatively a change of a coupling angle of the arm members and and pivoting the joint unit by the drive of the fourth motor. 18-. (canceled)9. A Scott Russell mechanism device , comprising:a main arm member;a sub arm member pivotably coupled to the main arm member; andan angle changer for changing a coupling angle between the main arm member and the sub arm member,wherein a joint unit is pivotably coupled to the tip end part of the main arm member, andwherein a pivoting axis of the pivot of the joint unit is in parallel to an axis of the pivots of the main arm member and the sub arm member at the coupling position, and a pivoting mechanism unit for automatically pivoting the joint unit cooperating with the angle change by the angle changer; and', 'a pivot driving unit for pivoting the joint unit via the pivoting mechanism unit independently from the angle change by the angle changer., 'wherein the device comprises10. The Scott Russell mechanism device of claim 9 , wherein a rotation unit having a rotor is coupled to the joint unit.11. The Scott Russell mechanism device of claim 9 , wherein a pivoting member is pivotably coupled to the joint unit claim 9 ,wherein an axis of the pivot of the pivoting member is in parallel to the pivoting axis of the joint unit, andwherein a rotation unit having a rotor is coupled to the pivoting member.12. The Scott Russell mechanism device of claim 10 , wherein a gripping unit is ...

Подробнее
Номер записи: 65
30-01-2014 дата публикации

APPARATUS AND METHOD OF TAKING OUT BULK STORED ARTICLES BY ROBOT

Номер: US20140031985A1
Автор: KUMIYA Hidetoshi
Принадлежит: FANUC Corporation

An article take-out apparatus comprising: a robot having a hand capable of holding an article; a 3D measuring device measuring surface positions of a plurality of articles stored in bulk in a 3D space to acquire a 3D point set composed of a plurality of 3D points; a local maximum point selecting unit selecting from the 3D point set a 3D point, where a coordinate value with respect to a predetermined coordinate axis is maximum; a processing unit determining a hand position and posture including a target position and target posture of the hand enabling an article near the local maximum point to be taken out based on the selected local maximum point; and a robot control unit controlling the robot so as to move the hand to the determined hand position and posture and take out the article from the hand position and posture. 1. An article take-out apparatus comprising:a robot having a hand capable of holding an article;a 3D measuring device measuring surface positions of a plurality of articles stored in bulk in a 3D space to acquire a 3D point set composed of a plurality of 3D points;a local maximum point selecting unit selecting from the 3D point set a 3D point, where a coordinate value with respect to a predetermined coordinate axis is maximum, as a local maximum point;a processing unit determining a hand position and posture including a target position and target posture of the hand enabling an article near the local maximum point to be taken out, based on the local maximum point selected by the local maximum point selecting unit; anda robot control unit controlling the robot so as to move the hand to the hand position and posture determined by the processing unit and take out the article from the hand position and posture.2. The article take-out apparatus according to claim 1 , whereinthe processing unit comprises:a first processing unit determining a local maximum point vicinity set which is a sub set of the 3D point set, the local maximum point vicinity set being ...

Подробнее
Номер записи: 66
06-02-2014 дата публикации

APPARATUS FOR TAKING OUT BULK STORED ARTICLES BY ROBOT

Номер: US20140039679A1
Автор: ANDO Toshiyuki
Принадлежит: FANUC Corporation

An article take-out apparatus including, acquiring a reference container image including an open end face of a container by imaging operation by an camera, setting an image search region corresponding to a storage space of the container based on the reference container image, setting a reference plane including the open end face of the container, calculating a search region corresponding to the image search region based on a calibration data of the camera stored in advance, converting the search region to a converted search region, taking out 3D points included in the converted search region by projecting a plurality of 3D points measured by the 3D measuring device on the reference plane, and recognizing positions of articles inside the container using the 3D points. 1. An article take-out apparatus comprising:a 3D measuring device measuring surface positions of a plurality of articles stored in bulk in a storage space of a container, the container having a planar shaped open end face and inside wall parts, the inside wall parts being connected to the open end face and forming the storage space;a camera taking an image of a region including the open end face of the container;a robot having a hand capable of taking out an article from inside the container;an image acquiring unit acquiring an image of the container taken by the camera;an image search region setting unit setting a region on the image corresponding to the storage space as an image search region, based on the image acquired by the image acquiring unit;a reference plane setting unit setting a plane including the open end face of the container as a reference plane;a search region calculating unit calculating a region on the reference plane corresponding to the image search region as a search region, based on calibration data of the camera stored in advance;a projecting unit projecting a plurality of 3D points measured by the 3D measuring device on the reference plane;a judging unit judging whether the ...

Подробнее
Номер записи: 67
06-02-2014 дата публикации

Companion Robot For Personal Interaction

Номер: US20140039680A1
Автор: Angle Colin, Campbell Tony L., Cross Matthew, Vu Clara
Принадлежит: iRobot Corporation

A mobile robot that includes a robot body, a drive system having one or more wheels supporting the robot body to maneuver the robot across a floor surface, and a riser having a proximal end and a distal end. The proximal end of the riser disposed on the robot body. The robot also includes a head disposed on the distal end of the riser. The head includes a display and a camera disposed adjacent the display. 1. A mobile robot comprising:a robot body;a drive system having one or more wheels supporting the robot body to maneuver the robot across a floor surface;a riser having a proximal end and a distal end, the proximal end disposed on the robot body;a gyroscope supported by or above the robot body; and a display;', 'a camera disposed adjacent the display; and', 'a computing processing in communication with the display, the camera, and the gyroscope, the computing processing executing an inverted pendulum balancing routine using gyroscopic data received from the gyroscope to maintain an upright pose., 'a head disposed on the distal end of the riser, the head comprising2. The mobile robot of claim 1 , wherein the riser is extendible claim 1 , having a variable distance between its proximal and distal ends.3. The mobile robot of claim 2 , wherein the riser comprises pivoted claim 2 , jointed claim 2 , folding or telescoping parts to provide the variable distance between its proximal and distal ends.4. The mobile robot of claim 1 , comprising only one or two wheels supporting the robot body.5. The mobile robot of claim 1 , further comprising a controller in communication with the drive system claim 1 , the display claim 1 , and the camera.6. The mobile robot of claim 1 , wherein the controller is supported by the head.7. The mobile robot of claim 1 , wherein the display comprises a tablet computer.8. The mobile robot of claim 1 , wherein the tablet computer is in communication with the drive system.109. The mobile robot of claim claim 1 , wherein the tablet computer is ...

Подробнее
Номер записи: 68
13-02-2014 дата публикации

ROBOT DEVICE

Номер: US20140046486A1
Автор: ARAI Takashi, Mimura Toshihiko
Принадлежит: CANON KABUSHIKI KAISHA

Provided is a small-sized robot device having high versatility without decreasing the work efficiency. The robot device includes: an arm; a hand or a tweezer tool that includes a stereo camera for measuring a three-dimensional position of a workpiece, the hand or the tweezer tool performing a work with respect to the workpiece whose three-dimensional position has been measured by the stereo camera; and a connection portion or a hand provided at a distal end of the arm, the connection portion or the hand releasably connecting the hand or the tweezer tool to the arm. 1. A robot device , comprising:a robot arm;an end effector including a stereo camera for measuring a three-dimensional position; anda connector provided to a distal end of the robot arm, the connector releasably connecting the end effector to the robot arm.2. A robot device according to claim 1 ,wherein the end effector comprises an end work tool for performing a work, andwherein the connector comprises a robot hand including multiple hand claws, the multiple hand claws being configured to grip the end work tool to connect the robot arm and the end work tool to each other.3. A robot device according to claim 2 , wherein the end work tool comprises multiple guide grooves for guiding the multiple hand claws to positions for connection to the robot hand.4. A robot device according to claim 1 , further comprising:an image processing apparatus for measuring the three-dimensional position of a workpiece based on an image taken by the stereo camera; anda cable hanger for hanging down an image transmission cable from a position above the robot arm, the image transmission cable transmitting a signal of information on the image taken by the stereo camera from the stereo camera to the image processing apparatus.5. A robot device according to claim 2 , further comprising an image processing apparatus for measuring the three-dimensional position of a workpiece based on an image taken by the stereo camera claim 2 , ...

Подробнее
Номер записи: 69
20-02-2014 дата публикации

MULTI-JOINT ROBOT WITH BOTH-SIDE SUPPORTED ARM MEMBER

Номер: US20140047940A1
Автор: Yamamoto Masahiro
Принадлежит: FANUC Corporation

In a multi-joint robot () including a first arm member (A) providing a U-shaped portion () composed of two protrusion units () parallel with each other, and including a second arm member (A) connected to two protrusion units of the U-shaped portion so as to be rotated and such that both sides of the second arm member are supported by two protrusion units, the first arm member is formed by two half form portions () that are divided between the two protrusion units of the U-shaped portion and are divided on a plane perpendicular to a rotational axis of the second arm member. Moreover, the first arm member includes a coupling unit () for coupling two half form portions to each other. 1. A multi-joint robot that comprising a first arm member providing a U-shaped portion formed by two protrusion units parallel with each other , and a second arm member connected to two protrusion units of the U-shaped portion so as to be rotated and such that both sides of the second arm member are supported by the two protrusion units ,wherein the first arm member is formed by two half form portions that are divided between the two protrusion units of the U-shaped portion and are divided on a dividing plane perpendicular to a rotational axis of the second arm member, andwherein the first arm member includes a coupling unit for coupling the two half form portions to each other.2. The multi-joint robot according to claim 1 , wherein each of the half form portions is formed by two half form sub-portions that are divided by an additional plane parallel with the dividing plane claim 1 , andwherein each of the half form portions includes an additional coupling unit for coupling the two half form sub-portions to each other. 1. Field of the InventionThe present invention relates to a multi-joint robot that includes a both-side supported arm member.2. Description of the Related ArtA multi-joint robot including a plurality of joints is widely used. A general multi-joint robot includes a first arm ...

Подробнее
Номер записи: 70
20-02-2014 дата публикации

ROBOT SYSTEM AND METHOD FOR DRIVING THE SAME

Номер: US20140052296A1
Автор: KIM Ki-sung, KIM Yang-Hyun, LEE Jin-han
Принадлежит: SAMSUNG TECHWIN CO., LTD.

Provided is a method of driving a system for a robot including obtaining scan data which includes information about at least one of a coordinate and a direction of the robot, estimating a plurality of location changes of the robot by matching a plurality of consecutive scan data pairs of the obtained scan data, generating a path of the robot by connecting the estimated location changes, estimating a position of a corrected instantaneous center of rotation (ICR), and correcting the plurality of consecutive scan data pairs based on the corrected ICR. 1. A method of driving a robot , the method comprising:obtaining scan data which includes information about at least one of a coordinate and a direction of the robot;estimating a plurality of location changes of the robot by matching a plurality of consecutive scan data pairs of the obtained scan data;generating a path of the robot by connecting the estimated location changes;estimating a position of a corrected instantaneous center of rotation (ICR); andcorrecting the plurality of consecutive scan data pairs based on the corrected ICR.2. The method of claim 1 , wherein the position of the corrected ICR is disposed in a vicinity of a plurality of extension lines that extends from a rotation axis of the robot at each position on the generated path claim 1 , andwherein each of the extension lines comprises an ICR for the each position of the robot.3. The method of claim 1 , wherein a previous location of the corrected plurality of consecutive scan data pairs is used for estimating a next location change of the robot.4. The method of claim 1 , wherein in the estimating the plurality of location changes claim 1 , a relative location change of one scan data is estimated based on another earlier scan data with respect to time among the consecutive scan data pairs.5. The method of claim 1 , wherein the generating the path of the robot comprises:setting a reference point of the robot at a predetermined time; andgenerating the ...

Подробнее
Номер записи: 71
27-02-2014 дата публикации

REMOTE ATTACHING AND DETACHING DEVICE INCLUDING CELL CAMERA

Номер: US20140055597A1
Автор: Cho Il-Je, Kim Kiho, LEE Hansoo, Lee Jong Kwang, Park Byung Suk, Yu Seung-Nam
Принадлежит:

A remote attaching and detaching device is provided, which includes a camera module to substitute a worker's vision in such an environment where the worker's direct access to the in-cell is extremely limited or impossible. In a remote attaching and detaching device including a camera module for monitoring operating environment of a slave arm of a remote robot working in hazardous environment, the remote attaching and detaching device includes a fixing module fixed to a proximity of a gripper provided on the slave arm, and the camera module is attachable to and detachable from the fixing module, and provides visual in-cell information or situation about surroundings of the gripper. 1. A remote attaching and detaching device comprising a camera module for monitoring an operating environment of a slave arm of a remote robot working in a hazardous environment , the remote attaching and detaching device comprising:a fixing module fixed to a proximity of a gripper provided on the slave arm; andthe camera module attachable to and detachable from the fixing module, the camera module for providing visual information about surroundings of the gripper.2. The remote attaching and detaching device of claim 1 , wherein the camera module is attachable or detachable in accordance with a tele-manipulator remotely operated by an operator.3. The remote attaching and detaching device of claim 1 , wherein the camera module comprises:a housing:a camera fixed to the housing, to photograph the visual information;a detaching unit enabling attaching and detachment to and from the fixing module; anda connector connected to the fixing module to transmit and receive an electric signal to and from the camera.4. The remote attaching and detaching device of claim 3 , wherein the detaching unit comprises:a spring;a fastening plate that moves in a direction of contracting or expanding the spring in accordance with contraction and expansion of the spring; anda pin connected to the fastening plate to ...

Подробнее
Номер записи: 72
27-02-2014 дата публикации

VISUAL FORCE FEEDBACK IN A MINIMALLY INVASIVE SURGICAL PROCEDURE

Номер: US20140058564A1
Автор: Larkin David Q., Zhao Tao, Zhao Wenyi
Принадлежит: INTUITIVE SURGICAL OPERATIONS, INC.

Methods of and a system for providing a visual representation of force information in a robotic surgical system. A real position of a surgical end effector is determined. A projected position of the surgical end effector if no force were applied against the end effector is also determined. Images representing the real and projected positions are output superimposed on a display. The offset between the two images provides a visual indication of a force applied to the end effector or to the kinematic chain that supports the end effector. In addition, tissue deformation information is determined and displayed. 1. A method of providing a visual representation of force information in a robotic surgical system , the method comprising:determining a force applied against a surgical end effector;displaying a first image showing an actual position of the end effector under the applied force; andsuperimposing on the first image a second image representing a projected position of the end effector offset from the first position, wherein the offset is a visual indication of the force.2. The method of claim 1 , wherein said at least some force comprises force applied to the end effector as a result of movement of the end effector between a first position and a second position claim 1 , wherein another force is applied to a linkage supporting the end effector claim 1 , and wherein the offset between the projected position and the actual position disregards at least some of the other force.3. The method of claim 1 , wherein the second image represents kinematic position information derived from joint states of a linkage supporting the end effector.4. The method of claim 1 , wherein the first image comprises a visual image of the end effector.5. The method of claim 1 , wherein displaying comprises displaying on a viewer of a surgeon console of the robotic surgical system.6. The method of claim 1 , wherein the second image comprises a synthetic representation of the tool showing a ...

Подробнее
Номер записи: 73
06-03-2014 дата публикации

Robot control information

Номер: US20140064601A1
Автор: Abhishek Tyagi, Arvind Ramanandan, Christopher Brunner, Mahesh Ramachandran, Murali Ramaswamy Chari
Принадлежит: Qualcomm Inc

Vision based tracking of a mobile device is used to remotely control a robot. For example, images captured by a mobile device, e.g., in a video stream, are used for vision based tracking of the pose of the mobile device with respect to the imaged environment. Changes in the pose of the mobile device, i.e., the trajectory of the mobile device, are determined and converted to a desired motion of a robot that is remote from the mobile device. The robot is then controlled to move with the desired motion. The trajectory of the mobile device is converted to the desired motion of the robot using a transformation generated by inverting a hand-eye calibration transformation.

Подробнее
Номер записи: 74
06-03-2014 дата публикации

INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD AND STORAGE MEDIUM

Номер: US20140067126A1
Автор: Kobayashi Kazuhiko, Watanabe Daisuke
Принадлежит: CANON KABUSHIKI KAISHA

There is provided with an information processing apparatus. An image including a target object is acquired. A coarse position and orientation of the target object is acquired. Information of a plurality of models which indicate a shape of the target object with different accuracy is held. A geometrical feature of the target object in the acquired image is associated with a geometrical feature indicated by at least one of the plurality of models placed at the coarse position and orientation. A position and orientation of the target object is estimated based on the result of association. 1. An information processing apparatus comprising:an image acquisition unit configured to acquire an image including a target object;a unit configured to acquire a coarse position and orientation of the target object;a holding unit configured to hold information of a plurality of models which indicate a shape of the target object with different accuracy;an associating unit configured to associate a geometrical feature of the target object in the acquired image with a geometrical feature indicated by at least one of the plurality of models placed at the coarse position and orientation; andan estimation unit configured to estimate a position and orientation of the target object based on the result of association.2. The information processing apparatus according to claim 1 , wherein the associating unit is further configured to select a model out of the plurality of models in accordance with a predetermined condition claim 1 , and to associate the geometrical feature of the target object and the geometrical feature indicated by the selected model.3. The information processing apparatus according to claim 2 , wherein the associating unit comprises a selection unit configured to select a model out of the plurality of models based on comparison between an index value calculated while repeating the estimation and a threshold claim 2 , andthe estimation unit comprises: 'a unit configured to ...

Подробнее
Номер записи: 75
06-03-2014 дата публикации

APPARATUS AND METHOD OF TAKING OUT BULK STORED ARTICLES BY ROBOT

Номер: US20140067127A1
Автор: Gotou Takefumi
Принадлежит: FANUC Corporation

An article take-out apparatus including: a 3D measuring device measuring surface positions of a plurality of articles stored in bulk in a 3D space so as to acquire position information of a plurality of 3D points; a connected set processing unit determining connected sets made by connecting 3D points which are close to each other, from the plurality of 3D points acquired by the 3D measuring device; an article identifying unit identifying positions and postures of the articles, based on position information of 3D points belonging to the connected sets; a hand position and posture processing unit determining positions and postures of the hand capable of taking out the identified articles; and a robot control unit controlling a robot to move the hand to the positions and postures determined by the hand position and posture processing unit and take out the articles. 1. An article take-out apparatus , comprising:a robot having a hand capable of holding an article;a 3D measuring device measuring surface positions of a plurality of articles stored in bulk in a 3D space so as to acquire position information of a plurality of 3D points;a connected set processing unit determining connected sets made by connecting 3D points which are close to each other, from the plurality of 3D points acquired by the 3D measuring device;an article identifying unit identifying positions and postures of the articles, based on position information of 3D points belonging to the connected sets;a hand position and posture processing unit determining positions and postures of the hand capable of taking out the articles, the positions and postures of the articles being identified by the article identifying unit; anda robot control unit controlling the robot to move the hand to the positions and postures determined by the hand position and posture processing unit and take out the articles.2. The article take-out apparatus according to claim 1 ,wherein the plurality of 3D points acquired by the 3D ...

Подробнее
Номер записи: 76
13-03-2014 дата публикации

SYSTEM TO MONITOR/ANALYZE ROBOT RELATED INFORMATION AND DISPLAY ON A SMART DEVICE

Номер: US20140074286A1
Автор: Eckert Isaac, Evans Judy, Geheb Gordon, Kalbavi Ganesh, Kijek Don, Krause Ken, Prajapati Ashok, Sun Yi, Tsai Jason, Wunderlich Rick E.
Принадлежит:

A robot monitoring system for monitoring and analyzing robot related data and displaying the data on a smart device is provided. The robot monitoring system comprises at least one robot in local communication with at least one robot controller. The at least one robot controller has local processing power for monitoring, gathering, and analyzing data related to the at least one robot. The data analysis results are formatted into a message file that is communicated to a storage system. The message file may then be retrieved by a smart device having software running thereon for displaying the results of the data analysis. 1. A robot monitoring system for monitoring and analyzing robot related data and displaying the data on a smart device , the system comprising:at least one robot; andat least one robot controller in communication with the at least one robot, wherein the at least one robot controller has local processing power and is configured to monitor and analyze robot related data to determine a condition of the at least one robot, wherein the at least one robot controller further includes a communications device for communicating the condition of the at least one robot to a storage system, wherein the storage system is at least one of an email server system, a remote storage system, and a local memory of the at least one robot controller.2. The system according to claim 1 , wherein at least one software application running on the at least one robot controller collects and analyzes the robot related data to determine the condition of the at least one robot claim 1 , and the at least one software application further defines triggers that can be activated to communicate the condition of the at least one robot from the robot controller to the storage system.3. The system according to claim 2 , wherein the at least one software application formats a result of the robot related data analysis for communicating the condition of the at least one robot as a message file ...

Подробнее
Номер записи: 77
13-03-2014 дата публикации

Motion prediction control device and method

Номер: US20140074291A1
Автор: Hajime Banno, Masakazu Fujii, Mitsuharu Sonehara, Shuhei Emoto, Toshihiro Hayashi
Принадлежит: IHI Corp

(A) One or both of an object and a robot are measured by measuring units to acquire sensor information. (B) The internal state of one or both of the object and the robot is predicted and updated by a state estimation unit on the basis of the sensor information. (C) The internal state is stored by a data storage unit. (D) The robot is controlled by a robot control unit. At (B), the internal state is updated by the state estimation unit at an arbitrary timing that is independent of the control cycle of the robot. At (D), a prediction value necessary for controlling the robot is calculated by the robot control unit at a control cycle on the basis of the latest internal state stored in the data storage unit.

Подробнее
Номер записи: 78
13-03-2014 дата публикации

ROBOT DEVICE, METHOD OF CONTROLLING ROBOT DEVICE, COMPUTER PROGRAM, AND PROGRAM STORAGE MEDIUM

Номер: US20140074292A1
Автор: Sawada Tsutomu
Принадлежит: SONY CORPORATION

Provided is an excellent robot device capable of preferably detecting difference between dirt and a scratch on a lens of a camera and difference between dirt and a scratch on a hand. 1. A robot device , comprising:a camera;a hand; anda controller, which processes an image taken by the camera and controls operation of the hand, whereinthe controllerobtains a reference image obtained by photographing the hand set in a specific position relative to the camera,detects whether there is dirt on a lens of the camera or the hand by comparing a first detection image obtained by photographing the hand set in the specific position with the reference image at the time of dirt detection, anddetermines on which of the lens of the camera and the hand the dirt is by comparing a second detection image obtained by photographing the hand moved from the specific position with the first detection image when detecting the dirt on the lens of the camera or the hand.2. The robot device according to claim 1 , whereinthe controller determines that there is no dirt on the lens of the camera and the hand when correlation between the first detection image and the reference image is high over an entire image and detects the dirt on the lens of the camera or the hand in a low-correlation site when there is the low-correlation site with low correlation on the image.3. The robot device according to claim 2 , whereinthe controller determines that there is the dirt on the lens of the camera when the correlation is high in the low-correlation site on the image and determines that there is the dirt on the hand when the correlation is low in the low-correlation site on the image when comparing the second detection image with the first detection image.4. The robot device according to claim 1 , whereinthe controller wipes a dirty portion on the lens of the camera and then compares a third detection image obtained by photographing the hand set in the specific position with the reference image to detect ...

Подробнее
Номер записи: 79
20-03-2014 дата публикации

ROBOT SYSTEM AND WORKPIECE TRANSFER METHOD

Номер: US20140079524A1
Автор: NAMBA Taro, SHIMONO Toshiaki, TOMO Toshihiro
Принадлежит: KABUSHIKI KAISHA YASKAWA DENKI

There is provided a robot system including a first robot arm provided with a holding unit for holding one of workpieces arranged on a workpiece arrangement unit and configured to transfer the one workpiece held by the holding unit, and a second robot arm provided with a detecting unit for detecting an arrangement state of the one workpiece. The robot system further includes a detecting operation control unit configured to perform a control operation in such a way that, during the operation of the first robot arm, the detecting unit detects the arrangement state of another one of the workpieces. 1. A robot system , comprising:a first robot arm provided with a holding unit for holding one of workpieces arranged on a workpiece arrangement unit and configured to transfer the one workpiece held by the holding unit;a second robot arm provided with a detecting unit for detecting an arrangement state of the one workpiece; anda detecting operation control unit configured to perform a control operation in such a way that, during the operation of the first robot arm, the detecting unit detects the arrangement state of another one of the workpieces.2. The robot system of claim 1 , wherein the detecting operation control unit is configured to perform a control operation such that claim 1 , after the holding unit starts an operation of holding the one workpiece to transfer the one workpiece and before the holding unit starts the operation of holding the another workpiece claim 1 , the detecting unit detects the arrangement state of the another workpiece.3. The robot system of claim 2 , wherein the detecting operation control unit is configured to perform a control operation such that claim 2 , before the one workpiece held by the holding unit is placed on a receiving unit for receiving the workpieces claim 2 , the detecting unit starts the detection of the arrangement state of the another workpiece.4. The robot system of claim 3 , wherein the detecting operation control unit is ...

Подробнее
Номер записи: 80
20-03-2014 дата публикации

Industrial Robot Having Electronic Drive Devices Distributed on the Robot Structure

Номер: US20140081453A1
Автор: Alotto Giorgio
Принадлежит: Comau S.p.A

In an industrial robot, the electronic drive devices for the electrical supply and control of electric motors of the robot are distributed on the robot structure, each being adjacent to the respective electric motor. The electronic drive devices are connected in series to each other and to a central processing unit. In this series connection an Ethernet line is included for communication of the electronic drive devices with the central processing unit. Thanks to this series connection, the robot harness is dramatically simplified and the operations for its replacement are consequently easier and faster. The structure of the connectors between the robot and the control unit is also greatly simplified. 1. An industrial robot , comprising:a robot structure comprising a plurality of robot elements movable relative to each other and a plurality of actuating means, the plurality of actuating means each for driving the movement of a respective robot element, wherein each of the actuating means associated with a respective robot element comprises at least one electric drive motor; and the electronic drive devices are distributed on the robot structure, each adjacent to the respective electric motor,', 'the electronic central processing unit is only connected to the first of the aforesaid electronic drive devices distributed on the robot structure, the other electronic drive devices being connected in series to the first electronic drive device,', 'each electronic drive device is rigidly connected to the body of the respective electric motor with the interposition of an adapter plate,', 'a connector unit is mounted on top of each electronic drive device including a first electrical connector and a second electrical connector for the aforesaid series connection of the electronic drive device between the central electronic processing unit and the other electronic drive devices, and', 'the first and second electrical connector include connecting elements for an Ethernet line, ...

Подробнее
Номер записи: 81
20-03-2014 дата публикации

ROBOT SYSTEM AND ARTICLE MANUFACTURING METHOD

Номер: US20140081458A1
Автор: SHIMONO Toshiaki
Принадлежит: KABUSHIKI KAISHA YASKAWA DENKI

A robot system includes a controller that performs control such that corner portions of a glass substrate, which is different in size from a reference glass substrate, are detected by cameras in a state in which the glass substrate is held and shifted by an end effecter of a robot arm. 1. A robot system comprising:a detector that is fixedly provided to detect a detected portion of a workpiece;a robot arm equipped with a holder that holds the workpiece; anda workpiece detection control unit that performs control such that, when a detected portion of a second workpiece having a size different from a reference size of a first workpiece, in the workpiece, is detected, the detected portion of the second workpiece is detected by the detector in a state in which the second workpiece is held and shifted by the holder of the robot arm.2. The robot system according to claim 1 ,wherein the workpiece detection control unit is configured such that the detected portion of the second workpiece is detected by the detector in a state in which the second workpiece is held and shifted from a reference position in a horizontal direction by the holder of the robot arm.3. The robot system according to claim 1 ,wherein the detector includes a first detector part and a second detector part,wherein the detected portion of the workpiece includes a first detected portion and a second detected portion, andwherein the workpiece detection control unit is configured such that, when the detected portion of the second workpiece is detected, the first detected portion of the second workpiece is detected by the first detector part in a state in which the second workpiece is located at the reference position, and the second detected portion of the second workpiece is detected by the second detector part in a state in which the second workpiece is held and shifted from the reference position by the holder of the robot arm.4. The robot system according to claim 3 ,wherein the workpiece detection control ...

Подробнее
Номер записи: 82
20-03-2014 дата публикации

DEPTH MAPPING VISION SYSTEM WITH 2D OPTICAL PATTERN FOR ROBOTIC APPLICATIONS

Номер: US20140081459A1
Автор: Drake, Dubois Marc, JR. Thomas E.
Принадлежит:

A depth mapping device equipped with a 2D optical pattern projection mounted on a tool attached to a robot may be used to measure distance between the tool and an object. Depth data generated by the depth mapping device can be used to generate an augmented-reality image to provide real-time information about the object position, orientation, or other measurements to an operator performing a industrial robotic process. Images also may be generated with a camera located on the robot. Real-time depth information may be used to prevent collision. Fast depth information acquisition may be used to modify robot position for better processing. Real-time data acquisition plus fast processing may provide augmented-reality images to operators for better robot programming. Location data of the industrial process on the object may be used to improve analysis of the industrial process data. 1. A depth-measuring system for robotic applications comprising:a robot;a tool attached to the robot and having a reference point;an illuminator that emits energy installed on the tool to illuminate an object; andat least one energy receiver that is installed on the tool and detects at least some energy reflected by the object in response to the energy emitted by the illuminator.2. The depth-measuring system of where the illuminator emits energy according to a two-dimensional pattern.3. The depth-measuring system of wherein the two-dimensional pattern comprises a dot pattern where the dots are uncorrelated in a pseudo-random or random pattern.4. The depth-measuring system of wherein the two-dimensional pattern changes as a function of time.5. The depth-measuring system of wherein the at least one energy receiver comprises a two-dimensional sensor.6. The depth-measuring system of wherein the at least one energy receiver has a pre-determined spatial relationship with the reference point on the tool.7. The depth-measuring system of wherein the illuminator has no pre-determined spatial ...

Подробнее
Номер записи: 83
27-03-2014 дата публикации

Robot having soft arms for locomotion and grip purposes

Номер: US20140083230A1
Автор: Andrea Arienti, Barbara Mazzolai, Cecilia Laschi, Marcello Calisti, Michele Giorelli, Paolo Dario
Принадлежит: Individual

A robot having an overall structure inspired by the Octopus vulgaris is described. The robot has soft arms joined in a radial manner to a central support. The soft arms have the capability of lengthening, shortening and wrapping around in a coil-shape manner. The extremely simple movements and coordination of the soft arms are effective because of the interaction between the single actions. For example during locomotion, while some arms act as a support for stability, the others provide for thrusting allowing the robot to advance. Once near the target, some arms provide for stability whereas the others can bend so as to wrap around and transport external entities.

Подробнее
Номер записи: 84
27-03-2014 дата публикации

MULTIJOINT ROBOT

Номер: US20140083233A1
Автор: MAMBA Takashi
Принадлежит: KABUSHIKI KAISHA YASKAWA DENKI

This disclosure discloses a multijoint robot. The multijoint robot has a plurality of link members and a plurality of joints. At least one of the plurality of joints includes a double joint structure comprising a first link member, an intermediate link member connected to the first link member rotatably around a first joint axis, and a second link member which is connected to the intermediate link member rotatably around a second joint axis and in which two small link members are connected capable of relative rotation around a rotating axis along a longitudinal direction of the link member. The one of the plurality of joints further includes a first bevel gear and a second bevel gear disposed facing each other on the second joint axis, a first actuator configured to transmit a driving force to the first bevel gear and a second actuator configured to transmit a driving force to the second bevel gear, and a third bevel gear meshed with both the first bevel gear and the second bevel gear and connected to one of the small link members by a rotating shaft disposed along the rotating axis. 1. A multijoint robot comprising:a plurality of link members; anda plurality of joints,at least one of the plurality of joints comprises:a double joint structure comprising a first link member, an intermediate link member connected to the first link member rotatably around a first joint axis, and a second link member which is connected to the intermediate link member rotatably around a second joint axis and in which two small link members are connected capable of relative rotation around a rotating axis along a longitudinal direction of the link member;a first bevel gear and a second bevel gear disposed facing each other on the second joint axis;a first actuator configured to transmit a driving force to the first bevel gear and a second actuator configured to transmit a driving force to the second bevel gear; anda third bevel gear meshed with both the first bevel gear and the second ...

Подробнее
Номер записи: 85
27-03-2014 дата публикации

POSITION CONTROL METHOD AND ROBOT

Номер: US20140088762A1
Автор: IIDA Izumi
Принадлежит: SEIKO EPSON CORPORATION

A position control method for controlling a position of a movable portion, includes: performing control of allowing the movable portion to approach a predetermined position by moving the movable portion; and performing control of moving the movable portion to the predetermined position by moving the movable portion and detecting a relative position of the movable portion with respect to the predetermined position by using an imaging unit. 1. (canceled)2. A position control method for controlling a position of a movable portion according to instructions from a processor , the position control method comprising:moving the movable portion from a start position to a target position by moving the movable portion and detecting a relative position of the movable portion with respect to the target position by an imaging unit according to a first instruction from the processor; andsuppressing a first vibration of the movable portion based on movement of the movable portion according to a second instruction from the processor, the movement being detected by an inertial sensor,wherein at least a part of the first vibration is suppressed when the movable portion is between the start position and the target position.3. The position control method according to claim 2 , wherein claim 2 , in the suppressing of the first vibration of the movable portion claim 2 , the first vibration of the movable portion is suppressed by detecting the first vibration of the movable portion by using the inertial sensor and adding a second vibration having a phase opposite to that of the first vibration to the movable portion.4. The position control method according to claim 2 , wherein the relative position of the movable portion with respect to the target position is detected by imaging a mark from which relative position information with respect to the target position can be acquired and analyzing an imaged image.5. The position control method according to claim 4 ,wherein the target position is ...

Подробнее
Номер записи: 86
27-03-2014 дата публикации

METHOD FOR INVALIDATING SENSOR MEASUREMENTS AFTER A PICKING ACTION IN A ROBOT SYSTEM

Номер: US20140088765A1
Автор: Lukka Tuomas, Valpola Harri
Принадлежит: ZenRobotics Oy

The invention relates to a method and system for invalidating sensor measurements after a sorting action on a target area of a robot sorting system. In the method there are obtained sensor measurements using sensors from a target area. A first image is captured of the target area using a sensor over the target area. A first sorting action is performed in the target area using a robot arm based on the sensor measurements and the first image. Thereupon, a second image of the target area is captured using a sensor over the target area. The first and the second images are compared to determine invalid areas in the target area. The invalid areas are avoided in future sorting actions based on the sensor measurements. 1. A method , comprising:obtaining at least two sensor measurements using at least one sensor from a target area;forming a first image of the target area;performing a first sorting action in the target area based on at least a first sensor measurement among the at least two sensor measurements;forming a second image of the target area;comparing the first image and the second image to determine an invalid area in the target area, wherein an area with low correlation between the first image and the second image is selected as the invalid area; andavoiding the invalid area in at least one second sorting action in the target area, the second sorting action being based on at least a second sensor measurement among the at least two sensor measurements.2. The method according to claim 1 , wherein the first image is formed by capturing an image of the target area using a first camera and the second image is formed by capturing an image of the target area using a second camera.3. The method according to claim 2 , the method further comprising:running a conveyor belt on which the target area is located a predefined length, the predefined length corresponding to a distance between the first camera and a second camera.4. The method according to claim 3 , the method ...

Подробнее
Номер записи: 87
03-04-2014 дата публикации

ARM COMPONENT AND INDUSTRIAL ROBOT EMPLOYING SAME

Номер: US20140090508A1
Автор: HIRANO Akifumi
Принадлежит: YAMAHA HATSUDOKI KABUSHIKI KAISHA

An arm member has: a first rod and a second rod each of which has a rod side joint portion which is assembled with the counterpart joint portion; and a connecting member which interconnects the two rods. The assembled state of the rod side joint portion with the counterpart joint portions is released by separating the two rods from each other for a predetermined distance or more. The connecting member includes: a first connecting piece disposed on the first rod; a second connecting piece disposed on the second rod; a spring member which is installed between the two connecting pieces and biases the two rods in directions to approach each other; and a regulating member that regulates displacement of the two rods in the departing directions, so that the distance between the two rods becomes less than the predetermined distance. 1. An arm member that is connected to a counterpart member having a pair of counterpart joint portions which faces the opposite side from each other , comprising:a first rod and a second rod each of which has a rod side joint portion which constitutes a ball joint, in collaboration with the counterpart joint portion, and is connected to the counterpart member by the rod side joint portion that is assembled with the counterpart joint portion; anda connecting member which interconnects the first rod and the second rod which are each connected to the counterpart member, at predetermined positions in the axis direction thereof, whereinthe assembled state of the rod side joint portion with the counterpart joint portion is released by separating the two rods, which are connected to the counterpart member, from each other for a predetermined distance or more, andthe connecting member includes: a first connecting piece disposed on the first rod; a second connecting piece disposed on the second rod; a spring member which is installed between the two connecting pieces and biases the two rods in directions to approach each other; and a regulating member ...

Подробнее
Номер записи: 88
10-04-2014 дата публикации

SYSTEM AND METHOD FOR CAMERA-BASED AUTO-ALIGNMENT

Номер: US20140100694A1
Автор: Rueckl Stefan, Sickert Manuel, STREIBL Sebastian
Принадлежит: Beckman Coulter, Inc.

A camera-based auto-alignment process can include gripping a first calibration tool by a gripper unit of a robotic arm. Images of the first calibration tool can be captured by a camera coupled to the gripper unit. The gripper unit and camera unit can be aligned on two roughly parallel axes. The images can be analyzed to calibrate the axis of view of the camera with the gripper axis, providing an XY calibration of the robotic arm. The gripper unit can be calibrated on a Z-axis using optical calibration with landmarks provided on a second calibration tool, and/or by moving the gripper unit towards the work surface until it makes contact with the work surface and stops. Once calibrated, the camera can be used to identify one or more landmarks at known locations on the work surface to align the robotic arm with the work surface. 1. A method for auto-alignment , comprising:gripping an X-Y calibration tool by a gripper unit of a robotic arm at a first height above a work surface on a first axis;acquiring images of the X-Y calibration tool at the first height by a camera on a second axis, wherein the camera is coupled to the gripper unit; andanalyzing the images of the first calibration tool at the first height to determine an offset between the second axis and the first axis.2. The method of claim 1 , further comprising:rotating the X-Y calibration tool through a field of view of the camera, wherein the X-Y calibration tool includes a substantially flat portion including a plurality of landmarks; and identifying a plurality of elliptical paths, each corresponding to one of the landmarks in the images,', 'determining a center point of the plurality of elliptical paths corresponding to the first axis,', 'based on the center point of the plurality of elliptical paths, determining an offset between the first axis and second axis., 'wherein analyzing the images of the X-Y calibration tool comprises'}3. The method of claim 2 , further comprising:positioning the robotic arm such ...

Подробнее
Номер записи: 89
10-04-2014 дата публикации

WORKING METHOD USING SENSOR AND WORKING SYSTEM FOR PERFORMING SAME

Номер: US20140100696A1
Автор: KANG Sang Seung, KIM Jae Hong, KIM Joong Bae, KIM Kye Kyung, Lee Jae Yeon, PARK Jong Hyun
Принадлежит:

Disclosed is a working method using a sensor, which increases recognition of a component to increase mounting of a component and enhancing productivity. The working method includes: extracting an object to be picked from a pile of objects using the sensor; picking the extracted object to move the picked object to a predetermined place; and estimating an angle of the moved object in the current position using the sensor. Accordingly, the working method can perform precise component recognition and posture estimation by two steps: a component picking step and a component recognition step, and effectively apply to a manufacturing line, thereby improving mounting of a component and enhancing productivity of a product. 1. A working method using a sensor , comprising:extracting an object to be picked from a pile of objects using the sensor;picking the extracted object to move the picked object to a predetermined place; andestimating an angle of the moved object in the current position using the sensor.2. The working method of claim 1 , wherein the extracting of the object to be picked comprises:acquiring an image and depth information of the pile of objects using a visual sensor;extracting a region of the object to be picked using the acquired image and depth information of the pile of objects;calculating a local point of the extracted region of the object and measuring a distance to the extracted object using a distance sensor; andpicking the extracted object on the basis of the measured distance to move the picked object to a predetermined place.3. The working method of claim 2 , wherein the extracting of the region of the object comprises extracting the region of the object in a model most similar to a standard model in which there is no change in angle in x-axis claim 2 , y-axis claim 2 , and z-axis directions claim 2 , respectively claim 2 , using the acquired image and depth information of the object.4. The working method of claim 1 , wherein the estimating of an ...

Подробнее
Номер записи: 90
01-01-2015 дата публикации

APPARATUS FOR CONTROLLING JOINT EXERCISE

Номер: US20150000437A1
Автор: JEONG CHANG WOOK, Sin Chun Chol
Принадлежит:

The present invention relates to a joint motion control apparatus. According to one aspect of the invention, there is provided a joint motion control apparatus, comprising: an annular unit; and a rotating unit to guide and fix a wire such that the wire causes joint motion of an instrument according to the rotation thereof, wherein the annular unit comprises a first fixing unit and a second fixing unit, and wherein the rotating unit carries out sliding operation in a pitch or yaw direction via a sliding assistance member disposed with respect to the first or second fixing unit. 1. A joint motion control apparatus , comprising:an annular unit; anda rotating unit to guide and fix a wire such that the wire causes joint motion of an instrument according to the rotation thereof,wherein the annular unit comprises a first fixing unit and a second fixing unit, andwherein the rotating unit carries out sliding operation in a pitch or yaw direction via a sliding assistance member disposed with respect to the first or second fixing unit.2. A joint motion control apparatus as claimed in claim 1 , wherein the wire comprises a pitch wire and a yaw wire.3. A joint motion control apparatus as claimed in claim 1 , wherein the first fixing unit is an insertion hole and the second fixing unit is an insertion groove.4. A joint motion control apparatus as claimed in claim 1 , wherein the rotating unit comprises a sliding groove to carry out sliding operation with respect to the sliding assistance member.5. A joint motion control apparatus as claimed in claim 1 , wherein the rotating unit comprises a wire guide groove and the wire is guided within the wire guide groove.6. A joint motion control apparatus as claimed in claim 5 , wherein the wire is collected at the front end of the rotating unit and further guided.7. A joint motion control apparatus as claimed in claim 1 , wherein the rotating unit comprises a wire fixing hole and the wire is fixed to the wire fixing hole. The present ...

Подробнее
Номер записи: 91
06-01-2022 дата публикации

MICRO-ROBOT OPERATING DEVICE USING UNIDIRECTIONAL ULTRASONIC TRANSDUCER, AND SYSTEM USING SAME

Номер: US20220001157A1
Автор: Choi Eunpyo, Kang Byungjeon, Kim Chang-Sei, Lee Hansol, PARK Jongoh
Принадлежит:

A micro-robot operating system using an ultrasonic transducer according to an embodiment of the present invention may comprise: a micro-robot moving in an inspection object; and a micro-robot operating device for controlling the location of the micro-robot. A micro-robot operating device using an ultrasonic transducer may comprise: an ultrasonic transducer unit including a plurality of ultrasonic transducers; and a control unit for controlling the plurality of ultrasonic transducers, wherein the plurality of ultrasonic transducers are arranged to form a curved surface toward a particular location in a space. 1. A microrobot driving apparatus using ultrasonic transducers , comprising:an ultrasonic transducer unit comprising a plurality of ultrasonic transducers; anda control unit controlling the plurality of ultrasonic transducers,wherein the plurality of ultrasonic transducers is arranged to form a curved surface in a way to be directed toward a specific location in a space,the control unit applies a signal to each ultrasonic transducer, included in the plurality of ultrasonic transducers, with a time delay in order to change a location of a focus, andthe focus indicates a vertical height where microrobots are disposed with respect to the ultrasonic transducer unit.2. The microrobot driving apparatus of claim 1 , further comprising:a motor stage unit for adjusting a location on a plane identical with a plane of the ultrasonic transducer unit,wherein the control unit controls the motor stage unit.3. The microrobot driving apparatus of claim 2 , further comprising:an interface comprising a liquid medium,wherein the interface is disposed between the microrobot driving apparatus and a space where the microrobots are disposed.4. The microrobot driving apparatus of claim 1 , wherein the plurality of ultrasonic transducers is divided into n areas claim 1 , each having a fan shape and having a central angle of 360°/n (n is an integer equal to or greater than 2) claim 1 , ...

Подробнее
Номер записи: 92
06-01-2022 дата публикации

Legged Robot

Номер: US20220001531A1
Автор: Kenneally Gavin, Parikh Jiren
Принадлежит:

A legged robot having a frame with a plurality of links in mechanical communication with plurality of brackets, the frame forming a front, back, top, bottom, and sides, legs in mechanical communication with one or more of the plurality of brackets, each leg having a knee motor, an abduction motor, and a hip motor, a computer module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs, and a power module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs and the computer module. 1. A legged robot , comprising:a frame comprising a plurality of links in mechanical communication with plurality of brackets, the frame forming a front, back, top, bottom, and sides;legs in mechanical communication with one or more of the plurality of brackets, each leg comprising a knee motor, an abduction motor, and a hip motor;a computer module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs; anda power module in mechanical communication with one or more of the plurality of brackets and in electrical communication with the legs and the computer module.2. The legged robot of claim 1 , further comprising a motor enclosure enclosing the hip motor and the abduction motor.3. The legged robot of claim 2 , wherein the motor enclosure encloses a motor controller in electrical communication with the computer module.4. The legged robot of claim 3 , wherein each of the abduction motor claim 3 , hip motor claim 3 , and knee motor has an associated encoder claim 3 , and each associated encoder is in electronic communication with the motor controller.5. The legged robot of claim 2 , wherein the abduction motor actuates movement of the motor enclosure.6. The legged robot of claim 2 , wherein the motor enclosure is mechanically coupled to one or more of the plurality of brackets via a mechanical ...

Подробнее
Номер записи: 93
07-01-2021 дата публикации

MOBILE ROBOT

Номер: US20210001477A1
Автор: HONG Eulpyo, JUNG Chungin, YANG Sunho
Принадлежит: LG ELECTRONICS INC.

According to an embodiment of the present disclosure, a mobile robot may include a body provided with a driving unit, a body display unit positioned on an upper side of a front portion of the body, extending vertically, and provided with a display on a front surface thereof, a supporter extending vertically inside the body display unit and having a lower end supported by the body, and an interface module supported by the supporter and electrically connected to the display. 120-. (canceled)21. A mobile robot , comprising:a body, the body including a driver configured to move the mobile robot;a vertically extending body display unit located at an upper side of a front portion of the body, the body display unit having a front surface and a rear surface;a display located at the front surface of the body display unit;a vertically extending supporter located inside the body display unit, the supporter having a lower end supported by the body; andan interface module supported by the supporter, the interface module being electrically connected to the display.22. The mobile robot of claim 21 , wherein the body display unit has a lower opening portion at a lower end thereof claim 21 , andwherein the supporter extends through the lower opening portion of the body display unit.23. The mobile robot of claim 21 , further comprising an inner bracket configured to fasten the supporter to an inner surface of the body display unit.24. The mobile robot of claim 21 , wherein the interface module includes:a module case fastened to the supporter; andan interface printed circuit board located in the module case.25. The mobile robot of claim 21 , further comprising:a head display unit rotatably connected to an upper portion of the body display unit;a rotating motor disposed inside the body display unit;a vertically extending rotating shaft connecting the rotating motor to the head display unit to rotate the head display unit; anda motor mount on which the rotating motor is mounted, the ...

Подробнее
Номер записи: 94
07-01-2021 дата публикации

Autonomous Mobile Robot And Method For Controlling An Autonomous Mobile Robot

Номер: US20210001480A1
Автор: Alexandrov Vladimir, Artes Harold, Mascher Erwin
Принадлежит: RobArt GmbH

An autonomous mobile robot is described having a propulsion module designed to move the robot in its surroundings, a control module designed to transmit control commands to the propulsion module, the control commands being designed to control the movement of the robot, and a security module designed to detect a dangerous situation, classing an actual movement of the robot as dangerous on the basis of predetermined criteria, and to change or stop the movement of the robot when the movement is classed as dangerous. 1100. Autonomous mobile robot () with:{'b': 170', '100, 'a drive module (), configured to move the robot () through an environment;'}{'b': 140', '170', '100, 'a control module () configured to sent control commands to the drive module (), wherein the control commands are configured to control the movement of the robot (); and'}{'b': '150', 'a safety module () configured to;'}{'b': 100', '140, 'detect a dangerous situation by assessing a current movement of the robot () controlled by the control module () to be dangerous based on specified criteria; and'}{'b': '100', 'alter or stop the movement of the robot () if the current movement is assessed as being dangerous.'}2100150. Robot () in accordance with claim 1 , wherein the safety module () is further configured to:{'b': 100', '140', '150, 'monitor the behavior of the robot () that is determined by the control module () in a situation that has been recognized by the safety module () as a dangerous situation, and'}assess this behavior as adequate or inadequate in accordance with specified criteria.3100140140100. Robot () in accordance with claim 2 , wherein the monitoring the reaction of the control module () comprises analyzing the control commands sent by the control module () claim 2 , wherein inferences can be drawn from the control commands regarding the current movement of the robot ().4100140170. Robot () in accordance with any of or claim 2 , wherein the monitoring of the reaction of the control ...

Подробнее
Номер записи: 95
07-01-2021 дата публикации

BALLISTIC ROBOT SYSTEM WITH SPIN AND OTHER CONTROLLED MOTION OF ROBOT DURING FLIGHT

Номер: US20210001485A1
Автор: CHRISTENSEN DAVID LOYAL, CHRISTENSEN STEVEN NIELS, DOHI ANTHONY PAUL, IMAHARA GRANT MASARU, Niemeyer Gunter D., POPE MORGAN T., SETRAKIAN MARK SOX, WATSON SCOTT FRAZIER
Принадлежит:

Systems and corresponding control methods providing a ballistic robot that flies on a trajectory after being released (e.g., in non-powered flight as a ballistic body) from a launch mechanism. The ballistic robot is adapted to control its position and/or inflight movements by processing data from onboard and offboard sensors and by issuing well-timed control signals to one or more onboard actuators to achieve an inflight controlled motion. The actuators may move an appendage such as an arm or leg of the robot or may alter the configuration of one or more body links (e.g., to change from an untucked configuration to a tucked configuration), while other embodiments may trigger a drive mechanism of an inertia moving assembly to change/move the moment of inertia of the flying body. Inflight controlled movements are performed to achieve a desired or target pose and orientation of the robot during flight and upon landing. 1. A ballistic robot system comprising:a robot comprising a controller, onboard sensors, a body supporting the controller and onboard sensors, and at least one component that is configured for actuation by the controller;a catching system with a landing surface at a first location; anda launch mechanism at a second location that is spaced apart from the landing surface a lateral distance, wherein the launch mechanism operates to first support the robot during a pre-launch process stage during which energy is provided to the body of the robot and to second launch the body of the robot as a ballistic body with a trajectory defining a flight path intersecting the landing surface and wherein the launch mechanism remains at the second location during and after the launch of the body of the robot,wherein the controller processes data collected by the onboard sensors while flying on the flight path including calculating an angular velocity and remaining time prior to the impact with the landing surface and generates a control signal to cause the actuation of ...

Подробнее
Номер записи: 96
07-01-2021 дата публикации

INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND STORAGE MEDIUM

Номер: US20210001487A1
Автор: KAWAGUCHI Atsuo, OHTSUKA Aiko
Принадлежит: RICOH COMPANY, LTD.

An information processing apparatus for controlling an operation of a telepresence robot at a site includes circuitry configured to receive notification information including device position information of an operation device at the site, the operation device being configured to receive an operation performed by a user, output an operation start request for moving to a specific movement destination, to a specific telepresence robot that is identified based on the device position information included in the received notification information and robot position information of the telepresence robot at the site, transmit a communication request to an administrator terminal configured to perform a remote communication with the specific telepresence robot, instruct the specific telepresence robot to move to the specific movement destination, and start a remote communication between the administrator terminal and the specific telepresence robot. 1. An information processing apparatus for controlling an operation of a telepresence robot at a site , the information processing apparatus comprising:circuitry configured toreceive notification information including device position information of an operation device at the site, the operation device being configured to receive an operation performed by a user;output an operation start request for moving to a specific movement destination, to a specific telepresence robot that is identified based on the device position information included in the received notification information and robot position information of the telepresence robot at the site;transmit a communication request to an administrator terminal configured to perform a remote communication with the specific telepresence robot;instruct the specific telepresence robot to move to the specific movement destination; andstart a remote communication between the administrator terminal and the specific telepresence robot.2. The information processing apparatus of claim 1 , ...

Подробнее
Номер записи: 97
07-01-2021 дата публикации

SILVERWARE PROCESSING SYSTEMS AND METHODS

Номер: US20210001488A1
Автор: Birkmeyer Paul Michael, Choi Kerkil, Peters Kenneth McAfee, Pouliot Linda, Shah Parth
Принадлежит:

An imaging system captures images of a work surface having articles of cutlery distributed thereon. An end effector, such as a magnetic end effector, may be used to grasp articles of cutlery and place them in a designated location according to the type of the article of cutlery as determined using an image of the work surface and machine vision. A type of articles of cutlery may be classified based on the image such as according to category (knife, fork, spoon), size, or brand. Multiple articles of cutlery occluding one another may be dealt with by stirring or grasping multiple items and releasing them on a separate work surface in order to disperse them. Whether the end effector is grasping multiple articles of cutlery may be determined by capturing an image of the end effector. Machine vision may determine whether an article of cutlery is contaminated or damaged. 1. A method comprising:receiving, by a robotic actuator that includes a magnetic end effector, a command from a processing system to move the magnetic end effector proximate a plurality of articles of cutlery;engaging, by the robotic actuator, an article of cutlery from the plurality of articles of cutlery using the magnetic end effector;presenting, by the robotic actuator, the article of cutlery in a field of view of an imaging system;capturing, by the imaging system, an image of the article of cutlery; andidentifying, by the processing system, a type of the article of cutlery based on the image;2. The method of claim 1 , wherein the type of the article of cutlery includes at least one of:whether the article of cutlery is a knife, fork, or spoon;a size of the article of cutlery; anda brand of the article of cutlery.3. The method of claim 2 , further comprising identifying the type of the article of cutlery using a computer vision algorithm.4. The method of claim 1 , wherein the article of cutlery is one of a plurality of items of cutlery.5. The method of claim 1 , further comprising placing the article ...

Подробнее
Номер записи: 98
07-01-2021 дата публикации

ROBOTIC SORTATION SYSTEM

Номер: US20210001489A1
Автор: DRYER Stephen, GALLAGHER Thomas, GIULIANO Gary, PETERSON JUSTIN, Wicks Matt, Zimmer Justin
Принадлежит:

Methods, apparatus, computing devices, computing entities, and/or the like associated with a robotic sortation system are provided. An example method may include receiving imaging data associated with a first item at a first sorting location of a material handling system, determining a sorting destination for the first item based at least in part on the imaging data, determining a plurality of first-tier robotic devices and a plurality of second-tier robotic devices based at least in part on the first sorting location and the sorting destination, and generating a first sortation scheme for the first item. 1. An apparatus comprising at least one processor and at least one non-transitory memory comprising a computer program code , the at least one non-transitory memory and the computer program code configured to , with the at least one processor , cause the apparatus to:receive imaging data associated with a first item at a first sorting location of a material handling system;determine a sorting destination for the first item based at least in part on the imaging data;determine a plurality of first-tier robotic devices and a plurality of second-tier robotic devices from one or more robotic devices based at least in part on the first sorting location and the sorting destination;generate a first sortation scheme for the first item, wherein the first sortation scheme indicates a first sortation path associated with at least one of the plurality of first-tier robotic devices and at least one of the plurality of second-tier robotic devices of the material handling system; andcause the at least one of the plurality of first-tier robotic devices and the at least one of the plurality of second-tier robotic devices to transport the first item based at least in part on the first sortation scheme.2. The apparatus of claim 1 , wherein the at least one non-transitory memory and the computer program code are configured to claim 1 , with the at least one processor claim 1 , cause ...

Подробнее
Номер записи: 99
07-01-2021 дата публикации

MOTION RETARGETING CONTROL FOR HUMAN-ROBOT INTERACTION

Номер: US20210001490A1
Автор: Kaplish Akshit, Yamane Katsu
Принадлежит:

Controlling a robot may be performed by calculating a desired velocity based on an operator contact force and a robot contact force, calculating a transformation matrix based on an operator pose, a robot pose, a robot trajectory, the operator contact force, and the robot contact force, calculating a least square solution to J{circumflex over (v)}based on the desired velocity, calculating a scaling factor based on a current joint position of a joint of the robot, calculating a first trajectory based on the least square solution, the scaling factor, and the transformation matrix, calculating the robot trajectory, calculating a joint command based on the robot trajectory and the robot pose, and implementing the joint command. 1. A system for controlling a robot , comprising:{'sub': h', 'r', 'f', 'h', 'r, 'an admittance controller receiving an operator contact force fand a robot contact force fand calculating a desired velocity vbased on the operator contact force fand the robot contact force f;'}{'sub': k', 'h', 'r', 'j', 'k', 'h', 'r, 'a retargeting controller receiving an operator pose R, a robot pose q, a robot trajectory q*, the operator contact force f, and the robot contact force fand calculating a transformation matrix Twhich maps a human contact state to a robot contact state based on the operator pose R, the robot pose q, the robot trajectory q*, the operator contact force f, and the robot contact force f;'}{'sub': f', 'f', 'f', 'f', 'f', 'f', 'f', 'f', 'f', 'j, 'sup': +', '+, 'a force optimization controller receiving the desired velocity vand calculating a least square solution qto J{circumflex over (v)}based on the desired velocity v, wherein Jis a Moore-Penrose pseudoinverse of J, wherein Jis a Jacobian matrix of positions of contact points with respect to joint positions and calculating a scaling factor sbased on a current joint position qof a joint of the robot;'}{'sub': f', 'f', 'j', 'f', 'f', 'j, 'a motion optimization controller receiving the least ...

Подробнее
Номер записи: 100