Class / Patent application number | Description | Number of patent applications / Date published |
700262000 | Using particular manipulator orientation computation (e.g., vector/matrix calculation) | 38 |
20090216375 | Industrial Robot Tending A Machine And A Method For Controlling An Industrial Robot Tending A Machine - An industrial robot for tending a machine includes a machine part providing a repetitive sequence of movements. The robot includes a robot controller having a program storage for storing a path of programmed positions for the robot and a path of programmed positions for the machine part, and a motion planner configured to plan the motion of the robot and the motion of the machine part based on the programmed positions for the robot and the machine part such that the motion of the robot and the motion of the machine part are coordinated with each other. | 08-27-2009 |
20100152899 | SYSTEMS AND METHODS OF COORDINATION CONTROL FOR ROBOT MANIPULATION - Disclosed herein are systems and methods for controlling robotic apparatus having several movable elements or segments coupled by joints. At least one of the movable elements can include one or more mobile bases, while the others can form one or more manipulators. One of the movable elements can be treated as an end effector for which a certain motion is desired. The end effector may include a tool, for example, or represent a robotic hand (or a point thereon), or one or more of the one or more mobile bases. In accordance with the systems and methods disclosed herein, movement of the manipulator and the mobile base can be controlled and coordinated to effect a desired motion for the end effector. In many cases, the motion can include simultaneously moving the manipulator and the mobile base. | 06-17-2010 |
20100292842 | ROBOT HAND AND CONTROL SYSTEM, CONTROL METHOD AND CONTROL PROGRAM FOR THE SAME - A system is capable of controlling the movements of a hand so as to ensure a further stable grasp of an object. In a state wherein an object is in contact with a plurality of finger mechanisms and a palm portion by being grasped by the hand, the load to be applied to the object from each of the plurality of finger mechanisms can be adjusted. Thus, the position of the load center on the palm portion can be displaced so as to be included in a target palm area. Further, the load to be applied to the palm portion can be adjusted so as to fall within a target load range. | 11-18-2010 |
20100305757 | Method And Device For Controlling An Auxiliary Tool Axis Of A Tool Being Guided By A Manipulator - According to a method according to the invention for operating an additional tool axis (Z) of a tool ( | 12-02-2010 |
20110087375 | Method And Device For Controlling A Manipulator - A method according to the invention for controlling a manipulator, in particular a robot, includes the following steps: | 04-14-2011 |
20110160908 | BEHAVIOR CONTROL SYSTEM AND ROBOT - A behavior control system capable of controlling the behavior of an agent (robot) such that the agent securely applies a force to a moving object. The behavior control system calculates the degree of overlapping of a time-series probability density distribution between a predicted position trajectory of an object (ball) and a position trajectory candidate of a counter object (racket). Further, a behavior plan of the agent (robot) is generated such that the counter object is moved according to a desired position trajectory, which is a mean position trajectory or a central position trajectory of a position trajectory candidate of the counter object which has the highest degree of overlapping with the predicted position trajectory of the object among a plurality of position trajectory candidates of the counter object. | 06-30-2011 |
20120109380 | ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, AND ROBOT SYSTEM - A robot control apparatus is configured such that a vector calculator calculates a first vector representing a moving direction of a reference portion at a reference portion position and a second vector representing relative positions of a signal output position and the reference portion position. The robot control apparatus is configured such that a signal output determiner determines whether or not the notification signal is output on the basis of the first vector and the second vector that are calculated by the vector calculator. | 05-03-2012 |
20120150350 | MOBILE APPARATUS AND ROBOT, AND CONTROL SYSTEM THEREOF - Provided is a system and the like capable of appropriately searching a desired trajectory for a controlled subject in a time-space coordinate system in view of a state of the controlled subject. An initial positional relationship (k=1) between a first reference point q | 06-14-2012 |
20120303161 | ROBOT CONTROLLER - An element | 11-29-2012 |
20130013113 | MANIPULATOR AND PATH GENERATION METHOD THEREOF - A manipulator and a method of generating the shortest path along which the manipulator moves to grip an object without collision with the object models a target object and a gripper into a spherical shape, measures a current position of the gripper and a position of the target object and a target position of the gripper, calculates an arc-shaped path in a two-dimensional plane along which the gripper needs to move by calculating an included angle of a triangle consisting of the position of the object and the current position and target position of the gripper, transforms the arc-shaped path in the two-dimensional plane into an arc-shaped path in a three-dimensional space using a transform matrix consisting of the position of the object and the current position and target position of the gripper, thereby automatically generating the shortest path of the manipulator. | 01-10-2013 |
20130085606 | ROBOT CONTROL DEVICE AND CONTROL METHOD - A robot control apparatus and a control method which, in moving a tool along a synthesized trajectory where at least two operations are synthesized in middle of a desired trajectory, eliminates the need for arithmetic processing for determining synthesized trajectory, thereby drastically shortening processing time required for preprocessing for robot control. Control values for preceding operation and those for succeeding operation are calculated from initial to terminal values, respectively. With a requirement that initial values for succeeding operation, be matched to terminal values for preceding operation being added, target control values at this time for an actuator in a section where a tool is moved along the synthesized trajectory are calculated on the values obtained by adding values of difference between this time and a previous time for preceding operation to values of difference between this time and the previous time for succeeding operation, and actuator is controlled such that calculated target control values are attained. | 04-04-2013 |
20130131868 | CONTINUUM ROBOTS AND CONTROL THEREOF - Method for controlling continuum robots and systems therefrom are provided. In the system and method, a new system of equations is provided for controlling a shape of the elastic member and a tension on a tendon applying a force to an elastic member of the robot. The system of equations can be used to estimate a resulting shape of the elastic member from the tension applied to the tendon. The system of equations can also be used to estimate a necessary tension for the tendon to achieve a target shape. | 05-23-2013 |
20130144440 | ROBOT APPARATUS, CONTROL METHOD THEREOF, AND COMPUTER PROGRAM - A robot apparatus includes a reception arm determination unit that determines from a left arm or a right arm of a user a reception arm which is used in handing of an object; a hand location calculation unit that calculates a current location of a hand of the reception arm; and a handing operation unit that performs an object handing operation at the location of the hand of the reception arm which is calculated using the hand location calculation unit. | 06-06-2013 |
20130184870 | METHODS AND COMPUTER-PROGRAM PRODUCTS FOR GENERATING GRASP PATTERNS FOR USE BY A ROBOT - Methods and computer program products for generating robot grasp patterns are disclosed. In one embodiment, a method for generating robot grasp patterns includes generating a plurality of approach rays associated with a target object. Each approach ray of the plurality of approach rays extends perpendicularly from a surface of the target object. The method further includes generating at least one grasp pattern for each approach ray to generate a grasp pattern set of the target object, calculating a grasp quality score for each individual grasp pattern of the grasp pattern set, and comparing the grasp quality score of each individual grasp pattern with a grasp quality threshold. The method further includes selecting individual grasp patterns of the grasp pattern set having a grasp quality score that is greater than the grasp quality threshold, and providing the selected individual grasp patterns to the robot for on-line manipulation of the target object. | 07-18-2013 |
20140244039 | ROBOTIC MANIPULATOR ARTICULATION TECHNIQUES - A controller determines a set of solutions to an inverse kinematic relationship relating received three axes position and orientation requirements defining a tool control point (TCP) of a robotic manipulator, the robotic manipulator comprising at least seven revolute joints, to a respective angular position of each of the seven revolute joints. The set of solutions specifies, in terms of an angular position of a first revolute joint proximate to a proximal end of the robotic manipulator, at least one set of angular positions of the second, third, fourth, fifth, sixth and seventh revolute joints. The set of solutions results from solving only closed-form mathematical expressions. | 08-28-2014 |
20140343730 | ROBOT CONTROL METHODS - A robot control method of controlling a robot that has a flexible module including ‘n’ first nodes participating in pan motion and ‘n’ second nodes participating in tilt motion may include: measuring a translational motion distance, a pan motion angle, and a tilt motion angle of the flexible module; calculating state vectors of the ‘n’ first nodes and the ‘n’ second nodes using the measured translational motion distance; calculating operating angle distribution rates of the ‘n’ first nodes and operating angle distribution rates of the ‘n’ second nodes using the calculated state vectors of the ‘n’ first nodes and the calculated state vectors of the ‘n’ second nodes; and/or calculating operating angles of the ‘n’ first nodes and operating angles of the ‘n’ second nodes using the calculated operating angle distribution rates and the measured pan motion angle and tilt motion angle. | 11-20-2014 |
20150045954 | ROBOT APPARATUS AND ROBOT CONTROLLING METHOD - A robot apparatus | 02-12-2015 |
20150051735 | CONTROL APPARATUS OF ROBOT, ROBOT, AND PROGRAM THEREOF - Realized is a structure capable of deflection correction drive, in which actuator performance can be effectively utilized, and actuator performance U does not exceed a first constraint value as an upper limit. A target trajectory calculation unit | 02-19-2015 |
20150081100 | METHOD FOR CALIBRATING KINEMATICS - The invention relates to a method for calibrating parallel and serial robot kinematics, which have not been constructed especially for achieving the greatest possible accuracies. To this end, there is proposed a method which includes the following steps: —moving the kinematics along a predetermined number of first configuration vectors, wherein a control function is applied to the configuration vectors,—measuring the pose of the kinematics that is taken up as a result of the movement,—determining second configuration vectors which lead to the measured pose by application of the control function,—determining a correction value for at least a part of the first configuration vectors by evaluating the part of the first and associated second configuration vectors,—determining a function for transforming the configuration space by evaluating the correction values, and—defining a calibrated control function from sequentially carrying out first the function for transforming the configuration space and subsequently the control function. | 03-19-2015 |
20150314439 | END EFFECTOR CONTROLLING METHOD - An end effector controlling method includes the steps of obtaining the 3D physical information of an object, finding an appropriate sucking position by a vector programming method, generating a control command to control the sucking position of an end effector. The vector programming method includes the steps of creating a virtual platform and creating a virtual object on the virtual platform from the obtained 3D physical information, obtaining reference planes from each reference axis, computing a curve of surface interactions of each reference plane and the virtual object separately, and searching a sucking position on each curve according to a reachable range of a finger. of the end effector. | 11-05-2015 |
20160008977 | LINKING APPARATUS CONTROL DEVICE | 01-14-2016 |
20160136811 | METHOD FOR CONTROLLING A SEGMENT OF AN ARM OF A COMANIPULATOR - A method for controlling an actuator of a hinged segment including the steps of: estimating an inertia J of the segment and a minimum viscous hinge friction f; estimating or measuring a traveling speed {dot over (X)} of the segment and an internal deformation ΔX of the actuator; synthesizing a control law H | 05-19-2016 |
700263000 | Using Jacobian computation | 16 |
20100161131 | Inertia Shaping For Humanoid Fall Direction Change - A system and method is disclosed for controlling a robot that is falling down from an upright posture. Inertia shaping is performed on the robot to avoid an object during the fall. A desired overall toppling angular velocity of the robot is determined. The direction of this velocity is based on the direction from the center of pressure of the robot to the object. A desired composite rigid body inertia of the robot is determined based on the desired overall toppling angular velocity. A desired joint velocity of the robot is determined based on the desired composite rigid body inertia. The desired joint velocity is also determined based on a composite rigid body inertia Jacobian of the robot. An actuator at a joint of the robot is then controlled to implement the desired joint velocity. | 06-24-2010 |
20100228396 | Inverse kinematics - A real-time method for controlling a system, the system including a plurality of controlling means each having at least one variable parameter (q) and a controlled element having a trajectory which is controlled by the controlling means, wherein the trajectory is related to the variable parameters by a variable matrix, the method comprising defining a control transfer matrix (K) relating the variable parameters dq to the trajectory dx, and using a feedback loop in which a feedback term is computed that is dependent on an error (e) which is the difference between the desired trajectory (dxd) which can have an arbitrary dimension specified as (m) and a current trajectory (dx). | 09-09-2010 |
20120029699 | SYSTEM AND METHOD FOR ROBOT TRAJECTORY GENERATION WITH CONTINUOUS ACCELERATIONS - A method for robot trajectory generation with continuous acceleration, Receiving a user's motion command through a motion command interface, and sending the user's motion command to Cartesian trajectory generator; Converting the user's command to a trajectory path points of robot end effector in Cartesian space; Transforming the trajectory path points of robot end effector in Cartesian space into a robot trajectory path points in a joint space; Calculating positions, velocities and accelerations of robot joints in each motion servo cycle; Comparing the positions, velocities and accelerations of the robot joints generated by a joint Trajectory Interpolator with a velocity's limit value and an acceleration's limit value of each robot joint stored in a robot parameter database respectively. | 02-02-2012 |
20120245736 | MANIPULATOR JOINT-LIMIT HANDLING ALGORITHM - A desired movement command ( | 09-27-2012 |
20130144441 | GAIT GENERATING DEVICE FOR LEGGED MOBILE ROBOT AND OPERATIONAL TARGET GENERATING DEVICE FOR ROBOT - A gait generating device | 06-06-2013 |
20130310982 | Method For Determining Possible Positions Of A Robot Arm - The The invention relates to a method for determining possible positions of a robot arm of a robot. The robot arm comprises a frame, numerous links, disposed successively, which can move in relation to one another, with respect to axes. First, a target position and target orientation in space for a robot arm or a tool center point assigned to an end effector attached to the robot arm, are defined, to which a reference coordinate system having polar coordinates is assigned. Subsequently, potential possible positions of the frame of the robot arm in space and in the polar coordinates of the reference coordinate system are determined on the basis of the geometry of the robot arm, such that the tool center point can assume the defined target position and target orientation. | 11-21-2013 |
20140052298 | PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF MECHANICAL BODIES - Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body. | 02-20-2014 |
20140172171 | METHOD FOR CONTROLLING TWO ARMS OF A ROBOT - A method of controlling two arms of a robot including: a finding-out step of finding out position differences in axial directions of an end of one arm and an end of the other arm; a generating step of generating a virtual force at the end of the other arm based on the position differences that have been found out; and a converting step of converting the generated virtual force into a driving torque for joints of the other arm, using a Jacobian matrix. | 06-19-2014 |
20140172172 | METHOD FOR IMPROVING SENSITIVITY OF ROBOT - A method of improving sensitivity of a robot which includes: a calculation step, an induction step and a conversion step. The calculation step calculates angular velocities of joints of a robot. The induction step determines induced accelerations at the end of the robot by converting the angular velocities of the joints into a velocity at the end of the robot, using a Jacobian matrix, and by differentiating the velocity. The conversion step determines forces at a middle portion of the robot by multiplying the induced accelerations at the middle portion of the robot by a weight of the robot, multiplies the forces by an enhancement ratio, and then converts results of the multiplication into necessary torque at the joints, using a Jacobian matrix. | 06-19-2014 |
20140188279 | METHOD FOR CONTROLLING GAIT OF ROBOT - A method includes: forming an imaginary wall at a position spaced apart and outward from feet of the robot when the robot is in a double-leg-support state; kinetically calculating a variation in a distance between a body of the robot and the imaginary wall and a variation in a speed of the body of the robot relative to the imaginary wall using an angle of a joint and lengths of links of the robot; applying the variation in the distance and the variation in the speed to an imaginary spring-damper model formed between the body of the robot and the imaginary wall, and calculating an imaginary reaction force required by the body of the robot; and converting the calculated reaction force into a drive torque required by the body of the robot using a Jacobian transposed matrix. | 07-03-2014 |
20140188280 | METHOD AND SYSTEM FOR CONTROLLING GAIT OF ROBOT - A method includes determining whether a robot is walking and a direction in which the robot is walking; measuring an amount of time taken for a sole of a foot of the robot to step on the ground; calculating an imaginary reaction force applied to the sole using a trigonometric function having, as a period, the measured amount of time taken for the sole to step on the ground; and applying the calculated imaginary reaction force to a Jacobian transposed matrix and converting the imaginary reaction force into a drive torque for a lower extremity joint of the robot. | 07-03-2014 |
20140195054 | ROBOT SYSTEM, ROBOT CONTROL DEVICE AND METHOD FOR CONTROLLING ROBOT - A robot system includes a robot and a robot control device. The robot has a plurality of joint axes including a redundant axis. The robot control device includes a first command generator, a limit avoidance command generator, a posture optimization command generator, a null space matrix calculator, a second command generator and a controller. The first command generator generates a first joint angular speed command for the robot. The limit avoidance command generator generates a joint angular speed command A for the robot for avoiding a state in which the robot reaches an operating limit. The posture optimization command generator generates a joint angular speed command B for the robot for optimizing a posture of the robot. The null space matrix calculator calculates a null space matrix of a Jacobian matrix related to a control point. The second command generator generates a second joint angular speed command for the robot. | 07-10-2014 |
20140277741 | ROBOTS AND METHODS OF CONTROLLING THE SAME - A robot may include: a multi-tool module having redundancy, the multi-tool module including a guide tube and a plurality of tools configured to operate while interacting with the guide tube and extended from the guide tube; and/or a controller configured to generate a control signal regarding motion of the multi-tool module in a joint space based on motion instruction information regarding distal ends of the plurality of tools in a task space. The redundancy may reflect that a number of degrees of freedom of the multi-tool module in the joint space is greater than a number of degrees of freedom of the task space. The control signal may be generated using the redundancy. | 09-18-2014 |
20150290804 | WEAVING CONTROL DEVICE FOR ARTICULATED ROBOT - A weaving control device of a multi-joint robot, which achieves high-precision weaving, and suppresses occurrence of weaving movement error stemming from the movement of another joint axis and the dynamic characteristics of the motor driving the joint axis. The weaving control device contains: a signal computation unit that computes the target position signal for each axis; a filter computation unit that computes a target command signal resulting from low-pass filter processing of the target position signal; and a motor control unit that drives each axis with the target command signal as an input. The frequency characteristics of the gain of the motor control unit are configured in an approximately flat manner, and the dynamic characteristics from the target position to the motor output angle are similar to the filter. A weaving signal correction unit computes a target position signal having a corrected gain on the basis of filter characteristics. | 10-15-2015 |
20150360367 | Method for Controlling a Deformable Robot, and Related Module and Computer Program - The invention relates to a method for controlling a robot ( | 12-17-2015 |
20160016308 | MOTION TARGET GENERATING APPARATUS OF MOBILE ROBOT - A motion target generating apparatus calculates the time series of motion accelerations of a base body | 01-21-2016 |