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| Number | Title | Issue Date |
| 7421314 | Method and device for controlling robot A method for controlling a robot during an interpolation of a trajectory or motion to any prescribed position, comprises the steps of a) ignoring at least one of the three originally prescribed or interpolated tool center point orientation values; b) finding new too... | 09/02/2008 |
| 7336814 | Method and apparatus for machine-vision A system and method facilitate machine-vision, for example three-dimensional pose estimation for target objects, using one or more images sensors to acquire images of the target object at one or more positions, and to identify features of the target object in the re... | 02/26/2008 |
| 7330776 | System, apparatus, and method for managing and controlling robot competitions A system and method for operating robots in a robot competition. One embodiment of the system may include operator interfaces, where each operator interface is operable to control movement of a respective robot. A respective operator interface may be in communicatio... | 02/12/2008 |
| 7313458 | NC machine Tool The NC device of the machining center has the data memory for storing exchange history and data concerning a tool therein when the tool has been manually exchanged. When the data concerning the tool is updated, the data memory also stores update history. The main co... | 12/25/2007 |
| 7248012 | Teaching data preparing method for articulated robot Set the first temporary attitude of an end effector for a plurality of work points (step S3). Determine the attitude of an articulated robot at one-end first work point out of a plurality of work points (step S4). Determine the attitude of an articulat... | 07/24/2007 |
| 7245100 | Multi-axis AC servo control system and method A multiple axis servo control implements a multi-tasking PWM control unit to provide PWM signals for multiple axes in a single unit. A time slice mechanism provides axis selection signals based on a system clock signal to permit control parameters of the selected ax... | 07/17/2007 |
| 7236853 | Automated robot alignment system and method using kinematic pins and end effector sensor A method and system can align a robot arm with a payload station. A probe and a contact detector may be positioned on the robot arm and three pins may be placed on the payload station. A controller may move the robot arm in a pattern over the payload station until c... | 06/26/2007 |
| 7221999 | Remote control device of bipedal mobile robot When an operator attempts to move a robot from a current position to a desired position, she/he operates a manipulator lever (26) corresponding to a desired direction of a manipulator (23) of a remote control device (22), for example, a number o... | 05/22/2007 |
| 7193384 | System, apparatus and method for managing and controlling robot competitions A system and method for operating robots in a robot competition. One embodiment of the system may include operator interfaces, where each operator interface is operable to control movement of a respective robot. A respective operator interface may be in communicatio... | 03/20/2007 |
| 7191036 | Motion generation system of legged mobile robot A model's ZMP (full-model's ZMP) is calculated using a dynamic model (inverse full-model) 100c2 that expresses a relationship between a robot movement and floor reaction, a ZMP-converted value of full model's corrected moment about a desired ZMP is cal... | 03/13/2007 |
| 7145305 | System for estimating attitude of leg type moving robot itself A system for estimating an acceleration of a motion of an accelerometer itself that is generated by a motion of a robot 1, using amounts of motional states of the robot, including a desired motion of a desired gait, a detected value of a displacement of a joi... | 12/05/2006 |
| 7145303 | Method for the commutation of a brushless direct current motor The invention relates to a method for the commutation of a brushless direct current motor in which the position of the rotor in respect of the stator is determined directly or indirectly and an external operating voltage is applied, at a preset commutation angle, to... | 12/05/2006 |
| 7120518 | Device for generating motion of legged mobile robot A model's ZMP (full-model's ZMP) is calculated using a dynamic model (inverse full-model) 100c2 that expresses a relationship between a robot movement and floor reaction, a ZMP-converted value of full model's corrected moment about a desired ZMP... | 10/10/2006 |
| 7076334 | Robot apparatus and method and system for controlling the action of the robot apparatus A main robot apparatus generates a sound scale command at a command generating state (ST2) to enter into a state of waiting for a reaction of a slave robot apparatus (ST3). When the slave robot apparatus outputs a emotion expressing sound responsive to... | 07/11/2006 |
| 7076337 | Ambulation control apparatus and ambulation control method of robot The stability of attitude of a robot can be recovered by an ambulation control apparatus and an ambulation control method if it is lost in the course of a gesture for which the upper limbs take a major role. The apparatus and the method obtain the pattern of movemen... | 07/11/2006 |
| 7072734 | Method and apparatus for controlling a machine tool When a command radius r of a circular interpolation control exceeds a threshold value, a computer computes a speed limit for the circular speed at which the acceleration becomes constant. When the command radius r of the circular interpolation control is less than o... | 07/04/2006 |
| 7054717 | Robotic wash cell using recycled pure water The present invention pertains to a robotic wash cell including a six-axis robotic arm and end effector equipped with nozzles that spray unheated, solvent free, pure water at high-pressure to clean or debur objects by maintaining the nozzles in close proximity and s... | 05/30/2006 |
| 7042185 | Robot control apparatus and control method thereof A robot control apparatus to control an operation path of a robot includes an interpolator including a rough interpolation processor to output a rough velocity signal of no-acceleration and no-deceleration according to input commands, a plurality of acceleration/dec... | 05/09/2006 |
| 7030585 | Controller A controller capable of preventing response delay and generation of vibrations attributable thereto during position control of a movable part of a machine having low rigidity. A motor for driving a machine having low rigidity is subjected to position and velocity lo... | 04/18/2006 |
| 7024276 | Legged mobile robot and its motion teaching method, and storage medium Learning-type motion control is performed using a hierarchical recurrent neural network. A motion pattern provided through human teaching work is automatically time-serially segmented with the hierarchical recurrent neural network, and the motion control of a machin... | 04/04/2006 |
| 7012395 | Method for continuous-path control In a method for continuous-path control in at least two linear axes and at least one angle axis, the movement of a tool relative to a workpiece is predefined by a parts program for a numerical control. The velocity control in the numerical control is performed separ... | 03/14/2006 |
| 7009357 | Servo control system and its control method After a controller #1 has started giving an interpolating instruction, the length on an interpolation line is calculated by a first calculation means in synchronism with a clock signal from a clock synchronous circuit 45, and after having executed a fi... | 03/07/2006 |
| 6999851 | Robot apparatus and motion controlling method therefor A robot apparatus and a motion controlling method for the robot apparatus wherein a reflex motion or the like can be performed at a high speed while decreasing the calculation amount of and the concentrated calculation load to a control apparatus. The robot has a co... | 02/14/2006 |
| 6933698 | Method of driving a servo motor with a built-in drive circuit Disclosed is a method of driving a servo motor with a built-in drive circuit in which a common rectifying circuit is provided on a distribution board to which a plurality of the servo motors with built-in drive circuits are connected, to thereby achieve a reduction ... | 08/23/2005 |
| 6922025 | Zero ripple linear motor system The present invention relates systems and methods for compensating for errors associated with a linear motion system. The systems and methods determines one or more errors associated with the linear motion system and adjusts or corrects an input drive signal associa... | 07/26/2005 |
| 6922034 | Method for designing a robot arm Provided is an arm structure for a robot which can favorably carry out jobs which are typically performed by humans. By determining the length of the arm and the height of the axis of rotation of the arm in such a manner that a range of rotational motion of the arm ... | 07/26/2005 |
| 6889117 | Robot apparatus and method and system for controlling the action of the robot apparatus A main robot apparatus generates a sound scale command at a command generating state (ST2) to enter into a state of waiting for a reaction of a slave robot apparatus (ST3). When the slave robot apparatus outputs a emotion expressing sound responsive to... | 05/03/2005 |
| 6876903 | Gait pattern generating device for legged mobile robot A gait generation system of a legged mobile robot, in particular a biped robot that has the dynamic model expressing the relationship between the motion of the body and leg and the floor reaction force, and provisionally determines the current time gait parameters i... | 04/05/2005 |
| 6845295 | Method of controlling a robot through a singularity A method of controlling a robot (32) includes the steps of selecting an initial configuration from at least one of a first, second, and third sets to position a TCP at a starting point (44) along a path (33) and selecting a final configuration d... | 01/18/2005 |
| 6822412 | Method for calibrating and programming of a robot application A method for programming of a robot application comprising an industrial robot having a robot coordinate system, a tool having a tool coordinate system and a work object (3) to be processed by the tool. The application is programmed by means of a position-mea... | 11/23/2004 |
| 6801830 | Operation confirming method and device for industrial machinery An operation confirming method capable of making, in order to enhance an operation program correction efficiency, an operation path at an operation confirming time (teaching mode) identical with that at an actual job time (play mode) as much as possible; and a contr... | 10/05/2004 |
| 6738679 | Positional control system and positional control method A positional control system wherein the position of the controlled object connected to a drive is controlled to a variable target or desired position. A period is determined which starts with a detection of a reversal in the direction of the feed of a positional com... | 05/18/2004 |
| 6711468 | Control system for robots A control system for robots comprising a control unit for generating and controlling the paths of a movement of the moving parts of the robot, a drive unit for generating the control signals for controlling the motors associated to the moving parts of the robot, and... | 03/23/2004 |
| 6674259 | System and method for managing and controlling a robot competition A system and method for operating robots in a robot competition. One embodiment of the system may include operator interfaces, where each operator interface is operable to control movement of a respective robot. A respective operator interface may be in c... | 01/06/2004 |
| 6675061 | Numerically controlled curved surface machining unit Performing NURBS (non-uniform rational B-spline) interpolation machining is performed by reading cutter location (CL) data consisting of a tool control point vector and a tool axis vector on a workpiece coordinate system, converting the CL data into a pos... | 01/06/2004 |
| 6603281 | High mechanical advantage ratcheting apparatus A controllable ratcheting apparatus having robotic modules rigidly attached for operation near a mechanical singularity includes a plurality of modular joints and ratcheting means. Each one of the modular joints is capable of locking and unlocking to effe... | 08/05/2003 |
| 6597971 | Device for avoiding interference An interference avoiding device for determining occurrence of an interference in a robot operation in advance and automatically avoiding the interference, to be suitably applied to an automatic picking-up operation of randomly stored workpieces. A positio... | 07/22/2003 |
| 6591165 | Robot apparatus, body unit and coupling unit A robot system having a plurality of component units. The robot system includes a first storage device, and a second storage device. The robot system further includes a plurality of control devices, with a first component control device provided with the ... | 07/08/2003 |
| 6587747 | Numerically controlled curved surface machining unit Performing NURBS (non-uniform rational B-spline) interpolation machining is performed by reading cutter location (CL) data consisting of a tool control point vector and a tool axis vector on a workpiece coordinate system, converting the CL data into a pos... | 07/01/2003 |
| 6584378 | Device and a method for determining coordinates and orientation When determining coordinates of a point of an object (2) in a reference system of coordinates and the orientation of the object in the space in a measuring position assumed by the object, the object is moved from a start position having known coordinates ... | 06/24/2003 |
