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| Number | Title | Issue Date |
| 7433758 | Control apparatus of robot A robot control apparatus capable of largely reducing a calculation amount to be capable of lowering a load of a CPU is provided. A control apparatus of a robot includes: a plurality of shafts interfering with each other; each of the shafts including a motor (8 | 10/07/2008 |
| 7373220 | Robot teaching device A teaching device and a teaching modification device capable of easily attaining conformity between an operation program of a robot prepared by off-line programming and an actual operation of the robot. A layout of a robot system including three-dimensional models o... | 05/13/2008 |
| 7333879 | Offline programming device An offline programming device capable of automatically generating a measuring program by which the time and the workload for making an offline program may be greatly reduced. The offline programming device includes a storing part for storing a plurality of data in r... | 02/19/2008 |
| 7267182 | Rock drilling rig and rock breaking machine The rock drilling rig comprises a first control unit (8) arranged on a carrier (1) and a second control unit (9) arranged to a rock drilling apparatus (4). The first control unit (8) and the second control unit (9) communica... | 09/11/2007 |
| 7266425 | Systems and methods that facilitate motion control through coordinate system transformations The subject invention relates to systems and methods that facilitate motion between different coordinate systems in an industrial control environment. The systems and methods accept data in one coordinate system and transform the data to a different coordinate syste... | 09/04/2007 |
| 7236854 | Method and a system for programming an industrial robot A method and a system for use in connection with programming of an industrial robot. The programming includes teaching the robot a path having a number of waypoints located on or in the vicinity of an object to be processed by the robot. The system includes elements... | 06/26/2007 |
| 7212886 | Robot control apparatus and method A robot control apparatus including a motion torque calculating section for calculating a motion torque command which is required for a motion of a servo motor, a disturbance torque estimating section for calculating a disturbance torque, a minute displacement relat... | 05/01/2007 |
| 7068004 | Electrical charging system, electrical charging controlling method, robot apparatus, electrical charging device, electrical charging controlling program and recording medium A robot apparatus 1 is to be electrically charged autonomously. An electrical charging device 100 is provided with two markers, namely a main marker 118 and a sub-marker 119, and the heights of the markers are pre-stored in the robot appa... | 06/27/2006 |
| 7039494 | Controller for machine A controller that eliminates an error caused by acceleration/deceleration control, and controls the velocity of drive axes which is not represented by a rectangular coordinate system such that maximum allowable values of velocity, acceleration, and jerk of the drive... | 05/02/2006 |
| 7039500 | Multiple arm robot arrangement An improved robot arrangement for performing predetermined tasks, such as paint finishing, features equipping a robot with a plurality of manipulatable arms, with at least two of the arms performing like operations. Alternatively, a plurality of commonly controlled ... | 05/02/2006 |
| 7012704 | Position detecting device A position detecting device in which a count value is incremented or decremented on the basis of a pulse output from an encoder every predetermined shift amount of a control target to thereby detect a current value representing a current position of the control targ... | 03/14/2006 |
| 6961640 | Motion control for a legged robot A predetermined action sequence is generated by using basic motion units which include time-sequential motion of each joint and compound motion units in which basic motion units are combined. Motion patterns of a robot including walking are classified into motion un... | 11/01/2005 |
| 6949844 | High-speed precision positioning apparatus A high-speed precision positioning apparatus has a stage supported by a platen. The stage is driven by a plurality of drive motors that are co-planar with the stage and arranged symmetrically around the stage. The drive motors apply drive forces directly to the stag... | 09/27/2005 |
| 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 |
| 6919701 | Robot controller A robot controller for keeping the posture of a tool in a task coordinate system by a simple processing and allowing a robot to perform flexible translational motion. A robot controller for controlling a motor for driving a joint by a control circuit having a positi... | 07/19/2005 |
| 6909939 | Numerical control method and numerical control device Two shafts whose moving directions do not intersect orthogonally with each other are set, then any one shaft of two shafts as an oblique reference shaft is set, then information based on an angle between two shafts whose moving directions do not intersect orthogonal... | 06/21/2005 |
| 6909205 | Motor assembly allowing output in multiple degrees of freedom A motor allowing multiple degrees of output freedom includes a stator having an interior surface forming at least a portion of a sphere or curved surface and first and second substantially orthogonally positioned stator coils wound on the interior surface. A rotor i... | 06/21/2005 |
| 6907318 | Multi-station robotic welding assembly A multi-station robotic welding assembly includes a mounting platform, and a plurality of robots attached to the mounting platform and located in respective weld stations. Each of the robots includes an elongated movable arm and wrist. A welding torch is attached to... | 06/14/2005 |
| 6895306 | Method and apparatus for controlling a tray changer incorporated in a robot control system A control circuit of a tray changer is interfaced with a control circuit of a robot. A tray changer control program, used for operating the tray changer, is loaded into the robot control system. The robot control system itself, or an operator manipulating an operati... | 05/17/2005 |
| 6871120 | Device for actuating a seat element and seat comprising it A device (22, 24) for actuating a seat element comprises an actuator (26, 28) equipped with a transducer designed to supply a crude measurement value representing the current position of the actuator. The actuator provides for calculation of a c... | 03/22/2005 |
| 6853881 | Robot information processing system A robot controller executes an operating program, calculates a position and posture of a robot, and sends the position and posture information to a personal computer (PC). At the PC side, on the basis of this position and posture information, animation display infor... | 02/08/2005 |
| 6847862 | Conveyor system A conveying apparatus is provided with a control device for performing infinite rotation control of rotation of a strut or wrist shaft of a robot conveying an article and a drive shaft of a conveyor. The control device comprises a rotary shaft (6) rotationall... | 01/25/2005 |
| 6826450 | Robot controller Bendings Δα, Δβ, and Δθ are determined by the torques about the axes of coordinate systems disposed to respective joints and by spring constants. Parameters α, β, and θ0 are determined by adding an amount of twist to corrected D-H parameters αs, βs... | 11/30/2004 |
| 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 |
| 6760644 | System and method for transmitting communication signals to an automated robotic device in a data storage system A system and method for transmission of communication signals between a controller and a robotic device in a data storage library. The system and method include a substantially planar electrical insulator having opposed first and second sides, and first and second s... | 07/06/2004 |
| 6757586 | Multiple arm robot arrangement An improved robot arrangement for performing predetermined tasks, such as paint finishing, features equipping a robot with a plurality of manipulatable arms, with at least two of the arms performing like operations. Alternatively, a plurality of commonly controlled ... | 06/29/2004 |
| 6750625 | Wafer stage with magnetic bearings A high accuracy stage supported in six degrees of freedom by electromagnetic bearings. Movements in the horizontal plane of the stage are controlled by variable reluctance actuators which are mounted between the high accuracy stage and a coarse stage so as not to di... | 06/15/2004 |
| 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 |
| 6671580 | Outer route for robots in a horizontal storage library A system for directing robot movement in a storage library is provided, the library comprising at least one horizontal array of storage cells and at least one robot that moves along the horizontal array and can retrieve objects from and place objects into... | 12/30/2003 |
| 6646404 | Method for controlling robot and robot controller using the method The current position of a work is sequentially updated in a conveyor coordinate system, and the path of a robot to follow the work is formed by transforming the position of the work from the conveyor coordinate system to a robot coordinate system.... | 11/11/2003 |
| 6604021 | Communication robot A communication robot includes a speaker. By generating a sound or voice through the speaker, the human is requested to cause a robot to make a certain action. When the human makes an action to the robot, the movement of the robot head or arm assists for ... | 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 |
| 6583595 | Robot and joint device for the same A humanoid robot including upper limbs, lower limbs, and a trunk. Hip joints which connect the lower limbs and the trunk each possess degrees of freedom provided in correspondence with a hip joint yaw axis, a hip joint roll axis, and a hip joint pitch axi... | 06/24/2003 |
| 6580245 | Jerk-limitation with adaptation of the path dynamics A critical resonant frequency (fres) of the axes of a moving machine element is damped as effectively as possible with the aid of a jerk limitation. Good damping in the case of a desired frequency is achieved when the longest possible time (TrL... | 06/17/2003 |
| 6441577 | Manipulator positioning linkage for robotic surgery Techniques and structures are provided for aligning robotic elements with an internal surgical site and each other. Manually positionable linkages support surgical instruments. These linkages maintain a fixed configuration until a brake system is released... | 08/27/2002 |
| 6430475 | Pressure-distribution sensor for controlling multi-jointed nursing robot The present invention provides contact sensors capable of determining the pressure distribution over the whole surface of each of joint units having a cylindrical shape, both end portions of which are cut at an offset angle, and constituting robot arms. I... | 08/06/2002 |
| 6427098 | Method for controlling pivoting machine member A method and apparatus for control of pivoting machine members propelled by linear actuators so as to permit coordinated motion of the pivoting members with translating machine members. Position commands for the pivoting machine members are given in angul... | 07/30/2002 |
| 6332102 | Robot controller A robot control apparatus has keys for input/output control and an execution key for permitting execution therefor. A key can be allocated for a reservation sequence stored beforehand. When an operation program is taught for a robot, the reservation seque... | 12/18/2001 |
| 6327519 | Method and system for transferring energy between robotic mechanisms in an automated storage library A storage library includes a first robotic mechanism having an energy coupler and a second robotic mechanism having an energy coupler. The storage library further includes tracks disposed adjacent to media object storage cells for enabling access to each ... | 12/04/2001 |
| 6301525 | System and method for controlling a robot A system and method for controlling a robot (1), includes at least three setting devices (2, 3, 4) which can be extended or shortened in the longitudinal direction. Each setting device being directly or indirectly secured in a fixed frame (6) via a first ... | 10/09/2001 |
