| Class / Patent application number | Description | Number of patent applications / Date published |
|---|
| 700251000 | Coordinate transformation | 27 |
| 20080306630 | System of Manipulators and Method for Controlling Such a System - A system of manipulators including several manipulators, namely robots and/or external axes, such as workstations or transport tracks, whereby each manipulator is controlled by a control system via communication means and is programmed to carry out a plurality of tasks. The system of manipulators is movable in a first coordinate system. A second coordinate system is defined for each manipulator, so that one part of the manipulator, e.g. its tool center point, stands still in the second coordinate system, which is movable relative to the first coordinate system. | 12-11-2008 |
| 20080312770 | CAMERA AND ANIMATION CONTROLLER, SYSTEMS AND METHODS - Novel controllers for filmmaking and/or animation, as well as systems and methods for their use. In a set of embodiments, a controller has an actuator (e.g., a joystick, etc.) that receives input from a user for controlling an object, such as a camera, a light, an animated character, etc. The input is provided as instructions, which are described according to a reference coordinate system, to a movement system for moving the object within a scene (i.e., relative to other objects within the scene). The controller may include an additional control allowing the user to define an auxiliary coordinate system, such that the input from the user is described according to the auxiliary coordinate system. Alternatively and/or additionally, the controller includes a control for allowing the user to select whether input should be described according to the auxiliary coordinate system or the reference coordinate system. | 12-18-2008 |
| 20090030550 | AUTOMATIC MACHINE SYSTEM AND WIRELESS COMMUNICATION METHOD THEREOF - In an automatic machine system comprising a mechanism unit ( | 01-29-2009 |
| 20090055020 | Apparatus, method and medium for simultaneously performing cleaning and creation of map for mobile robot - Provided is an apparatus, method, and medium for allowing a mobile robot to simultaneously perform a cleaning process and a map-creating process. The apparatus includes a feature-map-creating unit creating a feature map for recognizing the position of a mobile robot; a path-map-creating unit creating a path map including a plurality of cells, each having information about whether an obstacle exists and path information, on the basis of information on the pose of the mobile robot that is obtained from the feature map; and a motion-control unit moving the mobile robot on the basis of the information about whether the obstacle exists and the path information. | 02-26-2009 |
| 20090222134 | CAMERA-BASED MONITORING OF MACHINES WITH MOBILE MACHINE ELEMENTS FOR COLLISION PREVENTION - In modern industrial robots which move at considerable speeds, collisions generally cause serious damage to the robots and the collision objects. This can lead to injuries and expensive production stoppages. In a method for collision-free interaction between a machine having mobile machine elements and objects in its vicinity, safety regions are established and monitored using the knowledge of the current position and the dynamic behavior. In particular, image data of the mobile machine element are recorded by means of an image acquisition system and are correlated with a database, which has been compiled in a training phase with image data of at least one mobile machine element. The database contains image data relating to a plurality of movement phases within the movement process of the machine. In the scope of correlating the currently recorded image data with this database, both the current position of the mobile machine element is ascertained and a future position, reachable within the stopping time, is estimated. The dynamic behavior of the machine in the event of collision risk is optimized on the basis of this estimation. | 09-03-2009 |
| 20090248203 | NUMERICAL CONTROL APPARATUS AND NUMERICAL CONTROL METHOD - In a numerical control apparatus, a rotation-axis filtering processor subjects an angle change amount between interpolation points between rotation angles of a rotation axis to moving average filtering thereby smoothing the angle change amount between the interpolation points. A translation-axis timing synchronization unit subjects a moving amount between interpolation points between tool-tip positions of a translation axis to moving average filtering, to synchronize timing of rotation of the rotation axis being smoothed and timing of movement of the translation axis. A coordinate transformation unit transforms the tool-tip position into coordinates of a machine position of the translation axis according to a configuration of the machine tool, from each tool-tip position after timing synchronization between axes of the translation axis is performed and from each rotation angle of the rotation axis after being filtered. | 10-01-2009 |
| 20090292394 | Apparatus for locating moving robot and method for the same - An apparatus and a method of locating a moving robot are disclosed. The apparatus includes a storage unit storing information on straight lines of wall on a map, a state quantity detection unit detecting quantity of state of the robot running along the wall, and a control unit estimating an interior position of the robot by obtaining straight line information based on the detected state quantity and matching the obtained straight line information with the stored straight line information. | 11-26-2009 |
| 20100017032 | DEVICE FOR CONTROLLING A ROBOT - A device is disclosed for controlling a robot, with a robot control unit, and with a robot sensor such as a digital camera, which can be fitted on the robot and whose output signals can be supplied to an image recording unit. The output signals from the image recording unit connected to the camera can be supplied to an image processing device which is connected to the image recording unit. A coordinate transformation device is provided, in which the signals originating from the image processing unit and the robot control unit are processed and transformed into robot control signals, and the signals can be supplied back to the robot control unit. | 01-21-2010 |
| 20100094460 | Method and apparatus for simultaneous localization and mapping of robot - A SLAM of a robot is provided. The position of a robot and the position of feature data may be estimated by acquiring an image of the robot's surroundings, extracting feature data from the image, and matching the extracted feature data with registered feature data. Furthermore, measurement update is performed in a camera coordinate system and an appropriate assumption is added upon coordinate conversion, thereby reducing non-linear components and thus improving the SLAM performance. | 04-15-2010 |
| 20100094461 | METHOD FOR TEACHING AN INDUSTRIAL ROBOT, AND A CORRESPONDINGLY EQUIPPED INDUSTRIAL ROBOT - A method is provided for teaching movement processes for an industrial robot having a stand and at least one moving jointed arm. The method includes fitting a measurement system to a measurement head at a free end of the jointed arm, fitting a handling appliance to an end effector at the free end of the jointed arm, operating the handling appliance to teach the intended movement process to the robot, detecting each position of the handling appliance, via the measurement head, transforming the detected positions to co-ordinate data and transmitting the detected co-ordinate data to a monitoring and control system, storing and evaluating the co-ordinate data in the monitoring and control system to develop a movement program for the robot. A correspondingly equipped industrial robot is also provided. | 04-15-2010 |
| 20100161124 | SUBSTRATE TRANSFER ROBOT, SUBSTRATE TRANSFER APPARATUS INCLUDING THE SAME, AND SEMICONDUCTOR MANUFACTURING APPARATUS INCLUDING THE SAME - A substrate transfer robot sets an interference region in advance in the range of motion of the substrate transfer robot; stores a plurality of patterns of a combination of a starting position, a target position, and the interference region, the starting position and the target position being among taught positions; determines which pattern among the plurality of patterns a movement of the substrate transfer robot from the starting position to the target position matches when the substrate transfer robot moves between the plurality of taught positions; and determines a movement path from the starting position to the target position so as to avoid the interference region in accordance with the determined pattern so that the substrate transfer robot avoids the interference region. | 06-24-2010 |
| 20100198405 | MOVEMENT CONTROLLER FOR ELASTIC ROBOT STRUCTURES - The invention relates to a control method for a painting robot, comprising the following steps: (a) a robot path is set using several path points that are to be traversed by a reference point of the robot and are each defined by space coordinates; (b) the space coordinates of the individual path points are converted into corresponding axis coordinates according to inverse robot kinematics, said axis coordinates reproducing the position of the individual robot axes in the respective path points; (c) axis-related regulators for the individual robot axes are triggered according to the converted axis coordinates; (d) axis-related driving motors are triggered in the individual robot axes by means of the associated axis-related regulators; (e) corrective path values for the individual path points are calculated according to a dynamic robot model, said corrective path values taking into account the elasticity and/or friction and/or inertia of the robot; (f) corrected axis coordinates for the individual path points are calculated from the non-corrected axis coordinates of the individual path points and the corrective path values; (g) the axis-related regulators are triggered using the corrected axis coordinates. | 08-05-2010 |
| 20110046782 | A METHOD AND SYSTEM FOR DETERMINING THE RELATION BETWEEN A ROBOT COORDINATE SYSTEM AND A LOCAL COORDINATE SYSTEM LOCATED IN THE WORKING RANGE OF THE ROBOT - The present invention relates to a method and a system for determining the relation between a local coordinate system located in the working range of an industrial robot ( | 02-24-2011 |
| 20110118876 | TEACHING LINE CORRECTING APPARATUS, TEACHING LINE CORRECTING METHOD, AND PROGRAM THEREOF - A teaching line correcting apparatus defines a first plane, which is determined by a first reference position of a preset first reference region, a second reference position of a preset second reference region, and a third reference position of a preset third reference region, defines a second plane, which is determined by a detected position of the first reference region, a detected position of the second reference region, and a detected position of the third reference region, calculates a corrective value for equalizing the first reference region to an origin, equalizing the first reference position of the first reference region as the origin to the detected position of the first reference region as the origin, and equalizing the first plane to the second plane, and correcting reference coordinates where operating points are taught based on the calculated corrective value. | 05-19-2011 |
| 20120316678 | METHOD FOR TEACHING CARRIER MEANS, STORAGE MEDIUM AND SUBSTRATE PROCESSING APPARATUS - In a substrate processing apparatus, before a carrier is carried by a carrier arm, a carrier jig is held by a holding part provided to the carrier arm. First, the carrier arm is actuated to move the holding part of the carrier arm to a preset lowering start position. Then, an image including an opening in a table is taken. Thereafter, a distance between a central position of the opening and a central position of a region of the image is calculated, so as to obtain an amount of horizontal positional shift between the preset lowering start position and an ideal position. The lowering start position of the holding part is corrected by the positional shift as a correction value, whereafter the carrier is placed on the table at the corrected lowering start position. | 12-13-2012 |
| 20130073083 | ROBOTIC ARM CONTROL SYSTEM AND METHOD - A robotic arm control system is provided. In, the robotic arm control system, any three points A, B, and C of an object to be determined are picked, thereby creating an original coordinate system. A robotic arm is directed to rotate around the x-axis of the original coordinate system to reach the points B and C. During the rotation of the robotic arm, the three points A, B, and C are recorded by a visual process. A non-linear mapping relation of the original coordinate system and the operation coordinate system is calculated according to length ratios, an angular ratio, and a differential ratio of the difference of the length ratios to the angle between the line A-B and the line A-C, thereby controlling the movement of the robotic arm according to the non-linear mapping relation. The disclosure further provides a robotic arm control method. | 03-21-2013 |
| 20130178978 | ROBOT AND CONTROL METHOD THEREOF - A robot and method of controlling the same are provided. The robot includes a hand and an arm, a grip sensor unit configured to enable the hand to sense an object, a grip control unit configured to determine whether the hand grips the object from gripping information obtained from the grip sensor unit, select an object-based coordinate to control the hand and the arm based on a motion of the object or an independent coordinate to independently control the hand and the arm according to a result of the determination, and control the hand and the arm based on the selected coordinate, and a coordinate transformation unit configured to calculate a position and a direction of a virtual object based on the object-based coordinate, and deliver information about the position and the direction of the virtual object calculated to the grip control unit. | 07-11-2013 |
| 20130274921 | ROBOT SYSTEM, CALIBRATION METHOD OF ROBOT SYSTEM, ROBOT, CALIBRATION DEVICE, AND DIGITAL CAMERA - A robot system includes a movable component with a mark thereon, a control unit that controls the movable component in a three-dimensional coordinate system on the basis of control information, a digital camera that outputs image data by imaging a range of movement of the mark, and a calibrator that creates a transformation parameter for correlating a two-dimensional coordinate system of the image data with the three-dimensional coordinate system on the basis of the image data obtained by imaging the mark at different positions and the control information. | 10-17-2013 |
| 20140012416 | ROBOT CONTROL APPARATUS, ROBOT CONTROL METHOD, PROGRAM, AND RECORDING MEDIUM - A first coordinate system C | 01-09-2014 |
| 20140018957 | ROBOT SYSTEM, ROBOT, ROBOT CONTROL DEVICE, ROBOT CONTROL METHOD, AND ROBOT CONTROL PROGRAM - 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. | 01-16-2014 |
| 20140081456 | ROBOT CALIBRATION METHOD - A robot calibration method which aligns the coordinate system of a gantry module with the coordinate system of a camera system is disclosed. The method includes using an alignment tool, which allows the operator to place workpieces in locations known by the gantry module. An image is then captured of these workpieces by the camera system. A controller uses the information from the gantry module and the camera system to determine the relationship between the two coordinate systems. It then determines a transformation equation to convert from one coordinate system to the other. | 03-20-2014 |
| 20150142171 | METHODS AND APPARATUS TO CALIBRATE AN ORIENTATION BETWEEN A ROBOT GRIPPER AND A CAMERA - Disclosed are methods adapted to calibrate a robot gripper to a camera. The method includes providing a robot with a coupled moveable gripper, providing one or more cameras, providing a target scene having one or more fixed target points, moving the gripper and capturing images of the target scene at two or more imaging locations, recording positions in the gripper coordinate system for each of the imaging locations, recording images in a camera coordinate system, and processing the images and positions to determine a gripper-to-camera transformation between the gripper coordinate system and the camera coordinate system. The transformation may be accomplished by nonlinear least-squares minimization, such as the Levenberg-Marquardt method. Robot calibration apparatus for carrying out the method are disclosed, as are other aspects. | 05-21-2015 |
| 20160039094 | Robot System And Method For Calibration - A method and a system for calibrating a first coordinate system R | 02-11-2016 |
| 20160059417 | AUTOMATIC IN-SITU REGISTRATION AND CALIBRATION OF ROBOTIC ARM/SENSOR/WORKSPACE SYSTEM - Various technologies described herein pertain to automatic in-situ calibration and registration of a depth sensor and a robotic arm, where the depth sensor and the robotic arm operate in a workspace. The robotic arm can include an end effector. A non-parametric technique for registration between the depth sensor and the robotic arm can be implemented. The registration technique can utilize a sparse sampling of the workspace (e.g., collected during calibration or recalibration). A point cloud can be formed over calibration points and interpolation can be performed within the point cloud to map coordinates in a sensor coordinate frame to coordinates in an arm coordinate frame. Such technique can automatically incorporate intrinsic sensor parameters into transformations between the depth sensor and the robotic arm. Accordingly, an explicit model of intrinsics or biases of the depth sensor need not be utilized. | 03-03-2016 |
| 20160075029 | Method For Robot-Assisted Measurement Of Measurable Objects - The invention relates to a method for carrying out a robot-assisted measurement of measurable objects. The paths of a sensor are defined and transmitted to a robot co-ordinate system. The actual paths of the sensor guided on the robot are recorded. A plurality of measurable objects is measured, the sensor being guided with the robot along said actual paths. A compensating device makes it possible to compensate internal and/or external influences produced on the robot. The compensation stage is carried out after a determined number of measurements. | 03-17-2016 |
| 20160101522 | ROBOT - A robot includes a work tool that performs a work to a work point, and a moving unit that moves the work tool and changes the posture thereof. A console receives an operation to designate the coordinates of arbitrary two or three points on an inclined surface. Upon this operation, a processor calculates a direction of the work tool toward the work point from a work start point based on the coordinates of the arbitrary two or three points, next, a control unit moves the work tool to the work start point, directs the posture of the work tool toward the work point in accordance with the calculation by the processor, and causes the work tool to start a process to the work point. | 04-14-2016 |
| 20160151913 | ROBOT PROGRAMMING APPARATUS FOR TEACHING MACHINING OPERATION TO ROBOT | 06-02-2016 |
