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1. 发明授权

US08428781B2 Systems and methods of coordination control for robot manipulation 有权
标题翻译：机器人操纵的协调控制系统和方法
公开(公告)号：US08428781B2
公开(公告)日：2013-04-23
申请号：US12620482
申请日：2009-11-17
申请人： Chu-Yin Chang , James English , Neil Tardella , James Bacon
发明人： Chu-Yin Chang , James English , Neil Tardella , James Bacon
IPC分类号： G05B15/00
CPC分类号： B25J9/162 , B25J9/1643 , B25J9/1682 , G05B2219/40336 , Y10T74/20323
摘要： 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.
摘要翻译：这里公开了用于控制机器人装置的系统和方法，其具有由接头联接的多个可移动元件或段。可移动元件中的至少一个可以包括一个或多个移动基座，而另一个可以形成一个或多个操纵器。可移动元件中的一个可以被视为需要某种运动的端部执行器。端部执行器可以包括例如或者代表机器人手（或其上的点）或者一个或多个移动基座中的一个或多个的工具。根据本文公开的系统和方法，可以控制和协调机械手和移动基座的运动，以实现末端执行器的所需运动。在许多情况下，运动可以包括同时移动操纵器和移动基座。

2. 发明授权

US06757587B1 Method and apparatus for dynamically reprogramming remote autonomous agents 有权
标题翻译：用于动态重新编程远程自主代理的方法和装置
公开(公告)号：US06757587B1
公开(公告)日：2004-06-29
申请号：US10408056
申请日：2003-04-04
申请人： James D. English , Chu-Yin Chang , Bradley L. Williams
发明人： James D. English , Chu-Yin Chang , Bradley L. Williams
IPC分类号： G06F1900
CPC分类号： B25J9/1656 , G05B2219/32142 , G05B2219/33125 , G05B2219/45083 , Y02P90/185 , Y10T74/16
摘要： An apparatus and associated method, the apparatus comprising a controlled element (10), such as a robotic manipulator, and a dynamically updatable control system (11). The control system (11) uses a control system equation (eq. (1)) to determine control signals (dq/dt) for controlling the controlled element (1) given any required inputs (q, V) to the control system equation (eq. (1)). The control system (11) is dynamically updatable in that in response to a script file indicating a code structure (11d) preferably having linked nodes (12a 13a-c) and representing at least some components (W,F,&agr;,&bgr;) of the control system equation (eq. (1)), the control system (11) creates the code structure (11d), at run-time, and does so such that the nodes (12a 13a-c) can be queried (i.e. are executable logic) to provide values for at least some components (W,F,&agr;,&bgr;) of the control system equation (eq. (1)).
摘要翻译：一种装置和相关联的方法，所述装置包括诸如机器人操纵器的受控元件（10）和可动态更新的控制系统（11）。控制系统（11）使用控制系统方程式（等式（1））来确定用于控制控制元件（1）的控制信号（dq / dt），给出控制系统方程式（q，V）的任何所需输入（q，V）（1））。控制系统（11）是动态可更新的，其中响应于指示代码结构（11d）的脚本文件，其优选地具有链接节点（12a 13a-c）并且表示至少一些组件（W，F，α，β）控制系统方程（等式（1）），控制系统（11）在运行时创建代码结构（11d），并且这样做使得可以查询节点（12a 13a-c）（即，可执行逻辑）来提供控制系统方程（等式（1））的至少一些组件（W，F，α，β）的值。

3. 发明授权

US06459807B1 System and method for locating irregular edges in image data 有权
公开(公告)号：US06459807B1
公开(公告)日：2002-10-01
申请号：US09592641
申请日：2000-06-13
申请人： Clyde Maxwell Guest , Chu-Yin Chang
发明人： Clyde Maxwell Guest , Chu-Yin Chang
IPC分类号： G06K900
CPC分类号： G06T7/62 , G06T7/12 , G06T2207/10056 , G06T2207/30148
摘要： A system for processing image data, such as an image of a die cut from a silicon wafer, is provided. The system includes an irregular edge detection system, which can locate edge data of a feature of the image data, such as the edge of a probe mark in a bond pad. A feature area calculation system is connected to the irregular edge detection system, such as by accessing data stored by the irregular edge detection system. The feature area calculation system can receive the edge data of the feature and determining the area of the feature, such as by summing normalized pixel area values. The irregular edge detection system uses interpolation to locate edges that occur between the centerpoints of adjacent pixels.

4. 发明授权

US07158235B2 System and method for inspection using white light interferometry 有权
标题翻译：使用白光干涉测量的系统和方法
公开(公告)号：US07158235B2
公开(公告)日：2007-01-02
申请号：US10467438
申请日：2001-12-05
申请人： Sanjeev Mathur , Chu-Yin Chang
发明人： Sanjeev Mathur , Chu-Yin Chang
IPC分类号： G01B9/02
CPC分类号： G01B9/0209 , G01B9/02083 , G01B11/2441 , G01N21/9501
摘要： A system for inspecting components is provided. The system includes an image data system that generates image data of the component, such as from a position overlooking the top of a bumped wafer. An interferometry inspection system is connected to the image data system and receives the image data, and analyzes the image data to locate interference fringing that is used to determine the surface coordinates of the bump contacts.
摘要翻译：提供了一个用于检查组件的系统。该系统包括生成部件的图像数据的图像数据系统，诸如从俯视凸起的晶片的顶部的位置。干涉测量检查系统连接到图像数据系统并接收图像数据，并且分析图像数据以定位用于确定凸点触点的表面坐标的干涉条纹。

5. 发明申请

US20060008119A1 Visual object recognition and tracking 有权
标题翻译：视觉对象识别和跟踪
公开(公告)号：US20060008119A1
公开(公告)日：2006-01-12
申请号：US11141843
申请日：2005-05-31
申请人： Chu-Yin Chang , James English , Neil M. Tardella
发明人： Chu-Yin Chang , James English , Neil M. Tardella
IPC分类号： G06K9/00
CPC分类号： G06K9/00208 , G06T7/251 , G06T7/74 , G06T2207/10016 , G06T2207/30204
摘要： This invention describes a method for identifying and tracking an object from two-dimensional data pictorially representing said object by an object-tracking system through processing said two-dimensional data using at least one tracker-identifier belonging to the object-tracking system for providing an output signal containing: a) a type of the object, and/or b) a position or an orientation of the object in three-dimensions, and/or c) an articulation or a shape change of said object in said three dimensions.
摘要翻译：本发明描述了一种用于通过使用至少一个属于对象跟踪系统的跟踪器标识符来处理所述二维数据的由对象跟踪系统图像表示所述对象的二维数据来识别和跟踪对象的方法，输出信号，其包含：a）所述对象的类型，和/或b）所述三维中所述对象的关节或形状变化的三维中的对象的位置或取向，和/或c）。

6. 发明授权

US09357708B2 Flexible robotic manipulation mechanism 有权
标题翻译：灵活的机器人操纵机制
公开(公告)号：US09357708B2
公开(公告)日：2016-06-07
申请号：US12435873
申请日：2009-05-05
申请人： Chu-Yin Chang , James D. English , Pablo A. Valdivia y Alvarado
发明人： Chu-Yin Chang , James D. English , Pablo A. Valdivia y Alvarado
IPC分类号： A01D46/30 , A01D46/26 , B25J9/00 , B25J18/02 , B25J18/06 , A01D46/00 , B25J5/00
CPC分类号： A01D46/30 , A01D46/26 , B25J9/0084 , B25J18/02 , B25J18/06
摘要： A robotic system and apparatus is provided. The apparatus may include a housing having a flexible manipulating mechanism operatively connected with the housing. The flexible manipulating mechanism may include an end effector configured to manipulate an object. The apparatus may further include a first imaging device associated with the housing, the first imaging device configured to indicate a position of an object. The apparatus may also include a computing device configured to receive an imaging signal from the first imaging device and to direct the flexible manipulating mechanism towards the object based upon, at least in part, the imaging signal. Numerous other embodiments are also within the scope of the present disclosure.
摘要翻译：提供了一种机器人系统和装置。该装置可以包括具有与壳体可操作地连接的柔性操纵机构的壳体。柔性操纵机构可以包括构造成操纵物体的末端执行器。该装置还可以包括与壳体相关联的第一成像装置，第一成像装置被配置为指示物体的位置。该装置还可以包括计算装置，其被配置成从第一成像装置接收成像信号并基于至少部分地基于成像信号将柔性操纵机构引导到物体。许多其它实施例也在本公开的范围内。

7. 发明申请

US20100152899A1 SYSTEMS AND METHODS OF COORDINATION CONTROL FOR ROBOT MANIPULATION 有权
标题翻译：用于机器人操纵的协调控制系统和方法
公开(公告)号：US20100152899A1
公开(公告)日：2010-06-17
申请号：US12620482
申请日：2009-11-17
申请人： Chu-Yin Chang , James English , Neil Tardella , James Bacon
发明人： Chu-Yin Chang , James English , Neil Tardella , James Bacon
IPC分类号： G05B15/00 , G06F19/00
CPC分类号： B25J9/162 , B25J9/1643 , B25J9/1682 , G05B2219/40336 , Y10T74/20323
摘要： 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.
摘要翻译：这里公开了用于控制机器人装置的系统和方法，其具有由接头联接的多个可移动元件或段。可移动元件中的至少一个可以包括一个或多个移动基座，而另一个可以形成一个或多个操纵器。可移动元件中的一个可以被视为需要某种运动的端部执行器。端部执行器可以包括例如或者代表机器人手（或其上的点）或者一个或多个移动基座中的一个或多个的工具。根据本文公开的系统和方法，可以控制和协调机械手和移动基座的运动，以实现末端执行器的所需运动。在许多情况下，运动可以包括同时移动操纵器和移动基座。

8. 发明授权

US07680300B2 Visual object recognition and tracking 有权
标题翻译：视觉对象识别和跟踪
公开(公告)号：US07680300B2
公开(公告)日：2010-03-16
申请号：US11141843
申请日：2005-05-31
申请人： Chu-Yin Chang , James D. English , Neil M. Tardella
发明人： Chu-Yin Chang , James D. English , Neil M. Tardella
IPC分类号： G06K9/00 , H04N5/225 , G06T15/00
CPC分类号： G06K9/00208 , G06T7/251 , G06T7/74 , G06T2207/10016 , G06T2207/30204
摘要： This invention describes a method for identifying and tracking an object from two-dimensional data pictorially representing said object by an object-tracking system through processing said two-dimensional data using at least one tracker-identifier belonging to the object-tracking system for providing an output signal containing: a) a type of the object, and/or b) a position or an orientation of the object in three-dimensions, and/or c) an articulation or a shape change of said object in said three dimensions.
摘要翻译：本发明描述了一种用于通过使用至少一个属于对象跟踪系统的跟踪器标识符来处理所述二维数据的由对象跟踪系统图像表示所述对象的二维数据来识别和跟踪对象的方法，输出信号，其包含：a）所述对象的类型，和/或b）所述三维中所述对象的关节或形状变化的三维中的对象的位置或取向，和/或c）。

9. 发明授权

US07046837B2 System and method for locating irregular edges in image data 有权
公开(公告)号：US07046837B2
公开(公告)日：2006-05-16
申请号：US10224919
申请日：2002-08-21
申请人： Clyde Maxwell Guest , Chu-Yin Chang
发明人： Clyde Maxwell Guest , Chu-Yin Chang
IPC分类号： G06K9/00
CPC分类号： G06T7/62 , G06T7/12 , G06T2207/10056 , G06T2207/30148
摘要： A system for processing image data, such as an image of a die cut from a silicon wafer, is provided. The system includes an irregular edge detection system, which can locate edge data of a feature of the image data, such as the edge of a probe mark in a bond pad. A feature area calculation system is connected to the irregular edge detection system, such as by accessing data stored by the irregular edge detection system. The feature area calculation system can receive the edge data of the feature and determining the area of the feature, such as by summing normalized pixel area values. The irregular edge detection system uses interpolation to locate edges that occur between the centerpoints of adjacent pixels.

10. 发明申请

US20090293442A1 FLEXIBLE ROBOTIC MANIPULATION MECHANISM 有权
标题翻译：灵活机器人操纵机构
公开(公告)号：US20090293442A1
公开(公告)日：2009-12-03
申请号：US12435873
申请日：2009-05-05
申请人： Chu-Yin Chang , James D. English , Pablo A. Valdivia y Alvarado
发明人： Chu-Yin Chang , James D. English , Pablo A. Valdivia y Alvarado
IPC分类号： A01D46/00
CPC分类号： A01D46/30 , A01D46/26 , B25J9/0084 , B25J18/02 , B25J18/06
摘要： A robotic system and apparatus is provided. The apparatus may include a housing having a flexible manipulating mechanism operatively connected with the housing. The flexible manipulating mechanism may include an end effector configured to manipulate an object. The apparatus may further include a first imaging device associated with the housing, the first imaging device configured to indicate a position of an object. The apparatus may also include a computing device configured to receive an imaging signal from the first imaging device and to direct the flexible manipulating mechanism towards the object based upon, at least in part, the imaging signal. Numerous other embodiments are also within the scope of the present disclosure.
摘要翻译：提供了一种机器人系统和装置。该装置可以包括具有与壳体可操作地连接的柔性操纵机构的壳体。柔性操纵机构可以包括构造成操纵物体的末端执行器。该装置还可以包括与壳体相关联的第一成像装置，第一成像装置被配置为指示物体的位置。该装置还可以包括计算装置，其被配置成从第一成像装置接收成像信号并基于至少部分地基于成像信号将柔性操纵机构引导到物体。许多其它实施例也在本公开的范围内。

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