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1. 发明申请

US20230138217A1 Collaborative Robot 有权
公开(公告)号：US20230138217A1
公开(公告)日：2023-05-04
申请号：US18083687
申请日：2022-12-19
申请人： ABB Schweiz AG
发明人： Christoph Byner , Björn Matthias , Harald Staab , Richard Roberts
IPC分类号： B25J9/16 , B25J13/08
摘要： A robot comprises at least one articulate arm having members including a base, an end effector and a plurality of links, wherein each link is movably connected to two others of said members by respective joints, at least one sensor for detecting an external force acting on any one of the members, and a controller for controlling movements of the joints, so as to move the end effector along a pre-programmed path. In case of the sensor detecting an external force, the controller is adapted to adopt a first release strategy for escaping from the external force, to evaluate whether the first strategy is successful, and if not, to adopt a second release strategy.

2. 发明授权

US11640517B2 Update of local features model based on correction to robot action 有权
公开(公告)号：US11640517B2
公开(公告)日：2023-05-02
申请号：US17460861
申请日：2021-08-30
申请人： X DEVELOPMENT LLC
发明人： Krishna Shankar , Nicolas Hudson , Alexander Toshev
IPC分类号： G06N3/04 , G06N3/08 , B25J9/16 , G06K9/62 , G06N3/00 , G06N3/008 , G06N3/084
摘要： Methods, apparatus, and computer-readable media for determining and utilizing corrections to robot actions. Some implementations are directed to updating a local features model of a robot in response to determining a human correction of an action performed by the robot. The local features model is used to determine, based on an embedding generated over a corresponding neural network model, one or more features that are most similar to the generated embedding. Updating the local features model in response to a human correction can include updating a feature embedding, of the local features model, that corresponds to the human correction. Adjustment(s) to the features model can immediately improve robot performance without necessitating retraining of the corresponding neural network model.

3. 发明授权

US11639000B2 Geometrically appropriate tool selection assistance for determined work site dimensions 有权
公开(公告)号：US11639000B2
公开(公告)日：2023-05-02
申请号：US17589672
申请日：2022-01-31
申请人： Intuitive Surgical Operations, Inc.
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Craig R. Gerbi , Theodore W. Rogers , Wenyi Zhao
IPC分类号： B25J9/16
摘要： A robotic system includes a processor that is programmed to determine and cause work site measurements for user specified points in the work site to be graphically displayed in order to provide geometrically appropriate tool selection assistance to the user. The processor is also programmed to determine an optimal one of a plurality of tools of varying geometries for use at the work site and to cause graphical representations of at least the optimal tool to be displayed along with the work site measurements.

4. 发明授权

US11638996B2 Robot 有权
公开(公告)号：US11638996B2
公开(公告)日：2023-05-02
申请号：US16892758
申请日：2020-06-04
申请人： FANUC CORPORATION
发明人： Takatoshi Iwayama
IPC分类号： B25J9/16 , B25J17/02
摘要： A robot including: a robot body that includes an arm having a longitudinal axis, and at least one joint; and a proximity sensor unit that detects an object approaching the arm of the robot body. The proximity sensor unit includes: a support member that is fixed to the arm of the robot body and that is disposed, at such a position as to extend across the joint of the robot body, so as to be away from a surface of the arm in a direction perpendicular to the longitudinal axis of the arm; and a plurality of proximity sensors that are attached to the support member.

5. 发明授权

US11638619B2 System and methods for positioning a manipulator arm by clutching within a null-perpendicular space concurrent with null-space movement 有权
公开(公告)号：US11638619B2
公开(公告)日：2023-05-02
申请号：US17390722
申请日：2021-07-30
申请人： Intuitive Surgical Operations, Inc.
发明人： Nitish Swarup , Arjang M. Hourtash
IPC分类号： A61B34/30 , B25J9/16 , B25J18/00 , A61B34/37
摘要： A system includes a manipulator arm configured to support an instrument having an end effector, the manipulator arm including a distal portion, a proximal portion coupled to a base, and a multitude of joints between the distal portion and the base, the multitude of joints providing sufficient degrees of freedom to allow a range of differing joint states of the multitude of joints for a state of the distal portion. The system also includes a processor coupled to the manipulator arm. The processor is configured with a manipulation mode and a clutch mode, the clutch mode selected from the group consisting of: an arm-null-perpendicular-clutch mode, a port-null-perpendicular-clutch mode, and an arm-port-null-perpendicular-clutch mode. The processor is configured to operate the multitude of joints in accordance with at least one of the manipulation mode and the various clutch modes.

6. 发明授权

US11638616B2 System and method for controlling a robot arm 有权
公开(公告)号：US11638616B2
公开(公告)日：2023-05-02
申请号：US16574321
申请日：2019-09-18
申请人： DEPUY IRELAND UNLIMITED COMPANY
发明人： Brett Zubiate
IPC分类号： A61B34/30 , B25J9/16 , B25J13/08 , A61B90/00 , A61B17/14
摘要： A control method is provided to manage a surgical robot having an arm configured to hold a medical tool. The method includes receiving a set of sensor signals from sensors on the arm, generating a profile based on the set of sensor signals, comparing the profile to at least one signature, determining a state of the arm based on results of the comparison, and changing operation of the arm based on the state of the arm. The state of the arm is indicative of a predetermined condition that has occurred or will likely occur eminently. Changing operation of the arm prevents the condition from occurring or continuing. The robot arm may hold a medical tool for using during surgery or another medical procedure.

7. 发明申请

US20230131624A1 SURFACE ANALYST END EFFECTOR FOR INDUSTRIAL ROBOT 有权
公开(公告)号：US20230131624A1
公开(公告)日：2023-04-27
申请号：US18049419
申请日：2022-10-25
申请人： Wichita State University
发明人： John Tomblin , Waruna Seneviratne , Caleb Saathoff , Upul Palliyaguru
IPC分类号： B25J9/16 , B25J15/00 , B25J15/04 , G01B21/30
摘要： A surface analyst end effector for an automated inspection and repair system for composite parts. A surface analyst system and a tool changer are supported on a chassis. A control unit of the surface analyst system is configured to conduct a bond readiness test by which the control unit directs an inspection head to place a drop of liquid onto a surface of a composite part and directs the inspection head to capture an image of the drop on the surface. The slave tool changer releasably and operatively connects the end effector to an industrial robot such that the industrial robot can move the end effector along the composite part and the inspection and repair system can signal the surface analyst to conduct a bond readiness test. The surface analyst end effector is interchangeable with other end effectors of the inspection and repair system for performing inspection and repair methods.

8. 发明申请

US20230130816A1 CALIBRATION SYSTEM, CALIBRATION METHOD, AND CALIBRATION APPARATUS 有权
公开(公告)号：US20230130816A1
公开(公告)日：2023-04-27
申请号：US17907706
申请日：2021-03-24
申请人： MINEBEA MITSUMI Inc.
发明人： Yoshihiro NAKANO
IPC分类号： B25J9/16 , G06T7/80
摘要： In a calibration system including a robot arm including, at a tip, a holding portion configured to hold an object to be held, an image capturing apparatus, and a calibration apparatus, the calibration apparatus according to an aspect of the present invention generates first coordinate information based on a learning model generated by performing machine learning on plural pieces of supervised data and a captured image obtained by image capturing the holding portion from a predetermined direction, the supervised data including a captured image of a virtual space containing a three-dimensional model related to the holding portion and information indicating a position of the holding portion contained in the virtual space, the first coordinate information indicating a position of the holding portion in a captured image coordinate system with respect to the captured image. The calibration apparatus coordinate-converts the first coordinate information into second coordinate information by using coordinate conversion information used for coordinate conversion processing of coordinate-converting the first coordinate information into the second coordinate information, the second coordinate information indicating the position of the holding portion in a robot coordinate system with respect to the robot arm.

9. 发明申请

US20230129990A1 OMNI-BEARING INTELLIGENT NURSING SYSTEM AND METHOD FOR HIGH-INFECTIOUS ISOLATION WARD 有权
公开(公告)号：US20230129990A1
公开(公告)日：2023-04-27
申请号：US17910466
申请日：2021-07-16
申请人： SHANDONG UNIVERSITY
发明人： Zhi LIU , Yankun CAO
IPC分类号： B25J11/00 , G05D1/02 , B25J9/16 , B25J19/02
摘要： An omni-bearing intelligent nursing system and method for a high-infectious isolation ward, including: a nursing robot, including a robot body and a controller; a plurality of collectors, arranged in the isolation ward and used for detecting the physiological index of the user and transmitting the physiological index to a remote control system; a communication network, in a star topology structure and including a plurality of communication modules, and configured to realize the communication of each the nursing robot, the collector and the remote control system; and the remote control system, receiving the information of the collector, performing feature extraction on the collect multi-element physiological signals, combining the basic information of the user, perform learning by a decision tree model, dynamically adjusting the corresponding nursing level, and sending an instruction to the corresponding nursing robot.

10. 发明申请

US20230128796A1 CONTROL APPARATUS AND CONTROL METHOD 有权
公开(公告)号：US20230128796A1
公开(公告)日：2023-04-27
申请号：US17801711
申请日：2021-03-22
申请人： SONY GROUP CORPORATION
发明人： Kotoko YAMAGUCHI , Kazunori YAMAMOTO , Mari IKENAGA
IPC分类号： B25J9/16 , A47J36/32 , A23L5/10 , B25J13/00
摘要： There is provided a control apparatus and a control method for enabling a cooking robot to perform cooking efficiently. The control apparatus according to one aspect of the present technology acquires multiple recipe programs each prepared for a dish to be finished by a cooking robot going through multiple cooking processes, thereby creating a cooking process plan on the basis of a resource required for each of the cooking processes. The control apparatus further causes the cooking robot to parallelly execute those of the cooking processes that are parallelly executable for cooking different dishes, on the basis of the cooking process plan. The present technology can be applied to a computer that controls the cooking robot.

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