For use with a robot system comprising a robot body, a robot arm, a robot controller, and an end effector, an interchangeable end-effector assembly comprising: a tool plate; and a quick-release mechanism, wherein the tool plate includes: nonvolatile memory storing data: a communication interface: a processor; and a second connector matable with a first connector, the processor being configured to cause transmission of the data to the robot controller upon mating of the first and second connectors.
In various embodiments, safe robot operation is achieved by combining commercial, off-the-shelf, safety-rated components with the inherent safety-design mechanism of the robot to provide various allowable power levels to robotic actuators and thereby limit the forces and/or speeds generated by robotic appendages driven by the actuators.
Robots capable of accommodating dynamic replacement of end effectors load and run software that allows the end effector to be operated without change to the main control program. The driver may be dynamically linked and run during program execution when the corresponding end effector is detected. Typically, the robot controller will store a library of drivers, and load the appropriate driver when a new end effector is detected.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
Robots capable of accommodating dynamic replacement of end effectors load and run software that allows the end effector to be operated without change to the main control program. The driver may be dynamically linked and run during program execution when the corresponding end effector is detected. Typically, the robot controller will store a library of drivers, and load the appropriate driver when a new end effector is detected.
G05B 19/12 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers using record carriers
B25J 9/06 - Programme-controlled manipulators characterised by multi-articulated arms
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
A planar flexure member for resisting rotation about a central axis thereof includes, in various embodiments, a central portion comprising a plurality of attachment points; and at least one serpentine flexure arm extending from the central portion in a plane. The arm(s) terminate in an arcuate mounting rail that includes a series of attachment points. The rails are positioned in opposition to to each other to partially define and occupy a planar circular envelope radially displaced from but surrounding the central portion of the flexure member. A portion of the serpentine arms may extend to (or substantially to) the envelope between the mounting rails.
F16D 3/52 - Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising a continuous strip, spring, or the like engaging the coupling parts at a number of places
F16F 1/02 - Springs made of steel or other material having low internal frictionWound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant
F16D 3/12 - Yielding couplings, i.e. with means permitting movement between the connected parts during the drive adapted to specific functions specially adapted for accumulation of energy to absorb shocks or vibration
F16D 3/79 - Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members shaped as an elastic disc or flat ring, arranged perpendicular to the axis of the coupling parts, different sets of spots of the disc or ring being attached to each coupling part, e.g. Hardy couplings the disc or ring being metallic
Via intuitive interactions with a user, robots may be trained to perform tasks such as visually detecting and identifying physical objects and/or manipulating objects. In some embodiments, training is facilitated by the robot's simulation of task-execution using augmented-reality techniques.
G06K 9/66 - Methods or arrangements for recognition using electronic means using simultaneous comparisons or correlations of the image signals with a plurality of references, e.g. resistor matrix references adjustable by an adaptive method, e.g. learning
G06F 17/00 - Digital computing or data processing equipment or methods, specially adapted for specific functions
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
G06N 99/00 - Subject matter not provided for in other groups of this subclass
G05B 19/42 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
Via intuitive interactions with a user, robots may be trained to perform tasks such as visually detecting and identifying physical objects and/or manipulating objects. In some embodiments, training is facilitated by the robot's simulation of task-execution using augmented-reality techniques.
G06K 9/66 - Methods or arrangements for recognition using electronic means using simultaneous comparisons or correlations of the image signals with a plurality of references, e.g. resistor matrix references adjustable by an adaptive method, e.g. learning
G06F 17/00 - Digital computing or data processing equipment or methods, specially adapted for specific functions
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
G06N 99/00 - Subject matter not provided for in other groups of this subclass
G05B 19/42 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
Systems and methods for providing precise robotic operations without the need for special or task-specific components utilize, in one implementation, a spatial adjustment system (100), physically separate from the robotic manipulator (102), supports the target workpiece (108) and works in concert with the robotic manipulator (102) to perform tasks with high spatial precision.
Systems and methods for providing precise robotic operations without the need for special or task-specific components utilize, in one implementation, a spatial adjustment system, physically separate from the robotic manipulator, supports the target workpiece and works in concert with the robotic manipulator to perform tasks with high spatial precision.
09 - Scientific and electric apparatus and instruments
10 - Medical apparatus and instruments
Goods & Services
(1) Industrial robots for use in manufacturing, assembly and distribution applications; industrial robots for use in the medical industry, namely, for assembling surgical kits and delivering equipment; Robots for educational use; robots for assisting with hobbies, mobility.
15.
CONSTRAINING ROBOTIC MANIPULATORS WITH REDUNDANT DEGREES OF FREEDOM
Redundant robotic manipulators may be constrained in their motions during operation in a gravity -compensated mode by applying, in addition to gravity -compensating torques, constraining torques to one or more of the joints. The constraining torques may urge the manipulator to a specified canonical posture, and may be modeled by virtual springs attached to the constrained joints.
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
16.
Constraining robotic manipulators with redundant degrees of freedom
Redundant robotic manipulators may be constrained in their motions during operation in a gravity-compensated mode by applying, in addition to gravity-compensating torques, constraining torques to one or more of the joints. The constraining torques may urge the manipulator to a specified canonical posture, and may be modeled by virtual springs attached to the constrained joints.
G05B 19/04 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers
G05B 19/18 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
Sensors associated with a robot or sub-system thereof (e.g., a series elastic actuator associated with a robot joint) may be monitored for mutual consistency using one or more constraints that relate physical quantities measured by the sensors to each other. The constraints may be based on a physical model of the robot or sub-system.
G05B 19/406 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
Sensors associated with a robot or sub-system thereof (e.g., a series elastic actuator associated with a robot joint) may be monitored for mutual consistency using one or more constraints that relate physical quantities measured by the sensors to each other. The constraints may be based on a physical model of the robot or sub-system.
In various embodiments, safe collaboration between a robot and humans is achieved by operating the robot continuously at or below a first threshold speed at which any collisions with a person's arms do not cause harm, and, upon detection of the person's torso or head within a danger zone around the robot, reducing the speed to or below a second threshold at which any collisions with the person's torso or head do not cause harm.
G05B 19/04 - Programme control other than numerical control, i.e. in sequence controllers or logic controllers
G05B 19/18 - Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
In various embodiments, safe collaboration between a robot and humans is achieved by operating the robot continuously at or below a first threshold speed at which any collisions with a person's arms do not cause harm, and, upon detection of the person's torso or head within a danger zone around the robot, reducing the speed to or below a second threshold at which any collisions with the person's torso or head do not cause harm.
09 - Scientific and electric apparatus and instruments
Goods & Services
(1) Computer programs and computer software tools for use in training, controlling, and operating robots and for designing, developing and creating other computer applications for robots.
22.
Robotic power and signal distribution using laminated cable with separator webs
Systems and methods that facilitate cables to pass through moving, space-constrained joints and conveying power and/or signals to various robotic joint-associated elements utilize a unitary and flat laminated cable slack within the joint to accommodate the relative motion between mechanical elements of the joints. In various embodiments, the cable has multiple insulated sub-cables; each sub-cable is insulated and physically separable from all other sub -cables. Some of the sub-cables are separated from the cable and electrically connected to joint-associated components for conveying signals and power thereto without mechanically interfering with relative motion between mechanical elements of the joint.
H02G 11/00 - Arrangements of electric cables or lines between relatively-movable parts
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
Via intuitive interactions with a user, robots may be trained to perform tasks such as visually detecting and identifying physical objects and/or manipulating objects. In some embodiments, training is facilitated by the robot's simulation of task-execution using augmented-reality techniques.
In accordance with various embodiments, a user interface embedded into a robot facilitates robot training via direct and intuitive physical interactions. In some embodiments, the user interface includes a wrist cuff that, when grasped by the user, switches the robot into zero-force gravity-compensated mode.
G05B 19/42 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.
G05B 19/423 - Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
In accordance with various embodiments, a user interface embedded into a robot facilitates robot training via direct and intuitive physical interactions. In some embodiments, the user interface includes a wrist cuff that, when grasped by the user, switches the robot into zero-force gravity-compensated mode.
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
G05B 19/42 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
G06F 17/00 - Digital computing or data processing equipment or methods, specially adapted for specific functions
G06K 9/62 - Methods or arrangements for recognition using electronic means
G06K 9/66 - Methods or arrangements for recognition using electronic means using simultaneous comparisons or correlations of the image signals with a plurality of references, e.g. resistor matrix references adjustable by an adaptive method, e.g. learning
G06N 99/00 - Subject matter not provided for in other groups of this subclass
In accordance with various embodiments, a user interface embedded into a robot facilitates robot training via direct and intuitive physical interactions.
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
G05B 19/42 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
G06F 17/00 - Digital computing or data processing equipment or methods, specially adapted for specific functions
G06K 9/62 - Methods or arrangements for recognition using electronic means
G06K 9/66 - Methods or arrangements for recognition using electronic means using simultaneous comparisons or correlations of the image signals with a plurality of references, e.g. resistor matrix references adjustable by an adaptive method, e.g. learning
G06N 99/00 - Subject matter not provided for in other groups of this subclass
Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.
G06K 9/66 - Methods or arrangements for recognition using electronic means using simultaneous comparisons or correlations of the image signals with a plurality of references, e.g. resistor matrix references adjustable by an adaptive method, e.g. learning
G06F 17/00 - Digital computing or data processing equipment or methods, specially adapted for specific functions
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
G06N 99/00 - Subject matter not provided for in other groups of this subclass
G05B 19/42 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
Via intuitive interactions with a user, robots may be trained to perform tasks such as visually detecting and identifying physical objects and/or manipulating objects. In some embodiments, training is facilitated by the robot's simulation of task-execution using augmented-reality techniques.
G05B 6/00 - Internal feedback arrangements for obtaining particular characteristics, e.g. proportional, integral or differential
G06K 9/66 - Methods or arrangements for recognition using electronic means using simultaneous comparisons or correlations of the image signals with a plurality of references, e.g. resistor matrix references adjustable by an adaptive method, e.g. learning
G06F 17/00 - Digital computing or data processing equipment or methods, specially adapted for specific functions
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
G06N 99/00 - Subject matter not provided for in other groups of this subclass
G05B 19/42 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
Via intuitive interactions with a user, robots may be trained to perform tasks such as visually detecting and identifying physical objects and/or manipulating objects. In some embodiments, training is facilitated by the robot's simulation of task-execution using augmented-reality techniques.
G06F 15/18 - in which a program is changed according to experience gained by the computer itself during a complete run; Learning machines (adaptive control systems G05B 13/00;artificial intelligence G06N)
G06K 9/66 - Methods or arrangements for recognition using electronic means using simultaneous comparisons or correlations of the image signals with a plurality of references, e.g. resistor matrix references adjustable by an adaptive method, e.g. learning
G06F 17/00 - Digital computing or data processing equipment or methods, specially adapted for specific functions
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
G06N 99/00 - Subject matter not provided for in other groups of this subclass
G05B 19/42 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.
B25J 13/08 - Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
G05B 19/42 - Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
G06F 17/00 - Digital computing or data processing equipment or methods, specially adapted for specific functions
G06K 9/62 - Methods or arrangements for recognition using electronic means
G06K 9/66 - Methods or arrangements for recognition using electronic means using simultaneous comparisons or correlations of the image signals with a plurality of references, e.g. resistor matrix references adjustable by an adaptive method, e.g. learning
G06N 99/00 - Subject matter not provided for in other groups of this subclass
Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.
Representative embodiments of a system for braking a cyclically rotating motor upon a power failure include (i) charge-storage circuitry for storing charge and converting the stored charge to an output voltage upon power failure; (ii) one or more passive electrical elements for conducting current induced by motor rotations; and (iii) voltage-actuated circuitry connected to the passive electrical element and the charge-storage circuitry for braking the motor during each half-cycle of motor rotation. The circuitry is inactive until actuated by the charge-storage circuitry upon power failure.
H02P 3/12 - Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing a DC motor by short-circuit or resistive braking
H02P 3/22 - Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter for stopping or slowing an AC motor by short-circuit or resistive braking
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
Rotation of a joint from a first angular position to a second angular position without damage to a cable therein utilizes a spirally wound cable in a space between inner and outer cylinders of the joint. In various embodiments, the cable is wrapped around an outer surface of the inner cylinder at the first angular position and unwrapped from the outer surface of the inner cylinder at the second angular position.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
37.
ELECTRONIC EMERGENCY-STOP BRAKING CIRCUIT FOR ROBOTIC ARMS
Representative embodiments of a system for braking a cyclically rotating motor upon a power failure include (i) charge-storage circuitry for storing charge and converting the stored charge to an output voltage upon power failure; (ii) one or more passive electrical elements for conducting current induced by motor rotations; and (iii) voltage-actuated circuitry connected to the passive electrical element and the charge-storage circuitry for braking the motor during each half- cycle of motor rotation. The circuitry is inactive until actuated by the charge-storage circuitry upon power failure.
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
An arcuate metal element for detecting a rotary force and generating a deformation in response thereto is applied to an actuator for a robotic system. Embodiments are related in particular to series elastic actuators (SEAs).
Awareness of a device, such as a robot, to proximate humans (or other moving object) manifested by a visual signal aligned with— i.e., aimed at— the human. For example, an illumination system may take the form of a closed or partial ring around which lighting elements may be selectively activated.
Awareness of a device, such as a robot, to proximate humans (or other moving object) is manifested by a visual signal aligned with—i.e., aimed at—the human. For example, an illumination system may take the form of a closed or partial ring around which lighting elements may be selectively activated.
Movements of objects within a space are adaptively detected by emitting ultrasound waves into the space and detecting reflections of the ultrasound waves, determining locations of objects within the space based on the ultrasound reflections, and determining real-time movements of the objects based on, in certain embodiments, (i) amplitude differences between amplitudes of echoes in a current wave cycle and an average amplitude over a plurality of wave cycles and (ii) elapsed times of the ultrasound reflections associated with the amplitude differences.
Movements of objects within a space are adaptively detected by emitting ultrasound waves into the space and detecting reflections of the ultrasound waves, determining locations of objects within the space based on the ultrasound reflections, and determining real-time movements of the objects based on, in certain embodiments, (i) amplitude differences between amplitudes of echoes in a current wave cycle and an average amplitude over a plurality of wave cycles and (ii) elapsed times of the ultrasound reflections associated with the amplitude differences.
Certain embodiments of a system for reducing backlash include a member geared for rotation in first and second directions. In various implementations, a first motor causes rotation in the first direction with an output biased to preclude space between mating gear components in the first direction, and a second motor, which is mechanically independent of the first motor, causes rotation in the second direction with an output biased to preclude space between mating gear components in the second direction.
Certain embodiments of a system for reducing backlash include a mechanical input, a mechanical output, and first and second mechanical couplers each connected to the mechanical input and the mechanical output. An exemplary system includes an elastic element connected in series between the first mechanical coupler and the mechanical output to bias the first mechanical coupler in a first direction and an elastic element connected in series between the second mechanical coupler and the mechanical output to bias the second mechanical coupler in a second direction, where the second direction is opposite from the first direction.
