$\require{mediawiki-texvc}$
  • 검색어에 아래의 연산자를 사용하시면 더 정확한 검색결과를 얻을 수 있습니다.
  • 검색연산자
검색연산자 기능 검색시 예
() 우선순위가 가장 높은 연산자 예1) (나노 (기계 | machine))
공백 두 개의 검색어(식)을 모두 포함하고 있는 문서 검색 예1) (나노 기계)
예2) 나노 장영실
| 두 개의 검색어(식) 중 하나 이상 포함하고 있는 문서 검색 예1) (줄기세포 | 면역)
예2) 줄기세포 | 장영실
! NOT 이후에 있는 검색어가 포함된 문서는 제외 예1) (황금 !백금)
예2) !image
* 검색어의 *란에 0개 이상의 임의의 문자가 포함된 문서 검색 예) semi*
"" 따옴표 내의 구문과 완전히 일치하는 문서만 검색 예) "Transform and Quantization"

특허 상세정보

Device and method for correction of robot inaccuracy

국가/구분 United States(US) Patent 등록
국제특허분류(IPC7판) G06F-015/46    G05B-019/42   
미국특허분류(USC) 364/513 ; 364/16701 ; 901/2 ; 901/16
출원번호 US-0079168 (1987-07-28)
발명자 / 주소
출원인 / 주소
인용정보 피인용 횟수 : 107  인용 특허 : 9
초록

A method and device for improving orientation and/or location accuracy of a programmable robot with respect to a target object. The method consists of calibrating the position of a terminal control frame associated with a robot end-effector which is coupled to a robot distal link. Separated reference positions external from the robot are identified, as to geometry and spatial data. This identification data is stored for later recall and comparison for use in determining a localized relative frame of reference. The robot end-effector is moved to a first r...

대표
청구항

A method for calibrating the position of a terminal control frame of a robot end-effector such as a camera or gripping device which is coupled to a robot distal link having a robot distal frame and being subject to control of a computer data processing and storage means, said method comprising the steps of: (a) attaching pointing means having a pointing end to the robot distal link such that the pointing means is aligned parallel with a z-axis of the robot distal frame; (b) selecting a first reference point in a space removed from the robot but within an...

이 특허를 인용한 특허 피인용횟수: 107

  1. Jonsson, Ingvar; Moberg, Stig; Hanssen, Sven. Adjusting parameters of a dynamical robot model. USP2017049616565.
  2. Diolaiti, Nicola; Lilagan, Paul E.. Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose. USP2016119492927.
  3. Lapham, John R.. Automation equipment control system. USP2013068473202.
  4. Lapham, John R.. Automation equipment control system. USP2014068761932.
  5. Lapham, John R.. Automation equipment control system. USP2011118050797.
  6. Fisher, Lance K.; Gaida, John D.; Horijon, Joseph L.; Liberty, Todd D.. Board align image acquisition device with improved interface. USP2005106954681.
  7. Vangal-Ramamurthy, Jambunathan; Foster, Robert E.. Calibrated vision based robotic system. USP2012058180487.
  8. Vangal-Ramamurthy, Jambunathan. Calibrated vision based robotic system utilizing upward and downward looking cameras. USP2012038135208.
  9. Chiu, Long-En; Wu, Yong. Calibration method for coordinate system of robot manipulator. USP2017109782899.
  10. Madsen,David D.; Rudd,Eric P.; Schoeneck,Mark R.; Horijon,Joseph L.. Camera with improved illuminator. USP2007037190393.
  11. Jayaram,Sankar; Jayaram,Uma; McDonald,Michael M.; Sorenson,Robert; Evans,Daniel; Cramer,David. Computational geometry system, interrupt interface, and method. USP2007047203634.
  12. Kunii Tosiyasu (Tokyo JPX) Sun Lining (Tokyo JPX). Computer-implemented motion analysis method using dynamics. USP1997045625577.
  13. Bradski, Gary; Konolige, Kurt; Rublee, Ethan; Straszheim, Troy; Strasdat, Hauke; Hinterstoisser, Stefan. Continuous updating of plan for robotic object manipulation based on received sensor data. USP2016019238304.
  14. Bradski, Gary; Konolige, Kurt; Rublee, Ethan; Straszheim, Troy; Strasdat, Hauke; Hinterstoisser, Stefan. Continuous updating of plan for robotic object manipulation based on received sensor data. USP2017049630321.
  15. Dariush, Behzad; Jian, Bing. Control of robots from human motion descriptors. USP2014128924021.
  16. Gomez, Daniel H.; Diolaiti, Nicola; Larkin, David Q.; Lilagan, Paul E.; Mitra, Probal; Mustufa, Tabish. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide. USP2018059956044.
  17. Gomez, Daniel; Diolaiti, Nicola; Larkin, David Q.; Lilagan, Paul E.; Mitra, Probal; Mustafa, Tabish. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide. USP2015079084623.
  18. Vrancic, Aljosa; Wenzel, Lothar. Controlling or analyzing a process by solving a system of linear equations in real-time. USP2012068204925.
  19. Konolige, Kurt; Rublee, Ethan; Hinterstoisser, Stefan; Straszheim, Troy; Bradski, Gary; Strasdat, Hauke. Detection and reconstruction of an environment to facilitate robotic interaction with the environment. USP2015089102055.
  20. Konolige, Kurt; Rublee, Ethan; Hinterstoisser, Stefan; Straszheim, Troy; Bradski, Gary; Strasdat, Hauke Malte. Detection and reconstruction of an environment to facilitate robotic interaction with the environment. USP2017049630320.
  21. Itoh Hiroshi,JPX. Electronic part installation apparatus and method thereof. USP1999075920397.
  22. Jayaram, Sankar; Jayaram, Uma; Cramer, David M.; Evans, Daniel J.; Taylor, Franklin W.; McDonald, Michael M.. Feature-based translation system and method. USP2010047698016.
  23. Fielding, Tim; Newhook, Perry. Frame mapping and force feedback methods, devices and systems. USP2015069044257.
  24. Fielding, Tim; Newhook, Perry. Frame mapping and force feedback methods, devices and systems. USP2013108554368.
  25. Jayaram,Sankar; Jayaram,Uma; McDonald,Michael M.; Sorenson,Robert; Evans,Daniel; Cramer,David. Geometric model comparator and method. USP2006127149677.
  26. Suzuki, Masahiro. Information processing apparatus and information processing method. USP2015089102053.
  27. Suzuki, Masahiro. Information processing apparatus and information processing method. USP2015059026234.
  28. Suzuki, Masahiro; Kobayashi, Kazuhiko. Information processing apparatus and information processing method. USP2015109156162.
  29. Rzasa Peter W. (W. Granville MA) Allen Matthew D. (Enfield CT) Neuschaefer Carl H. (Enfield CT) Kowles Joseph E. (S. Glastonbury CT) Williams Thomas D. (Shutesbury MA) Glazer Frank (Wellesly MA). Machine vision system for position sensing. USP1990014891767.
  30. Zhao Jianmin. Manipulation of graphic structures. USP2000026025852.
  31. Tognaccini, Marc E.; Gomez, Daniel H.; Diolaiti, Nicola; Mustufa, Tabish; Mitra, Probal; Liligan, Paul E.. Medical robotic system providing an auxilary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide. USP2017089717563.
  32. Tognaccini, Marc E.; Gomez, Daniel H.; Diolaiti, Nicola; Mustufa, Tabish; Mitra, Probal; Lilagan, Paul E.. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide. USP2015079089256.
  33. Mustufa, Tabish; Diolaiti, Nicola; Larkin, David Q.. Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide. USP20190410258425.
  34. Diolaiti, Nicola; Larkin, David Q.; Gomez, Daniel H.; Mustufa, Tabish; Mohr, Paul W.; Lilagan, Paul E.. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the position and orienting of its tip. USP2016129516996.
  35. Diolaiti, Nicola; Larkin, David Q.; Gomez, Daniel; Mustafa, Tabish; Mohr, Paul W.; Lilagan, Paul. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip. USP2014108864652.
  36. Diolaiti, Nicola; Lilagan, Paul E.. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument. USP2017049622826.
  37. Diolaiti, Nicola; Lilagan, Paul E.. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument. USP2014128918211.
  38. Diolaiti, Nicola; Larkin, David Q.; Mohr, Catherine J.. Medical robotic system with coupled control modes. USP2016059333042.
  39. Diolaiti, Nicola; Larkin, David Q.; Mohr, Catherine J.. Medical robotic system with coupled control modes. USP20190110188472.
  40. Diolaiti, Nicola; Larkin, David Q.; Mohr, Catherine J.. Medical robotic system with coupled control modes. USP2013128620473.
  41. Brog책rdh,Torgny. Method and a system for programming an industrial robot to move relative to defined positions on an object, including generation of a surface scanning program. USP2007097272524.
  42. Andersson, Bjorn E.. Method and an apparatus for calibration of an industrial robot system. USP2013068457786.
  43. Abitbol Marc,ILX ; Maillart Jean-Luc,FRX. Method and apparatus for identifying the position in three dimensions of a movable object such as a sensor or a tool car. USP1998075784282.
  44. Huissoon Jan Paul,CAXITX N2K 2P6. Method and device for robot tool frame calibration. USP2000036044308.
  45. Knoll, Alois; Kovacs, Peter. Method and device for the improvement of the pose accuracy of effectors on mechanisms and for the measurement of objects in a workspace. USP2003036529852.
  46. Tsurutani Saburo,JPX ; Nishida Yoshiharu,JPX ; Nishikawa Akihira,JPX. Method and equipment for assembling components. USP1999035889925.
  47. Diolaiti, Nicola. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide. USP2015099138129.
  48. Diolaiti, Nicola. Method and system for moving an articulated instrument back towards an entry guide while automatically reconfiguring the articulated instrument for retraction into the entry guide. USP2017049629520.
  49. Diolaiti, Nicola; Lilagan, Paul E.. Method and system for switching modes of a robotic system. USP2016109469034.
  50. Pagel, Thomas; Kemp, Johannes. Method for calibrating a tool center point of tools for industrial robots. USP2010037684898.
  51. Stengele, Gerald. Method for calibrating of machine units located in machine tools or robotic devices. USP2004086785624.
  52. Arnoul, Patrick; Guerin, Jean-Pierre; Letellier, Laurent; Viala, marc. Method for calibrating the initial position and the orientation of one or several mobile cameras. USP2003076594600.
  53. Bjorn Stenberg SE. Method for cell alignment and identification and calibration of robot tool. USP2002036356808.
  54. Coogan, John; Heikkola, Jussi; Sanerma, Simo. Method for correcting positioning errors in rock drilling, and rock drilling equipment. USP2010017644782.
  55. Shi, Jianying. Method for dynamically controlling a robotic arm. USP2013068457791.
  56. Maisonnier, Bruno; Monceaux, Jèróme. Method for editing movements of a robot. USP2013058447428.
  57. Bewig, Lorenz; Engelmann, Till; Hagenauer, Andreas; Hasenzahl, Torsten; Jacob, Dirk; Mühlhäusser, Matthias; Ortmaier, Tobias; Tscharnuter, Dietmar. Method for error recognition in a control system of a medical treatment and/or diagnosis device. USP2017049619619.
  58. Torii Nobutoshi (Hachioji JPX) Nihei Ryo (Yamanashi JPX) Terada Akihiro (Yamanashi JPX). Method of and apparatus for ascertaining motion abilities of industrial robot. USP1990114970448.
  59. Herrmann,Guenter; Moessner,Oswin. Method of and apparatus for operating a work robot. USP2006057043334.
  60. Patrick Armstrong Finlay GB. Method of and apparatus for registration of a robot. USP2002026349245.
  61. Kim,Eun Chan. Method of calibrating robot. USP2006087089085.
  62. Nakajima, Atsushi; Yamaguchi, Isao; Okamoto, Osamu; Ohkami, Yoshiaki. Method of controlling redundant manipulator. USP2010077756606.
  63. Walacavage, Joseph G.; Coburn, Jim D.. Method of part flow model for programmable logic controller logical verification system. USP2010047702491.
  64. Kesil, Boris; Gershenzon, Elik. Method of teaching robotic station for processing objects. USP2016119505128.
  65. Konolige, Kurt; Rublee, Ethan; Bradski, Gary. Methods and systems for recognizing machine-readable information on three-dimensional objects. USP2016019227323.
  66. Zhao, Wenyi; Hasser, Christopher J J; Nowlin, William C.; Hoffman, Brian D.. Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information. USP2012018108072.
  67. Zhao, Wenyi; Hasser, Christopher J.; Nowlin, William C.; Hoffman, Brian D.. Methods of determining tissue distances using both kinematic robotic tool position information and image-derived position information. USP2014078792963.
  68. Bradski, Gary; Croft, Steve; Konolige, Kurt; Rublee, Ethan; Straszheim, Troy; Zevenbergen, John. Moveable apparatuses having robotic manipulators and conveyors to facilitate object movement. USP2016119492924.
  69. Bradski, Gary; Croft, Steve; Konolige, Kurt; Rublee, Ethan; Straszheim, Troy; Zevenbergen, John. Moveable apparatuses having robotic manipulators and conveyors to facilitate object movement. USP2016079393686.
  70. Tang Qing ; Gan Zhongxue ; Katz Jeffrey Sherman ; Fitzgibbons Lance Terrance. Moving object tracking. USP1999035878151.
  71. Takahashi,Toshio. Multi-axis AC servo control system and method. USP2007077245100.
  72. Guthart, Gary S.; Larkin, David Q.; Rosa, David J.; Mohr, Paul W.; Prisco, Giuseppe. Non-force reflecting method for providing tool force information to a user of a telesurgical system. USP2015028944070.
  73. Michael David J. ; Wallack Aaron. Nonfeedback-based machine vision method for determining a calibration relationship between a camera and a moveable obje. USP1999095960125.
  74. Bradski, Gary; Konolige, Kurt; Rublee, Ethan; Straszheim, Troy; Strasdat, Hauke; Hinterstoisser, Stefan; Croft, Steve; Zevenbergen, John. Object pickup strategies for a robotic device. USP2016059333649.
  75. Bradski, Gary; Konolige, Kurt; Rublee, Ethan; Straszheim, Troy; Strasdat, Hauke; Hinterstoisser, Stefan; Croft, Steve; Zevenbergen, John. Object pickup strategies for a robotic device. USP2018069987746.
  76. Hinterstoisser, Stefan; Konolige, Kurt. Object segmentation based on detected object-specific visual cues. USP2016059327406.
  77. Owens John,GB3. Off-line programming system for control of industrial robots. USP1998035731679.
  78. Larkin, David Q.. Preventing instrument/tissue collisions. USP2016059345387.
  79. Larkin, David Q.. Preventing instrument/tissue collisions. USP2018029901408.
  80. Guthart, Gary S.; Mintz, David S.; Niemeyer, Gunter D.; Salisbury, Jr., J. Kenneth; Younge, Robert G.. Real-time generation of three-dimensional ultrasound image using a two-dimensional ultrasound transducer in a robotic system. USP2015089101397.
  81. Guthart, Gary S.; Niemeyer, Gunter D.; Younge, Robert G.; Salisbury, J. Kenneth; Cooper, Thomas G.. Real-time generation of three-dimensional ultrasound image using a two-dimensional ultrasound transducer in a robotic system. USP2016019232984.
  82. Dariush, Behzad; Zhu, Youding; Fujimura, Kikuo. Real-time self collision and obstacle avoidance. USP2012058170287.
  83. Dariush, Behzad. Real-time self collision and obstacle avoidance using weighting matrix. USP2013038396595.
  84. Dariush, Behzad. Reconstruction, retargetting, tracking, and estimation of pose of articulated systems. USP2013068467904.
  85. Itkowitz, Brandon D.; Halabe, Daniel J.; Zhao, Tao; DiMaio, Simon P.; Hasser, Christopher J.; Mohr, Catherine J.; Mohr, Paul W.; Larkin, David Q.; Hoffman, Brian David; Zhao, Wenyi. Rendering tool information as graphic overlays on displayed images of tools. USP20180610008017.
  86. McGee H. Dean ; Akeel Hadi A. ; Tsai Chi-Keng ; Lee Eric ; Jean Min-Ren ; Cheng Sai-Kai. Robot calibration system. USP2000056070109.
  87. Atsushi Watanabe JP; Ryuichi Hara JP; Kazunori Ban JP. Robot control device having operation route simulation function. USP2002106463358.
  88. Shieh, Po-Huang; Lu, Shang-Chieh; Jiang, Bor-Tung; Huang, Kuo-Tang; Chang, Chin-Kuei. Robot positioning method and calibration method. USP2014048688274.
  89. Terada, Daisuke. Robot system and control method for robot system. USP2017109782896.
  90. Suzuki, Hideaki. Robot system and method for controlling the same. USP2015129221176.
  91. Nagai, Ryoichi; Nakamura, Tamio; Kouno, Dai; Izumi, Tetsuro. Robot system, calibration method, and method for producing to-be-processed material. USP2015109156160.
  92. Shiina Tsukasa (Narashino JPX) Teramoto Kazuyoshi (Matsudo JPX) Oura Masao (Yachiyo JPX) Shimomura Raiji (Sakura JPX). Robot teaching apparatus and method with skill level storage. USP1993125274750.
  93. Bosscher, Paul Michael; Hedman, Daniel Ryan. Robotic apparatus implementing collision avoidance scheme and associated methods. USP2013028386080.
  94. Bosscher, Paul Michael; Hedman, Daniel Ryan. Robotic apparatus implementing collision avoidance scheme and associated methods. USP2013098527091.
  95. Watanabe,Atsushi; Nagatsuka,Yoshiharu. Simulation apparatus for robot operation having function of visualizing visual field by image capturing unit. USP2008117447615.
  96. Diolaiti, Nicola; Lilagan, Paul E.. Smooth control of an articulated instrument across areas with different work space conditions. USP2014128903546.
  97. Larkin, David Q.; Hoffman, Brian D.; Mohr, Paul W.. Synthetic representation of a surgical instrument. USP2017109788909.
  98. Larkin, David Q.; Hoffman, Brian D.; Mohr, Paul W.. Synthetic representation of a surgical instrument. USP2017109801690.
  99. Itkowitz, Brandon D.; DiMaio, Simon P.; Halabe, Daniel J.; Hasser, Christopher J.; Hoffman, Brian D.; Larkin, David Q.; Mohr, Catherine J.; Mohr, Paul W.; Zhao, Tao; Zhao, Wenyi. Synthetic representation of a surgical robot. USP20181110137575.
  100. Itkowitz, Brandon D.; Halabe, Daniel J.; Zhao, Tao; Dimaio, Simon; Hasser, Christopher J.; Mohr, Catherine J.; Mohr, Paul W.; Larkin, David Q.; Zhao, Wenyi; Hoffman, Brian D.. Synthetic representation of a surgical robot. USP2017109789608.
  101. Cristiano, Stefano. System and method for aligning a coordinated movement machine reference frame with a measurement system reference frame. USP2018019857786.
  102. Landsnes, Øyvind. System and method for visualization of process errors. USP2015069067321.
  103. Red, Walter E.; Cheatham, Robert M.; Jensen, C. Gregory. Systems and methods for representing complex n-curves for direct control of tool motion. USP2005056895299.
  104. Larkin, David Q.; Nixon, Thomas Robert; Mintz, David Stephen. Tool position and identification indicator displayed in a boundary area of a computer display screen. USP2017089718190.
  105. Christopher C. DiStasio ; Nathaniel W. Haslam IE. Tooling adapter for allowing selected manipulation of a workpiece. USP2002086430474.
  106. John R. Lapham. Versatile robot control system. USP2002086442451.
  107. Holdgrafer William J. (Burlington NJ) Gauntt Douglas L. (Mickleton NJ) Newsome Robert B. (Sellersville PA). X-Y table error mapping apparatus and method. USP1990114972311.