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특허 상세정보

Object oriented motion system

국가/구분 United States(US) Patent 등록
국제특허분류(IPC7판) G06F-019/00   
미국특허분류(USC) 700/245; 700/246; 700/249; 700/252; 700/259; 700/5001; 700/260; 700/261; 318/5681; 318/56811; 318/56822; 701/023; 901/015
출원번호 US-0277641 (1999-03-26)
발명자 / 주소
출원인 / 주소
대리인 / 주소
    Harness, Dickey & Pierce, P.L.C.
인용정보 피인용 횟수 : 27  인용 특허 : 9
초록

An object oriented motion system for controlling the movement of a robotic manipulator is presented. The motion system includes a trajectory generator object for producing a stream of machine joint commands. A kinematics object is operable to provide a set of robotic arm specific functions for the trajectory generator object. A servo object provides an interface to the servo system. The stream of machine motor commands are converted by the servo object to a stream of signals that drive the servo system, thereby controlling the trajectory of the robot arm...

대표
청구항

1. A motion system for controlling the movement of a robot arm through a servo system, comprising:an object oriented motion system implemented as a plurality of software objects each encapsulating both functional implementation code and associated internal data structures: wherein said plurality of software objects include the following software objects: a trajectory generator object for producing a stream of machine motor commands; a kinematics object operable to provide as et of robot arm specific functions for said trajectory generator objects; and as...

이 특허에 인용된 특허 (9)

  1. Luthi Jeffrey L. (Valencia CA) Tauber Richard (Granada Hills CA). Apparatus for and method of testing hydraulic/pneumatic apparatus using computer controlled test equipment. USP1994085337262.
  2. Edelman Gerald M. (35 E. 85th St. New York NY 10028) Reeke ; Jr. George N. (430 E. 63rd St. ; #11E New York NY 10021). Categorization automata employing neuronal group selection with reentry. USP1992085136687.
  3. Ozawa Katsuko (Tokyo JPX) Gotoh Kazuhisa (Yokohama JPX) Murayama Tomohiro (Yokohama JPX) Tokuda Momoyo (Yokohama JPX) Sumida Satoshi (Yokohama JPX) Suzuki Tetsuo (Yokohama JPX). Distribution control apparatus. USP1991105055755.
  4. Spoto Thomas A. (Birmingham MI) Higashide Hiroshi (Ishikawa Prefecture JPX) Rankin ; II James S. (Farmington Hills MI). Method and system for processing and presenting on-line, multimedia information in a tree structure. USP1996075539869.
  5. Buckley Theresa M. (424 Homer Ave. Palo Alto CA 94301). Method for neural network control of motion using real-time environmental feedback. USP1997095673367.
  6. Funda Janez ; Taylor Russell Highsmith. Method of constrained Cartesian control of robotic mechanisms with active and passive joints. USP1999035887121.
  7. Yoda Haruo (Tokyo JPX) Miyatake Takafumi (Hachioji JPX) Matsushima Hitoshi (Tachikawa JPX). Motion control apparatus with function to self-form a series of motions. USP1991115063492.
  8. Kawato Mitsuo (Kyoto JPX) Maeda Yoshiharu (Shizuoka JPX) Uno Yoji (Tokyo JPX) Suzuki Ryoji (Tokyo JPX). Movement trajectory generating method of a dynamical system. USP1991024990838.
  9. Rowney Kevin T. B. ; Chen Yuhua. System, method and article of manufacture for secure digital certification of electronic commerce. USP1999115996076.

이 특허를 인용한 특허 피인용횟수: 27

  1. Lapham, John R.. Automation equipment control system. USP2013068473202.
  2. Lapham, John R.. Automation equipment control system. USP2014068761932.
  3. Lapham, John R.. Automation equipment control system. USP2011118050797.
  4. Sladek, Bohumir; Bhatt, Jatin P.; Schwarz, William C.; Gouda, Bhanu K.. Blending algorithm for trajectory planning. USP2012108290611.
  5. Sladek, Bohumir; Bhatt, Jatin P.; Schwarz, William C.; Gouda, Bhanu K.. Blending algorithm for trajectory planning. USP2011077979158.
  6. Dariush, Behzad; Jian, Bing. Control of robots from human motion descriptors. USP2014128924021.
  7. Gonzalez-Banos, Hector H.; Ng-Thow-Hing, Victor. Controlling a robot using pose. USP2010027664571.
  8. Gray, Paul J.; Lu, Jiang; Lankalapalli, Kishore. Generalized kinematics system. USP2014058725283.
  9. Galloway, Paul A.. Matching peak velocities of acceleration and deceleration seek profiles in a disc drive. USP2005086937431.
  10. Graf,Stefan. Method and apparatus for controlling handling devices. USP2006067069112.
  11. Payton, David W.; Howard, Mike; Daily, Mike; Lee, Craig; Hoff, Bruce. Method and apparatus for controlling the movement of a plurality of agents. USP2003016507771.
  12. Boca,Remus F; Habibi,Babak; Sameti,Mohammad; Pescaru,Simona. Method and apparatus for machine-vision. USP2008027336814.
  13. Habibi, Babak; Pescaru, Simona. Method and apparatus for single camera 3D vision guided robotics. USP2004116816755.
  14. Habibi, Babak; Pescaru, Simona; Sameti, Mohammad; Boca, Remus Florinel. Method and apparatus for single image 3D vision guided robotics. USP2012018095237.
  15. Evans,Mark S.; Red,Walter Edward; Jensen,Charles Gregory; Bassett,C. Porter; McBride,Corey Lynn; Bosley,Jonathan Edward; Ghimire,Girish C.. Method and system for controlling a machine tool with direct transfer of machining data. USP2007107283888.
  16. Yu, Mantle Man-Hon. Method, system, and program for generating control signals to perform a seek operation. USP2005066909576.
  17. Boca, Remus. Methods and apparatus to facilitate operations in image based systems. USP2013108559699.
  18. Dariush, Behzad; Zhu, Youding; Fujimura, Kikuo. Real-time self collision and obstacle avoidance. USP2012058170287.
  19. Dariush, Behzad. Real-time self collision and obstacle avoidance using weighting matrix. USP2013038396595.
  20. Dariush, Behzad. Reconstruction, retargetting, tracking, and estimation of motion for articulated systems. USP2010127859540.
  21. Dariush, Behzad. Reconstruction, retargetting, tracking, and estimation of pose of articulated systems. USP2013068467904.
  22. Prats, Mario. Selecting physical arrangements for objects to be acted upon by a robot. USP2017089724826.
  23. Prats, Mario. Selecting robot poses to account for cost. USP2017069682476.
  24. Zhang,Bin; Safai,Fereydoon. System and method for employing an object-oriented motion detector to capture images. USP2008077403640.
  25. Boca, Remus F.; Pescaru, Simona Liliana; Beis, Jeffrey Scott; Habibi, Babak. System and method of determining object pose. USP2013058437535.
  26. Mueller, Eric J.. Systems and methods for facilitating object movement using object component relationship markers. USP2013028373704.
  27. Mueller, Eric J.. Systems and methods for runtime control of hierarchical objects. USP2014038683429.