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    Compliant payload presentation using robotic system with coordinated serial and parallel robots
    12.
    发明授权
    Compliant payload presentation using robotic system with coordinated serial and parallel robots 有权

    公开(公告)号：US11638995B2

    公开(公告)日：2023-05-02

    申请号：US17305348

    申请日：2021-07-06

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Muhammad E. Abdallah ,  Miguel Arturo Saez ,  James W. Wells

    IPC: B25J9/16 ,  B62D65/00 ,  B25J13/08

    Abstract: A robotic system for presenting a payload within a workspace includes a pair of serial robots configured to connect to the payload, a parallel robot coupled to a distal end of one of the serial robots such that the parallel robot is disposed between the distal end and the payload, a sensor situated within a kinematic chain extending between the distal end and the payload, and a robot control system (RCS). The sensor outputs a sensor signal indicative of a measured property of the payload. The RCS includes a coordinated motion controller configured to control the serial robots, and a corrective motion controller configured to control the parallel robot. Parallel robot control occurs in response to the sensor signal concurrently with control of the serial robots in order to thereby modify the property of the payload in real-time.

    Underactuated joining system for moving assembly line
    14.
    发明授权
    Underactuated joining system for moving assembly line 有权

    公开(公告)号：US11590616B1

    公开(公告)日：2023-02-28

    申请号：US17577107

    申请日：2022-01-17

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Muhammad E. Abdallah ,  James W. Wells

    IPC: B25J9/16 ,  B23P21/00

    Abstract: An underactuated joining system for a moving assembly line includes a robot with actuated joints, an articulated compliance mechanism, and a controller. An end-effector of the mechanism is connected to linkages and to a joining tool, unactuated joints interconnect the linkages, and position sensors measure joint positions of the unactuated joints. In response to the joint positions, a controller regulates a position of the actuated joints to cause the compliance mechanism to compliantly follow the assembly line. This occurs while the tool remains engaged with a workpiece being transported along the assembly line. A method includes engaging the tool with the workpiece as the workpiece is transported by the assembly line, measuring joint positions of the unactuated joints using position sensors, and controlling a position of the active joints to cause the compliance mechanism to compliantly follow the workpiece along the assembly line.

    COMPLIANT PAYLOAD PRESENTATION USING ROBOTIC SYSTEM WITH COORDINATED SERIAL AND PARALLEL ROBOTS
    15.
    发明申请
    COMPLIANT PAYLOAD PRESENTATION USING ROBOTIC SYSTEM WITH COORDINATED SERIAL AND PARALLEL ROBOTS 有权

    公开(公告)号：US20230012386A1

    公开(公告)日：2023-01-12

    申请号：US17305348

    申请日：2021-07-06

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Muhammad E. Abdallah ,  Miguel Arturo Saez ,  James W. Wells

    IPC: B25J9/16 ,  B25J13/08 ,  B62D65/00

    Abstract: A robotic system for presenting a payload within a workspace includes a pair of serial robots configured to connect to the payload, a parallel robot coupled to a distal end of one of the serial robots such that the parallel robot is disposed between the distal end and the payload, a sensor situated within a kinematic chain extending between the distal end and the payload, and a robot control system (RCS). The sensor outputs a sensor signal indicative of a measured property of the payload. The RCS includes a coordinated motion controller configured to control the serial robots, and a corrective motion controller configured to control the parallel robot. Parallel robot control occurs in response to the sensor signal concurrently with control of the serial robots in order to thereby modify the property of the payload in real-time.

    COUNTERBALANCE MECHANISM FOR ROBOTIC ASSIST DEVICE
    16.
    发明申请
    COUNTERBALANCE MECHANISM FOR ROBOTIC ASSIST DEVICE 有权

    公开(公告)号：US20220250262A1

    公开(公告)日：2022-08-11

    申请号：US17171549

    申请日：2021-02-09

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Muhammad E. Abdallah ,  James W. Wells ,  Peter Kresmery

    IPC: B25J19/00 ,  B25J9/10 ,  B25J9/14 ,  B25J9/00 ,  B25J9/16 ,  B25J13/08

    Abstract: An electromechanical system operates in part through physical interaction with an operator, and includes a multi-axis robot, a controller, and a counterbalance mechanism connected to the robot. The counterbalance mechanism includes a base structure connected to a set of linkages, a pneumatic cylinder, a spring-loaded cam assembly, and an optional constant force spring. The linkages form a four-bar parallelogram assembly connectable to a load. The cylinder and cam assembly, and optional constant force spring, each impart respective vertical forces to the parallelogram assembly. The forces combine to provide gravity compensation and self-centering functions or behaviors to the load, enabling the load to move with a vertical degree of freedom when manually acted upon by the operator, and to return the load to a nominal center position.

    Controlled compliant gripping and manipulating system for a robot
    18.
    发明授权
    Controlled compliant gripping and manipulating system for a robot 有权

    公开(公告)号：US12240100B2

    公开(公告)日：2025-03-04

    申请号：US17550217

    申请日：2021-12-14

    Applicant: GM Global Technology Operations LLC

    Inventor： Miguel Arturo Saez ,  John Patrick Spicer ,  Muhammad E. Abdallah ,  James W. Wells ,  Tom Malburg

    IPC: B25J15/00 ,  B25J17/02

    Abstract: A compliant end effector includes a robot mounting bracket and a component support member. The component support member includes a side surface and a top surface. A component clamping system includes a first clamp member operable to move toward the side surface of the component support member and a second clamp member operable to move toward the top surface of the component support member. A controller is operatively connected to the clamping system. The controller is configured to engage the first and second clamp members as the component gripping and manipulating system is in a set position and release the first clamp member and the second clamp member allowing a portion of a component held by the component clamping system to move with one or more degrees of freedom when the component gripping and manipulating system is moving to the set position.

    ROBOTIC SYSTEM FOR MOVING A PAYLOAD WITH MINIMAL PAYLOAD SWAY AND INCREASED POSITIONING ACCURACY
    19.
    发明公开
    ROBOTIC SYSTEM FOR MOVING A PAYLOAD WITH MINIMAL PAYLOAD SWAY AND INCREASED POSITIONING ACCURACY 审中-公开

    公开(公告)号：US20230249342A1

    公开(公告)日：2023-08-10

    申请号：US17666699

    申请日：2022-02-08

    Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

    Inventor： Muhammad E. Abdallah

    IPC: B25J9/16

    CPC classification number: B25J9/1633 ,  B25J9/1664

    Abstract: A robotic system for use with a payload includes a robot, a passive compliance mechanism, position sensors, and an electronic control unit (ECU). Actuated joints of the robot provide the robotic system with actuated degrees of freedom (DOF). The compliance mechanism is connected to the robot and payload, and has unactuated joints providing the robotic system with unactuated DOF. The sensors measure joint positions of the joints. The ECU has a trajectory generator block which generates a payload trajectory signal in response to dynamic control inputs, and an impedance control unit (ICU) applying damping and stiffness parameters to the payload trajectory signal to generate an initial velocity command. A stiction compensation block allows the robotic system to generate a velocity offset, and applies the velocity offset to the initial velocity command to produce a final velocity command for the robot.

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