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公开(公告)号：US11364623B2
公开(公告)日：2022-06-21
申请号：US16277341
申请日：2019-02-15
Applicant: GM Global Technology Operations LLC
Inventor： Miguel A. Saez , John P. Spicer , James W. Wells , Jeffrey A. Abell , Muhammad E. Abdallah
Abstract: A component assembly system comprises a first robot arm having a first end-of-arm tool mounted thereon and adapted to grasp a first subcomponent; a second robot arm having a second end of arm tool mounted thereon and adapted to grasp a second subcomponent. A system controller is adapted to control the first and second robot arms and first and second end-of-arm tools to position the first and second subcomponents relative to one another. A first interlocking mechanism is mounted onto the first end-of-arm tool and a second interlocking mechanism is mounted onto the second end-of-arm tool, wherein the first and second interlocking mechanisms engage one another and lock the first end-of-arm tool to the second end-of arm tool, thereby locking the first and second subcomponents into an initial position relative to one another.
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公开(公告)号：US11247332B2
公开(公告)日：2022-02-15
申请号：US16773388
申请日：2020-01-27
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC , UNIVERSITE LAVAL
Inventor： Muhammad E. Abdallah , James W. Wells , Pascal Labrecque , Clement Gosselin , Thierry Laliberte
Abstract: A jointed mechanism includes a passive pendulum system attached to and suspended from the multi-axis robot. The system includes one or more position sensors configured to measure a joint angle on the pendulum system, at least one arm, and an end-effector attached to a distal end of the pendulum system. A controller implements a method to selectively control motion of the robot in a plurality of control modes. The control modes include a Cooperative Mode and an Autonomous Mode. The controller is configured to detect contact with the end-effector when operating in the Autonomous Mode, and to automatically initiate a control action in response to the contact. The pendulum system may be a parallelogram arrangement.
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公开(公告)号：US20210308839A1
公开(公告)日：2021-10-07
申请号：US16840583
申请日：2020-04-06
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC , Université Laval
Inventor： Muhammad E. Abdallah , James W. Wells , Clement Gosselin , Thierry Laliberte , Jerome Landure
Abstract: An insertion system includes an insertion device including a body defining a longitudinal axis, the body including a wall having an outer surface and an inner surface defining a cylindrical opening through the body, the body having a first body portion and a second body portion formed by separating the body along the longitudinal axis, an effector configured to interface with the insertion device, the effector having an effector body, a first mechanism coupled to the effector body and coupled to the first body portion of the insertion device, and a second mechanism coupled to the effector body and coupled to the second body portion of the insertion device, and an insertion mechanism coupled with the effector body. The insertion mechanism enables a force application at a position offset from the insertion device.
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公开(公告)号：US10996649B2
公开(公告)日：2021-05-04
申请号：US16131478
申请日：2018-09-14
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Muhammad E. Abdallah , Gary L. Villeneuve , Sreten Zakula
IPC: G05B19/402
Abstract: A method for position correction of a machine relative to a work piece. The machine may be provided with an end effector. The work piece may be engaged with the end effector. A force or a moment resulting from engaging the work piece with the end effector may be measured. A pose error may be determined from the force and/or the moment, wherein the pose error may define a misalignment of the end effector. The end effector may be repositioned an amount equal to the pose error to correct the misalignment. One application may involve torqueing nuts with a nut runner, which may be accomplished through the use of an automated machine such as a robot.
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公开(公告)号：US20170249561A1
公开(公告)日：2017-08-31
申请号：US15056232
申请日：2016-02-29
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Muhammad E. Abdallah
CPC classification number: G06N20/00 , B25J9/1633 , B25J9/1664 , G05B2219/35464 , G05B2219/39298 , G06K7/10366 , G06N3/008
Abstract: A system for demonstrating a task to a robot includes a glove, sensors, and a controller. The sensors measure task characteristics while a human operator wears the glove and demonstrates the task. The task characteristics include a pose, joint angle configuration, and distributed force of the glove. The controller receives the task characteristics and uses machine learning logic to learn and record the demonstrated task as a task application file. The controller transmits control signals to the robot to cause the robot to automatically perform the demonstrated task. A method includes measuring the task characteristics using the glove, transmitting the task characteristics to the controller, processing the task characteristics using the machine learning logic, generating the control signals, and transmitting the control signals to the robot to cause the robot to automatically execute the task.
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Patent Agency Ranking
公开(公告)号：US20170080576A1
公开(公告)日：2017-03-23
申请号：US15219459
申请日：2016-07-26
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC , Universite Laval
Inventor： Muhammad E. Abdallah , Christa Lynn Lauder , Clement Gosselin
CPC classification number: B25J13/085 , B25J9/0051 , B25J9/1015 , B25J17/0208 , B25J17/0216
Abstract: An extended-reach assist device for an assembly task includes a base mechanism and a compliant end-effector. The articulated base mechanism provides one or more passive degrees of freedom. The end-effector is connected to the base mechanism, and has one or more active or passive degrees of freedom collectively configured to react to contact forces with the assist device when completing the dexterous assembly task. A weight of the end-effector is supported by the base mechanism. The end-effector may be optionally configured as a passive device configured to produce a remote center of compliance or as a robot mechanism. A mechanism may actively or passively augment a force applied by the operator. A sensor may detect a signature indicative of successful task completion, e.g., an acoustic, visual, or audio sensor.
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公开(公告)号：US11318585B2
公开(公告)日：2022-05-03
申请号：US16840583
申请日：2020-04-06
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC , Université Laval
Inventor： Muhammad E. Abdallah , James W. Wells , Clement Gosselin , Thierry Laliberte , Jerome Landure
Abstract: An insertion system includes an insertion device including a body defining a longitudinal axis, the body including a wall having an outer surface and an inner surface defining a cylindrical opening through the body, the body having a first body portion and a second body portion formed by separating the body along the longitudinal axis, an effector configured to interface with the insertion device, the effector having an effector body, a first mechanism coupled to the effector body and coupled to the first body portion of the insertion device, and a second mechanism coupled to the effector body and coupled to the second body portion of the insertion device, and an insertion mechanism coupled with the effector body. The insertion mechanism enables a force application at a position offset from the insertion device.
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公开(公告)号：US20210017002A1
公开(公告)日：2021-01-21
申请号：US16516603
申请日：2019-07-19
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Muhammad E. Abdallah , James W. Wells
Abstract: An overhead system assists an operator in moving an object when the operator imparts a manual force to the object in a shared workspace characterized by overlapping ranges of motion of the robot and operator. The system includes an articulated serial robot, a cable, sensors, and a control system. One end of the cable connects to a distal end link of the robot. Another end of the cable connects to the object to suspend the object. The sensors measure a cable force and/or angle. The control system regulates operation of the robot by translating vertically and horizontally in response to the cable force and/or angle. The control system limits the position and/or velocity of the end link according to corresponding work space rules, including respective position and velocity limits, such that the system is immune to a single-point failure.
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公开(公告)号：US10759634B2
公开(公告)日：2020-09-01
申请号：US15803202
申请日：2017-11-03
Applicant: GM Global Technology Operations LLC , Université Laval
Inventor： Muhammad E. Abdallah , Clement Gosselin , Thierry Laliberte , Simon Foucault , Pascal Labrecque , James W. Wells , Jerome Landure
IPC: G06F17/00 , B66C13/08 , B25J13/08 , B25J9/04 , B25J9/10 , B25J9/16 , B25J1/02 , B25J5/04 , B66C13/48 , B66C13/46 , B66C17/04 , B25J9/00 , B25J17/02
Abstract: An electromechanical system operates through physical interaction with an operator, and includes a plurality of joints providing multiple degrees of freedom (DOF), including actuated joints and unactuated joints. The unactuated joints are distal with respect to the actuated joints and are in redundant DOF to the actuated joints. The system includes a plurality of actuators each configured to actuate one or more of the actuated joints, and a plurality of sensors each positioned with respect to a respective one of the actuated and unactuated joints. Each sensor is configured to measure corresponding joint data indicative of a position or angle of the respective actuated or unactuated joints. A controller in communication with the sensors receives the measured joint data as feedback signals, generates control signals using the feedback signals, and transmits the control signals to the actuators to thereby control an actuation state of the actuators.
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公开(公告)号：US20200156245A1
公开(公告)日：2020-05-21
申请号：US16773388
申请日：2020-01-27
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Muhammad E. Abdallah , James W. Wells
Abstract: A jointed mechanism includes a passive pendulum system attached to and suspended from the multi-axis robot. The system includes one or more position sensors configured to measure a joint angle on the pendulum system, at least one arm, and an end-effector attached to a distal end of the pendulum system. A controller implements a method to selectively control motion of the robot in a plurality of control modes. The control modes include a Cooperative Mode and an Autonomous Mode. The controller is configured to detect contact with the end-effector when operating in the Autonomous Mode, and to automatically initiate a control action in response to the contact. The pendulum system may be a parallelogram arrangement.
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