公开(公告)号：US12083679B2

公开(公告)日：2024-09-10

申请号：US17881357

申请日：2022-08-04

Applicant: DELTA ELECTRONICS, INC.

Inventor： Cheng-Hao Huang ,  Po-Chiao Huang ,  Han-Ching Lin ,  Shi-Yu Wang

IPC: G05D1/00 ,  B25J5/00 ,  B25J9/16

CPC classification number: B25J9/1641 ,  B25J5/007

Abstract: A stabilization method incorporated with a mobile robot having a body, a plane-pressure sensor, and a movement mechanism is disclosed and includes the following steps: sensing and obtaining a pressure distribution of the body through the plane-pressure sensor; computing a center of gravity (CoG) position of the body in accordance with the pressure distribution; determining whether the CoG position is located within a steady zone pre-defined upon the body; and, providing a reverse force toward a CoG offset direction of the CoG position when the CoG position is determined to be off the steady zone.

公开(公告)号：US11951637B2

公开(公告)日：2024-04-09

申请号：US17339760

申请日：2021-06-04

Applicant: Delta Electronics, Inc.

Inventor： Cheng-Hao Huang ,  Shi-Yu Wang ,  Po-Chiao Huang ,  Han-Ching Lin ,  Meng-Zong Li

IPC: B25J9/16 ,  B25J9/02 ,  B25J13/08 ,  G01B11/00

CPC classification number: B25J9/1692 ,  B25J9/023 ,  B25J9/1607 ,  B25J9/1664 ,  B25J9/1697 ,  B25J13/088

Abstract: A calibration apparatus includes a processor, an alignment device, and an arm. The alignment device captures images in a three-dimensional space, and a tool is arranged on a flange of the arm. The processor records a first matrix of transformation between an end-effector coordinate-system and a robot coordinate-system, and performs a tool calibration procedure according to the images captured by the alignment device for obtaining a second matrix of transformation between a tool coordinate-system and the end-effector coordinate-system. The processor calculates relative position of a tool center point of the tool in the robot coordinate-system based on the first and second matrixes, and controls the TCP to move in the three-dimensional space for performing a positioning procedure so as to regard points in an alignment device coordinate-system as points of the TCP, and calculates the relative positions of points in the alignment device coordinate-system and in the robot coordinate-system.