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公开(公告)号：US11373372B2
公开(公告)日：2022-06-28
申请号：US16453749
申请日：2019-06-26
发明人： Leo Keselman , Yi Sun , Sai-Kai Cheng , Jason Tsai
IPC分类号： G06T19/00 , G06N5/02 , G07C3/00 , G06K9/00 , G06K7/14 , B25J9/16 , G02B27/01 , G07C3/08 , G06V20/20
摘要： An augmented reality (AR) system for diagnosis, troubleshooting and repair of industrial robots. The disclosed diagnosis guide system communicates with a controller of an industrial robot and collects data from the robot controller, including a trouble code identifying a problem with the robot. The system then identifies an appropriate diagnosis decision tree based on the collected data, and provides an interactive step-by-step troubleshooting guide to a user on an AR-capable mobile device, including augmented reality for depicting actions to be taken during testing and component replacement. The system includes data collector, tree generator and guide generator modules, and builds the decision tree and the diagnosis guide using a stored library of diagnosis trees, decisions and diagnosis steps, along with the associated AR data.
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公开(公告)号：US20200078945A1
公开(公告)日：2020-03-12
申请号：US16566608
申请日：2019-09-10
发明人： Yi Sun , Sai-Kai Cheng , Jason Tsai
摘要： A method and system for programming a path-following robot to perform an operation along a continuous path while accounting for process equipment characteristics. The method eliminates the use of manual teaching cycles. In one example, a dispensing robot is programmed to apply a consistent bead of material, such as adhesive or sealant, along the continuous path. A CAD-generated definition of the path, along with a model of dispensing equipment characteristics, are provided to an optimization routine. The optimization routine iteratively calculates robot tool center point path and velocity, and material flow, until an optimum solution is found. The optimized robot motion and dispensing equipment commands are then provided to an augmented reality (AR) system which allows a user to visualize and adjust the operation while viewing an AR simulation of dispensing system actions and a simulated material bead. Other examples include robotic welding or cutting along a continuous path.
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公开(公告)号：US20180333852A1
公开(公告)日：2018-11-22
申请号：US15984467
申请日：2018-05-21
发明人： Yi Sun , Jason Tsai , Sai-Kai Cheng , James F. Huber
IPC分类号： B25J9/16
CPC分类号： B25J9/1664 , G05B19/41815 , G05B19/4185 , G05B2219/31261 , Y10S901/09 , Y10S901/16
摘要： A method and a system stream robot tool center point position to external processors at high frequency. The method includes the steps of: reading robot joint encoder data using an Interrupt Service Routine in the robot controller; calculating tool center point position based on the encoder data; and sending the calculated position data to a network socket in a high priority task. The method achieves tool center point and/or joint position communication at fast and consistent time intervals, as compared to much longer times for prior art methods. A downstream device, such as a processor or controller for another machine, reads the communicated tool center point and/or joint position data and uses it to control the operations of its own device. High speed motion command streaming from outside processors can be used in a similar way to control the robot.
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公开(公告)号：US20190227532A1
公开(公告)日：2019-07-25
申请号：US16336046
申请日：2017-09-26
发明人： Leo Keselman , Matthew DeNio , Eric Lee , Ho Cheung Wong , Peter Swanson , Sai-Kai Cheng
IPC分类号： G05B19/418 , B25J9/00 , B25J9/16 , B25J11/00
摘要： Methods and systems include ways to synchronize a press machine and tending robots, including a pick robot and a drop robot, where the press machine includes an operating area for pressing a blank into a part. The pick robot and the part are moved out of the operating area while the drop robot carrying the blank is moved into the operating area. At least a portion of the pick robot and/or the part resides within the operating area at the same time at least a portion of the drop robot and/or the blank resides within the operating area. The pick robot is in communication with the drop robot and the movement of the pick robot is synchronized with the movement of the drop robot to prevent the pick robot or part from colliding with the drop robot or the blank.
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公开(公告)号：US09327401B2
公开(公告)日：2016-05-03
申请号：US14021051
申请日：2013-09-09
发明人： Di Xiao , Sai-Kai Cheng , Randy A. Graca , Matthew R. Sikowski , Jason Tsai
IPC分类号： B25J9/16
CPC分类号： B25J9/163 , B25J9/1643 , G05B2219/40333 , G05B2219/40367 , Y10S901/03 , Y10S901/16 , Y10S901/28 , Y10S901/43
摘要： A method for controlling a redundant robot arm includes the steps of selecting an application for performing a robotic process on a workpiece with the arm and defining at least one constraint on motion of the arm. Then an instruction set is generated based upon the selected application representing a path for a robot tool attached to the arm by operating the arm in one of a teaching mode and a programmed mode to perform the robotic process on the workpiece and movement of the arm is controlled during the robotic process. A constraint algorithm is generated to maintain a predetermined point on the arm to at least one of be on, be near and avoid a specified constraint in a robot envelope during movement of the arm, and a singularity algorithm is generated to avoid a singularity encountered during the movement of the arm.
摘要翻译： 一种用于控制冗余机器人手臂的方法包括以下步骤：使用臂选择用于在工件上执行机器人处理的应用，并且对臂的运动限定至少一个约束。 然后基于所选择的应用程序生成指令集，该应用程序表示通过以示教模式和编程模式之一操作臂来执行附接到臂的机器人工具的路径，以对工件执行机器人处理，并且臂的移动是 在机器人过程中控制。 生成约束算法以将臂上的预定点维持在臂的移动期间的至少一个，接近并且避免在机器人包络中的指定约束，并且生成奇异性算法以避免在 手臂的运动。
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公开(公告)号：US12036674B2
公开(公告)日：2024-07-16
申请号：US16564848
申请日：2019-09-09
发明人： Yi Sun , Jason Tsai , Sai-Kai Cheng , Don Kijek , Bradley Q. Niederquell
IPC分类号： B25J9/16 , G05B15/02 , G05B19/042 , G05B23/02 , G06Q10/06
CPC分类号： B25J9/163 , G05B15/02 , G05B19/0428 , G05B23/0237 , G06Q10/06 , G05B2219/23026 , G05B2219/23068 , G05B2219/32187
摘要： A method for monitoring an industrial robot. The method includes configuring the robot to perform a certain task during an integration process and storing integration data in the robot identifying the configuration of the robot for performing the task. The method also includes installing the robot in a manufacturing facility, and uploading the stored integration data to the Cloud when the robot is installed in the manufacturing facility. The method further includes capturing production data generated by the robot during operation of the robot in the manufacturing facility, uploading the production data to the Cloud, and comparing the production data to the integration data.
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公开(公告)号：US10414043B2
公开(公告)日：2019-09-17
申请号：US15420777
申请日：2017-01-31
发明人： Min Ren Jean , Ganesh Kalbavi , Sai-Kai Cheng
IPC分类号： B25J9/00 , G05B19/418
摘要： A method for controlling motion of a robot relative to a conveyor flow direction of a moving conveyor includes the steps of: establishing a tracking frame for coordinating a position and movement of the robot relative to an object support surface of the conveyor; setting an upstream boundary perpendicular or skewed to a conveyor flow direction of the conveyor; setting a downstream boundary perpendicular or skewed to the conveyor flow direction; optionally setting a circular boundary partially overlapping the upstream boundary and the downstream boundary, wherein the upstream boundary, the downstream boundary and the circular boundary are positioned to define a picking area relative to the support surface; and operating the robot to pick objects from the picking area.
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公开(公告)号：US11112776B2
公开(公告)日：2021-09-07
申请号：US16336046
申请日：2017-09-26
发明人： Leo Keselman , Matthew DeNio , Eric Lee , Ho Cheung Wong , Peter Swanson , Sai-Kai Cheng
摘要： Methods and systems include ways to synchronize a press machine and tending robots, including a pick robot and a drop robot, where the press machine includes an operating area for pressing a blank into a part. The pick robot and the part are moved out of the operating area while the drop robot carrying the blank is moved into the operating area. At least a portion of the pick robot and/or the part resides within the operating area at the same time at least a portion of the drop robot and/or the blank resides within the operating area. The pick robot is in communication with the drop robot and the movement of the pick robot is synchronized with the movement of the drop robot to prevent the pick robot or part from colliding with the drop robot or the blank.
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公开(公告)号：US10773383B2
公开(公告)日：2020-09-15
申请号：US15984467
申请日：2018-05-21
发明人： Yi Sun , Jason Tsai , Sai-Kai Cheng , James F. Huber
IPC分类号： B25J9/00 , B25J9/16 , G05B19/418
摘要： A method and a system stream robot tool center point position to external processors at high frequency. The method includes the steps of: reading robot joint encoder data using an Interrupt Service Routine in the robot controller; calculating tool center point position based on the encoder data; and sending the calculated position data to a network socket in a high priority task. The method achieves tool center point and/or joint position communication at fast and consistent time intervals, as compared to much longer times for prior art methods. A downstream device, such as a processor or controller for another machine, reads the communicated tool center point and/or joint position data and uses it to control the operations of its own device. High speed motion command streaming from outside processors can be used in a similar way to control the robot.
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公开(公告)号：US20200078937A1
公开(公告)日：2020-03-12
申请号：US16564848
申请日：2019-09-09
发明人： Yi Sun , Jason Tsai , Sai-Kai Cheng , Don Kijek , Bradley Q. Niederquell
IPC分类号： B25J9/16 , G05B23/02 , G05B19/042 , G05B15/02 , G06Q10/06
摘要： A method for monitoring an industrial robot. The method includes configuring the robot to perform a certain task during an integration process and storing integration data in the robot identifying the configuration of the robot for performing the task. The method also includes installing the robot in a manufacturing facility, and uploading the stored integration data to the Cloud when the robot is installed in the manufacturing facility. The method further includes capturing production data generated by the robot during operation of the robot in the manufacturing facility, uploading the production data to the Cloud, and comparing the production data to the integration data.
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