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    Cooperative robotic arm system and homing method thereof
    2.
    发明授权
    Cooperative robotic arm system and homing method thereof 有权

    公开(公告)号：US11628568B2

    公开(公告)日：2023-04-18

    申请号：US17135797

    申请日：2020-12-28

    Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

    Inventor： Huan-Sheng Li ,  Chien-Yu Wu ,  Han-Chun Hsueh ,  Shu Huang

    IPC: G05D1/02 ,  B25J9/16 ,  B25J9/00

    Abstract: A cooperative robotic arm system includes a first robotic arm, a second robotic arm and a controller. The first robotic arm has first working vector. The second robotic arm has second working vector. The controller is configured to: (1) control the first robotic arm and the second robotic arm to stop moving; (2) determine whether a first projection vector of the first working vector projected on a first coordinate axis and a second working vector projected on the first coordinate axis overlaps; (3) when they overlap, determine whether a third projection vector of the first working vector projected on a second coordinate axis and a fourth projection vector of the second working vector projected on the second coordinate axis overlap; and, (4). when they do no overlap, control a controlled-to-moved one of the first robotic arm and the second robotic arm to move along a reset path.

    Method and apparatus of non-contact tool center point calibration for a mechanical arm, and a mechanical arm system with said calibration function
    3.
    发明授权
    Method and apparatus of non-contact tool center point calibration for a mechanical arm, and a mechanical arm system with said calibration function 有权

    公开(公告)号：US11247340B2

    公开(公告)日：2022-02-15

    申请号：US16232642

    申请日：2018-12-26

    Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

    Inventor： Sheng Chieh Hsu ,  Hao Hsiang Yang ,  Shu Huang ,  Yan Yi Du

    IPC: B25J9/16

    Abstract: This disclosure is related to a non-contact tool center point calibration method for a robot arm, and the method comprises: obtaining a coordinate transformation relationship between a flange surface of the robot arm and cameras by a hand-eye calibration algorithm; constructing a space coordinate system by a stereoscopic reconstruction method; actuating a replaceable member fixed with the flange surface to present postures in a union field of view of the cameras sequentially, recording feature coordinates of the replaceable member in the space coordinate system, and recording flange surface coordinates which is under the postures in the space coordinate system; obtaining a transformation relationship between a tool center point and the flange surface; and updating the transformation relationship into a control program of the robot arm. Moreover, the disclosure further discloses a calibration device performing the calibration method and a robot arm system having the calibration function.

    Robotic arm system, control method thereof and computer program product thereof
    5.
    发明授权
    Robotic arm system, control method thereof and computer program product thereof 有权

    公开(公告)号：US11951624B2

    公开(公告)日：2024-04-09

    申请号：US17329297

    申请日：2021-05-25

    Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

    Inventor： Chien-Yu Wu ,  Shang-Kun Li ,  Shu Huang

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

    CPC classification number: B25J9/1633 ,  B25J9/023 ,  B25J9/1682 ,  B25J13/082

    Abstract: A robotic arm system includes first robotic arm, second robotic arm and main controller. The first robotic arm and the second robotic arm are configured to grab object. The main controller is configured to: determine whether first force vector of first force applied by the first robotic arm to the object is equal to second force vector of second force applied by the second robotic arm to the object; when the first force vector and the second force vector are not equal, obtain a first difference between the first force vector and the second force vector; and according to the first difference, change at least one of the first force applied by the first robotic arm to the object and the second force applied by the second robotic arm to the object so that the first force vector and the second force vector are equal.

    Robot arm calibration device and method thereof
    8.
    发明授权
    Robot arm calibration device and method thereof 有权

    公开(公告)号：US10737387B2

    公开(公告)日：2020-08-11

    申请号：US15936103

    申请日：2018-03-26

    Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

    Inventor： Yan-Yi Du ,  Cheng-Chuan Chao ,  Shu Huang ,  Hung-Hsiu Yu

    IPC: B25J9/16 ,  B25J9/00

    Abstract: A robot arm calibration device is provided, which includes a light emitter, a light sensing module, a cooperative motion controller and a processing module. The light emitter is disposed on at least one robot arm to emit a light beam. The light sensing module is disposed on at least another robot arm to receive the light beam and the light beam is converted into a plurality of image data. The cooperative motion controller is configured to drive the light emitter and light sensing module on at least two robot arms to a corrected position and a position to be corrected, respectively. The processing module receives the image data and the motion parameters of the at least two robot arms to calculate an error value between the corrected position and the position to be corrected, and analyzes the image data to output a corrected motion parameter for modifying motion command.

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