公开(公告)号：US12128570B2

公开(公告)日：2024-10-29

申请号：US18299645

申请日：2023-04-12

申请人： BOSTON DYNAMICS, INC.

发明人： Kevin Blankespoor ,  Benjamin Stephens ,  Marco da Silva

IPC分类号： B25J9/16 ,  B62D57/032

CPC分类号： B25J9/1692 ,  B25J9/1628 ,  B62D57/032 ,  B25J9/16 ,  B25J9/1679 ,  Y10S901/01 ,  Y10S901/46 ,  Y10S901/49

摘要： An example method may include i) detecting a disturbance to a gait of a robot, where the gait includes a swing state and a step down state, the swing state including a target swing trajectory for a foot of the robot, and where the target swing trajectory includes a beginning and an end; and ii) based on the detected disturbance, causing the foot of the robot to enter the step down state before the foot reaches the end of the target swing trajectory.

公开(公告)号：US12023811B2

公开(公告)日：2024-07-02

申请号：US17425365

申请日：2020-01-27

申请人： SONY GROUP CORPORATION

发明人： Yusuke Kawabe ,  Kensuke Kitamura ,  Katsuhisa Ito

IPC分类号： B25J9/16 ,  A63H11/00 ,  B25J13/08 ,  B25J9/00

CPC分类号： B25J9/1628 ,  A63H11/00 ,  B25J13/08 ,  B25J13/088 ,  A63H2200/00 ,  B25J9/0003

摘要： The present disclosure provides a robot control device including a detection section that detects an external force applied to a movable part of a robot, on the basis of a parameter obtained from a joint driving the movable part, and a driving control section that controls an interaction of the robot, according to the detected external force. With this configuration, in a case where a user touches the robot, the robot can perform an interaction according to the touch.

公开(公告)号：US12023810B2

公开(公告)日：2024-07-02

申请号：US17268300

申请日：2019-08-13

申请人： Beckman Coulter, Inc.

发明人： Günter Schulmayr

IPC分类号： B25J9/16

CPC分类号： B25J9/1628 ,  B25J9/1664

摘要： The present invention relates to a system (100) for active motion displacement control of a robot, the system comprising: a DCL device (110), which is configured to set a desired position of a portion of a kinematic chain; a MDB device (120), which is configured to generate a motion profile for at least one actor device (130) coupled to the portion of the kinematic chain based on the set desired position of the portion of the kinematic chain; the actor device (130), which is configured to move the portion of the kinematic chain to an actual position based on the generated motion profile; a sensor device (140), which is configured to measure the actual position of the portion of the kinematic chain and, thereon based, provide position data of the portion of the kinematic chain; wherein the MDB device (120) is further configured to determine an estimated offset and provide a feedback path to a control loop used by the MDB device (120) based on the provided position data of the portion, the desired position of the portion, and the estimated offset.

公开(公告)号：US20240189992A1

公开(公告)日：2024-06-13

申请号：US18584536

申请日：2024-02-22

申请人： SONY GROUP CORPORATION

发明人： YUSUKE KAWABE ,  KENSUKE KITAMURA ,  KATSUHISA ITO

IPC分类号： B25J9/16 ,  A63H11/00 ,  B25J9/00 ,  B25J13/08

CPC分类号： B25J9/1628 ,  A63H11/00 ,  B25J13/08 ,  B25J13/088 ,  A63H2200/00 ,  B25J9/0003

摘要： The present disclosure provides a robot control device including a detection section that detects an external force applied to a movable part of a robot, on the basis of a parameter obtained from a joint driving the movable part, and a driving control section that controls an interaction of the robot, according to the detected external force. With this configuration, in a case where a user touches the robot, the robot can perform an interaction according to the touch.

公开(公告)号：US20240173856A1

公开(公告)日：2024-05-30

申请号：US18553387

申请日：2022-03-30

申请人： Intuitive Surgical Operations, Inc.

发明人： Ramu Sharat Chandra ,  Goran A. Lynch

IPC分类号： B25J9/16 ,  A61B34/00 ,  A61B34/30 ,  G05B19/4155

CPC分类号： B25J9/1628 ,  A61B34/30 ,  A61B34/77 ,  G05B19/4155 ,  G05B2219/40269

摘要： A robotic system includes a robotic manipulator, which includes a first joint and a link connected to the first joint. A processing unit including one or more processors is configured to receive sensor measurement data of the link from a sensor system, and generate, based on the sensor measurement data, a first joint velocity estimate of the first joint. A first vibration cancellation state for the first joint is determined based on one or more cancellation conditions of one or more of joints of the robotic manipulator. In response to the first vibration cancellation state indicating enablement of vibration cancellation for the first joint, a first cancellation force is applied to the first joint, the first cancellation force based on a first joint velocity estimate of the first joint.

公开(公告)号：US20240087965A1

公开(公告)日：2024-03-14

申请号：US18511661

申请日：2023-11-16

申请人： Applied Materials, Inc.

发明人： Eric Lau ,  Charles C. Garretson ,  Huanbo Zhang ,  Zhize Zhu

IPC分类号： H01L21/66 ,  B24B37/30 ,  B24B49/12 ,  B25J9/16 ,  H01L21/306 ,  H01L21/67 ,  H01L21/687

CPC分类号： H01L22/26 ,  B24B37/30 ,  B24B49/12 ,  B25J9/1628 ,  H01L21/30625 ,  H01L21/67219 ,  H01L21/67253 ,  H01L21/68707 ,  H01L22/20 ,  H01L22/12

摘要： A method for chemical mechanical polishing includes receiving an angular removal profile for a carrier head and an angular thickness profile of a substrate. Prior to polishing the substrate, a desired angle of the carrier head relative to the substrate is selected for loading the substrate into the carrier head. Selecting the desired angle is performed based on a comparison of the angular removal profile for the carrier head and the angular thickness profile of the substrate to reduce angular non-uniformity in polishing. The carrier head is rotated to receive the substrate at the desired angle, the substrate is transferred to the carrier head and loaded in the carrier head with the carrier head at the desired angle relative to the substrate, and the substrate is polished.

公开(公告)号：US20240066708A1

公开(公告)日：2024-02-29

申请号：US18191656

申请日：2023-03-28

申请人： Advanced Theodolite Technology, Inc. d/b/a ATT Metrology Solutions

发明人： Edward Ingham ,  Steven Ihlenfeldt ,  Alfredo Gandara

IPC分类号： B25J9/16 ,  G01D9/00

CPC分类号： B25J9/1694 ,  B25J9/1628 ,  G01D9/005

摘要： Systems and methods for machine positioning are provided herein. Exemplary embodiments include systems and methods using external positional information of an object under observation to compare to a programmed position of the object under observation. The comparison may be used in different manners including, for example, course correction, future path planning, object avoidance, etc.

公开(公告)号：US11850756B2

公开(公告)日：2023-12-26

申请号：US16916739

申请日：2020-06-30

申请人： WaferPath, Inc.

发明人： Frantisek Pavlik ,  James Thomas McCartney, III

IPC分类号： B25J9/16 ,  H01L21/687

CPC分类号： B25J9/1674 ,  B25J9/1628 ,  H01L21/68707

摘要： A method of operating a robot includes detecting the occurrence of an abnormal operating condition of the robot during operation from hardware state data relating to the operation of the robot system. In response, current hardware state data of the robot at the time of the detection is captured, including robot positional information. A counter corresponding to the abnormal operating condition may then be incremented and, if the counter exceeds a threshold value or exceeds a threshold value in a certain time, a report may be generated including the captured hardware state data. The abnormal condition may for example be a fluctuation in vacuum level or a data transmission error.

公开(公告)号：US20230381968A1

公开(公告)日：2023-11-30

申请号：US18249399

申请日：2020-12-18

申请人： FUJI CORPORATION

发明人： Shuhei NOGUCHI ,  Toshitaka FUKUNAGA ,  Yosuke FUTAMURA

IPC分类号： B25J9/16

CPC分类号： B25J9/1682 ,  B25J9/1628 ,  B25J9/1664

摘要： A workpiece processing apparatus includes two workpiece conveyance robots capable of traveling on the same traveling table and capable of carrying a workpiece into and out of a processing section, and a control device for performing movement control of the workpiece conveyance robot. The two workpiece conveyance robots include a first robot and a second robot. The control device includes a first determination section configured to determine, from a first difference between a first robot next instruction value which is an instruction value related to a movement control instruction issued to the first robot immediately after a time when a determination as to whether the first robot starts the traveling starts and indicates a movement destination position of the first robot and a second robot movement destination position which is a value related to a movement control instruction executed by the second robot at the time when the determination starts and indicates a movement destination position of the second robot, movability of the first robot by the movement control instruction.

公开(公告)号：US20230211497A1

公开(公告)日：2023-07-06

申请号：US17569210

申请日：2022-01-05

申请人： AT&T Intellectual Property I, L.P.

发明人： Joseph Soryal ,  Naila Jaoude

IPC分类号： B25J9/16 ,  G06V10/764 ,  G06V40/10 ,  B25J9/00

CPC分类号： B25J9/1661 ,  B25J9/0006 ,  B25J9/1628 ,  G06V10/764 ,  G06V40/10

摘要： Aspects of the subject disclosure may include, for example, a method in which a processing system identifies a type of wearable physical augmentation (PA) equipment, determines that a task is to be performed using the PA equipment; and retrieves equipment data regarding the PA equipment and experience data regarding the task. The method also includes analyzing the task to generate a procedure for performing the task; providing the procedure to a user wearing the PA equipment; and transmitting commands to the PA equipment in accordance with the procedure. The method further includes monitoring performance of the task, based on information transmitted by sensors integral to the PA equipment; and modifying, in accordance with the monitoring, the procedure during the performance of the task. Other embodiments are disclosed.