US5570458A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Manipulator tracking apparatus and method for accurately tracking a path for sensors in low reliability conditions
Assignee: NTT Inc
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Filing: 1995-03-28
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Granted: 1996-10-29
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Expires: 2015-03-28
Abstract
Abstract A tracking apparatus and method for controlling the position and movement of a manipulator which holds an effector. An actual work path drawn on a workpiece is detected by a sensor. Predetermined taught path data is amended according to the detected work path, and the effector held by the manipulator is drawn to exactly track the work path on the workpiece. The effector is controlled so that the effector tracks the work path accurately even under conditions when detection data from the sensor has low reliability or contains errors.
Inventors
- 👤 Akira Umeno
- 👤 Kiyoshi Nonaka
- 👤 Takao Kakizaki
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-27 10:58
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/42; G05B19/425; G05B2219/00; G05B2219/30; G05B2219/33; G05B2219/33263; G05B2219/36; G05B2219/36405; G05B2219/37; G05B2219/37425; G05B2219/37522; G05B2219/37525; G05B2219/45; G05B2219/45104
Claims Analysis
Total Claims: 20
Claim 1
Independent Claim
194 words
A tracking device for a manipulator which holds an effector for processing objects, comprising: a sensor, attached to an end of said manipulator along with said effector, for measuring actual work path information which leads in a path direction of said effector: a memory device for storing predetermined taught data; and a calculation device for managing information; wherein said tracking device sequentially corrects movement instructions for said manipulator and moves said manipulator such that said effector tracks an actual work path in real time, utilizing: means for calculating a measurement reliability indicating an accuracy of the information measured by said sensor; means for calculating conversion information for converting a taught path to an actual work path by comparing actual work path information for sensing points obtained from multiple sets of measurement information of said sensor weighted by said measurement reliability, and taught path information corresponding to sensing points calculated from taught information generated from said taught data; means for calculating correction information for correcting a taught path to an actual work path using multiple sets of said conversion information obtained for each sensing; and means for correcting said taught information using said correction information.
Claim 2
Dependent Claim
194 words
A tracking device for a manipulator which holds an effector for processing objects, comprising: a sensor, attached to an end of said manipulator along with said effector, for measuring actual work path information which leads in a path direction of said effector: a memory device for storing predetermined taught data; and a calculation device for managing information; wherein said tracking device sequentially corrects movement instructions for said manipulator and moves said manipulator such that said effector tracks an actual work path in real time, utilizing: means for calculating a measurement reliability indicating an accuracy of the information measured by said sensor; means for calculating conversion information for converting a taught path to an actual work path by comparing actual work path information for sensing points obtained from multiple sets of measurement information of said sensor weighted by said measurement reliability, and taught path information corresponding to sensing points calculated from taught information generated from said taught data; means for calculating correction information for correcting a taught path to an actual work path using multiple sets of said conversion information obtained for each sensing; and means for correcting said taught information using said correction information.
Claim 3
Dependent Claim
32 words
The tracking device for a manipulator as claimed in claim 1, wherein said sensor repeatedly performs measurements, and the correction information is calculated from conversion information corresponding to at least two measurements.
Claim 4
Dependent Claim
54 words
The tracking device for a manipulator as claimed in claim 2, wherein said sensor repeatedly measures actual work path information, and the correction information is calculated from multiple sets of conversion information weighted by a measurement reliability, indicating the accuracy of the conversion information for each measurement, calculated from the reliability of the measurements.
Claim 5
Dependent Claim
29 words
The tracking device for a manipulator as claimed in claim 3, wherein said correction information is calculated by applying a weighted least-squares method to multiple sets of conversion information.
Claim 6
Dependent Claim
44 words
The tracking device for a manipulator as claimed in any one of claims 1, 2, 3, and 4, wherein the taught data includes either taught position information alone or taught position information and taught orientation information, which are sequentially corrected using the correction information.
Claim 7
Dependent Claim
35 words
The tracking device for a manipulator as claimed in any one of claims 1, 2, 3, and 4, wherein the taught data includes a taught path function which is sequentially corrected using the correction information.
Claim 8
Dependent Claim
34 words
The tracking device for a manipulator as claimed in any one of claims 1, 2, 3, and 4, wherein the taught data includes a taught trajectory which is sequentially corrected using the correction information.
Claim 9
Dependent Claim
44 words
The tracking device for a manipulator as claimed in any one of claims 1, 2, 3, and 4, wherein the actual work path information includes either position information alone or position information and orientation information, which are used to sequentially correct the taught information.
Claim 10
Dependent Claim
42 words
The tracking device for a manipulator as claimed in any one of claims 1, 2, 3, and 4, wherein the conversion information includes either position information alone or position information and orientation information, which are used to sequentially correct the taught information.
Claim 11
Dependent Claim
139 words
A tracking method for a manipulator which holds an effector for processing objects, comprising the steps of: measuring measurement data using a sensor; calculating measurement reliability indicating an accuracy of the measurement data from the sensor; sequentially correcting movement instructions of said manipulator by: storing predetermined taught data; measuring actual work path information leading in a path direction of said effector; calculating conversion information for converting a taught path to an actual work path by comparing the actual work path information for sensing points obtained from multiple sets of measurement information of said sensor weighted by said measurement reliability, and taught path information corresponding to sensing points calculated from taught information generated by said taught data; calculating correction information for correcting taught information based on multiple sets of conversion information; and correcting said taught information using said correction information.
Claim 12
Dependent Claim
139 words
A tracking method for a manipulator which holds an effector for processing objects, comprising the steps of: measuring measurement data using a sensor; calculating measurement reliability indicating an accuracy of the measurement data from the sensor; sequentially correcting movement instructions of said manipulator by: storing predetermined taught data; measuring actual work path information leading in a path direction of said effector; calculating conversion information for converting a taught path to an actual work path by comparing the actual work path information for sensing points obtained from multiple sets of measurement information of said sensor weighted by said measurement reliability, and taught path information corresponding to sensing points calculated from taught information generated by said taught data; calculating correction information for correcting taught information based on multiple sets of conversion information; and correcting said taught information using said correction information.
Claim 13
Dependent Claim
32 words
The tracking method for a manipulator as claimed in claim 10, wherein a sensor repeatedly performs measurements, and the correction information is calculated from conversion information corresponding to at least two measurements.
Claim 14
Dependent Claim
39 words
The tracking method for a manipulator as claimed in claim 11, wherein a sensor repeatedly performs measurements, and the correction information is calculated from multiple sets of conversion information weighted by measurement reliabilities indicating the accuracy of conversion matrices.
Claim 15
Dependent Claim
29 words
The tracking method for a manipulator as claimed in claim 12, wherein said correction information is calculated by applying a weighted least-squares method to multiple sets of conversion information.
Claim 16
Dependent Claim
44 words
The tracking method for a manipulator as claimed in any one of claims 10, 11, 12, and 13, wherein the taught data includes either taught position information alone or taught position information and taught orientation information, which are sequentially corrected using the correction information.
Claim 17
Dependent Claim
35 words
The tracking method for a manipulator as claimed in any one of claims 10, 11, 12, and 13, wherein the taught data includes a taught path function which is sequentially corrected using the correction information.
Claim 18
Dependent Claim
34 words
The tracking method for a manipulator as claimed in any one of claims 10, 11, 12, and 13, wherein the taught data includes a taught trajectory which is sequentially corrected using the correction information.
Claim 19
Dependent Claim
42 words
The tracking method for a manipulator as claimed in any one of claims 10, 11, 12, and 13, wherein the path information includes either position information alone or position information and orientation information, which are used to sequentially correct the taught information.
Claim 20
Dependent Claim
42 words
The tracking method for a manipulator as claimed in any one of claims 10, 11, 12, and 13, wherein the conversion information includes either position information alone or position information and orientation information, which are used to sequentially correct the taught information.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1999-10-29 | 2000-04-29 | 2000-10-29 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2003-10-29 | 2004-04-29 | 2004-10-29 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2007-10-29 | 2008-04-29 | 2008-10-29 | $7700.00 | Window Closed / Lapsed |