Yaskawa America, Inc.

Agile Planet, Inc.

Kabushiki Kaisha Yaskawa Denki

Chetan Kapoor

Changbeom Park

Ratheesh Rajan

Peter S March

Edwin Jung

Andrew Boddiford

A robot instructing apparatus includes a teaching pendant having a display and an inclination device. The inclination device outputs an inclination of the teaching pendant based on the inclination of the teaching pendant about at least one horizontal axis. The robot instructing apparatus also includes at least one processor that generates movement instructions to change a posture of the robot based on the inclination of the teaching pendant output by the inclination device during a teaching operation in which the movement instructions are generated.

Robot instructing apparatus, teaching pendant, and method of instructing a robot

A method and apparatus for controlling an industrial robot relative to an intuitive motion coordinate system. The current 3D position of a touch-screen teach pendant relative to the robot is sensed, and an operator-centric frame of reference is developed relative to the robot-centric frame of reference. A simulacra of the robot is generated, oriented so as to correspond with an operator view of the robot from the current position of the controller, and displayed on the pendant. A motion-control construction, generated and displayed on the pendant, is adapted to receive jog commands from the operator indicative of a respective incremental movement of the simulacra in the operator-centric frame of reference. Each jog command is transformed from the operator-centric frame of reference to the robot-centric frame of reference, and the robot moved in accordance with the transformed jog command. Movement of the pendant relative to the robot is sensed and, in response, the displayed simulacra is reoriented to correspond to the new position of the pendant relative to the robot as viewed by the operator.

Intuitive motion coordinate system for controlling an industrial robot

A device including a housing configured to attach to a robot arm, and a multi-axis motion sensor provided within the housing. The multi-axis motion sensor is configured to detect movement of the housing, and is configured to communicate with a controller of the robot arm. The device further includes a user interface configured to operate in conjunction with the multi-axis motion sensor, and a connection port provided on the housing. The connection port is configured to connect to an external device.

Robot and device having multi-axis motion sensor, and method of use thereof

A system and method for developing an intrusion detection zone substantially surrounding mobile components of a robot, training a model of the robot to accept selected intrusions into the intrusion detection zone, and, during application operations, triggering an application interrupt upon detecting an unexpected intrusion.

System and method for robot safety and collision avoidance

In an automated system which includes a robot manipulator, a workcell, and a control system implemented on a hardware platform based on a programmable logic controller ('PLC'), a method and apparatus for performing integrated simulation that does not require the presence of both the robot manipulator and the workcell. If one component is real, the other component is simulated so as to be sufficiently responsive to responses from the real component such that the real component is unable to discern that the other component is not also real. A computing device simultaneously displays simulacra of both the components, real and simulated, and visualizations of the responses provided by each.

Method and apparatus for integrated simulation

External beam radiotherapy treatment workflow scheduling and optimization. The system and method provides for determining a workflow metamodel, receiving a treatment plan, determining a treatment schedule corresponding to the workflow metamodel and treatment plan, taking into account safety by determining alternative treatment schedules, computing a safety index, and selecting one alternative treatment schedule that satisfies a safety threshold and that provides an optimal schedule.

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Austin, TX, United States of America

Chetan Kapoor