G05B 2219/39
Robotics, robotics to robotics hand
G05B2219/39 (Robotics, robotics to robotics hand) appears on 4,771 US grants and 5,768 published applications in this corpus.
Search patents in G05B- Granted patents
- 4,771
- Published applications
- 5,768
- Assignees
- 1,478
- Inventors
- 9,445
- Latest grant
- 29 Sep 2026
Filings by year
| Year | Granted patents | Published applications |
|---|---|---|
| 1979 | 2 | 0 |
| 1980 | 1 | 0 |
| 1981 | 5 | 0 |
| 1982 | 3 | 0 |
| 1983 | 3 | 0 |
| 1984 | 8 | 0 |
| 1985 | 12 | 0 |
| 1986 | 8 | 0 |
| 1987 | 6 | 0 |
| 1988 | 6 | 0 |
| 1989 | 14 | 0 |
| 1990 | 11 | 0 |
| 1991 | 9 | 0 |
| 1992 | 4 | 0 |
| 1993 | 10 | 0 |
| 1994 | 24 | 0 |
| 1995 | 20 | 0 |
| 1996 | 33 | 0 |
| 1997 | 29 | 0 |
| 1998 | 34 | 0 |
| 1999 | 37 | 0 |
| 2000 | 32 | 0 |
| 2001 | 50 | 10 |
| 2002 | 43 | 32 |
| 2003 | 34 | 46 |
| 2004 | 31 | 61 |
| 2005 | 27 | 45 |
| 2006 | 39 | 56 |
| 2007 | 34 | 50 |
| 2008 | 28 | 55 |
| 2009 | 17 | 84 |
| 2010 | 38 | 89 |
| 2011 | 50 | 99 |
| 2012 | 63 | 75 |
| 2013 | 96 | 139 |
| 2014 | 101 | 152 |
| 2015 | 145 | 211 |
| 2016 | 190 | 282 |
| 2017 | 198 | 327 |
| 2018 | 254 | 415 |
| 2019 | 323 | 445 |
| 2020 | 372 | 466 |
| 2021 | 336 | 496 |
| 2022 | 339 | 540 |
| 2023 | 442 | 557 |
| 2024 | 421 | 498 |
| 2025 | 533 | 327 |
| 2026 | 256 | 211 |
By publication year. Applications have been published since 2001. 2026 runs to 8 Oct.
Subgroups
Granted patents
- G05B 2219/39102Manipulator cooperating with conveyorIndexing code209
- G05B 2219/39001Robot, manipulator controlIndexing code194
- G05B 2219/39082Collision, real time collision avoidanceIndexing code165
- G05B 2219/39024Calibration of manipulatorIndexing code151
- G05B 2219/39543Recognize object and plan hand shapes in grasping movementsIndexing code109
- G05B 2219/39146Swarm, multiagent, distributed multitask fusion, cooperation multi robotsIndexing code108
- G05B 2219/39091Avoid collision with moving obstaclesIndexing code105
- G05B 2219/39529Force, torque sensor in wrist, end effectorIndexing code101
All 521 subgroupsShow fewer
- G05B 2219/39449Pendant, pda displaying camera images overlayed with graphics, augmented realityIndexing code95
- G05B 2219/39468Changeable hand, tool, code carrier, detectorIndexing code94
- G05B 2219/39135For multiple manipulators operating at same time, avoid collisionIndexing code93
- G05B 2219/39271Ann artificial neural network, ffw-nn, feedforward neural networkIndexing code93
- G05B 2219/39107Pick up article, object, measure, test it during motion path, place itIndexing code92
- G05B 2219/39391Visual servoing, track end effector with camera image feedbackIndexing code91
- G05B 2219/39045Camera on end effector detects reference patternIndexing code88
- G05B 2219/39008Fixed camera detects reference pattern held by end effectorIndexing code85
- G05B 2219/39109Dual arm, multiarm manipulation, object handled in cooperationIndexing code84
- G05B 2219/39106Conveyor, pick up article, object from conveyor, bring to test unit, placeIndexing code83
- G05B 2219/39439Joystick, handle, lever controls manipulator directly, manually by operatorIndexing code83
- G05B 2219/39536Planning of hand motion, graspingIndexing code83
- G05B 2219/39057Hand eye calibration, eye, camera on hand, end effectorIndexing code82
- G05B 2219/39451Augmented reality for robot programmingIndexing code81
- G05B 2219/39195Control, avoid oscillation, vibration due to low rigidityIndexing code76
- G05B 2219/39322Force and position controlIndexing code76
- G05B 2219/39484Locate, reach and grasp, visual guided graspingIndexing code74
- G05B 2219/39298Trajectory learningIndexing code73
- G05B 2219/39319Force control, force as reference, active complianceIndexing code66
- G05B 2219/39466Hand, gripper, end effector of manipulatorIndexing code64
- G05B 2219/39505Control of gripping, grasping, contacting force, force distributionIndexing code62
- G05B 2219/39393Camera detects projected image, compare with reference image, position end effectorIndexing code61
- G05B 2219/39021With probe, touch reference positionsIndexing code55
- G05B 2219/39527Workpiece detector, sensor mounted in, near hand, gripperIndexing code54
- G05B 2219/39083Robot interference, between two robot armsIndexing code51
- G05B 2219/39172Vehicle, coordination between manipulator arm and its moving vehicleIndexing code50
- G05B 2219/39531Several different sensors integrated into handIndexing code49
- G05B 2219/39186Flexible jointIndexing code46
- G05B 2219/39194Compensation gravityIndexing code46
- G05B 2219/39212Select between autonomous or teleoperation controlIndexing code46
- G05B 2219/39176Compensation deflection armIndexing code45
- G05B 2219/39558Vacuum hand has selective gripper areaIndexing code45
- G05B 2219/39167Resources scheduling and balancingIndexing code42
- G05B 2219/39022Transform between measuring and manipulator coordinate systemIndexing code40
- G05B 2219/39443Portable, adapted to handpalm, with joystick, function keys, displayIndexing code40
- G05B 2219/39105Manipulator cooperates with moving machine, like press brakeIndexing code39
- G05B 2219/39343Force based impedance controlIndexing code38
- G05B 2219/39476Orient hand relative to objectIndexing code37
- G05B 2219/39016Simultaneous calibration of manipulator and cameraIndexing code36
- G05B 2219/39533Measure grasping posture and pressure distributionIndexing code36
- G05B 2219/39014Match virtual world with real worldIndexing code34
- G05B 2219/39096Self-collision, internal collison, collision between links of one robotIndexing code34
- G05B 2219/39101Cooperation with one or more rotating workpiece holders, manipulatorsIndexing code33
- G05B 2219/39117Task distribution between involved manipulatorsIndexing code33
- G05B 2219/39219Trajectory trackingIndexing code33
- G05B 2219/39325External force control, additional loop comparing forces corrects positionIndexing code33
- G05B 2219/39026Calibration of manipulator while tool is mountedIndexing code32
- G05B 2219/39033Laser tracking of end effector, measure orientation of rotatable mirrorIndexing code32
- G05B 2219/39121Two manipulators operate on same objectIndexing code32
- G05B 2219/39438Direct programming at the consoleIndexing code32
- G05B 2219/39508Reorientation of object, orient, regrasp objectIndexing code32
- G05B 2219/39199Active vibration absorberIndexing code31
- G05B 2219/39338Impedance control, also mechanicalIndexing code31
- G05B 2219/39387Reflex control, follow movement, track face, work, hand, visual servoingIndexing code31
- G05B 2219/39528Measuring, gripping force sensor build into handIndexing code31
- G05B 2219/39004Assisted by automatic control system for certain functionsIndexing code30
- G05B 2219/39361Minimize time-energy costIndexing code30
- G05B 2219/39447Dead man switchIndexing code30
- G05B 2219/39019Calibration by cmm coordinate measuring machine over a certain volumeIndexing code29
- G05B 2219/39129One manipulator holds one piece, other inserts, screws other piece, dexterityIndexing code29
- G05B 2219/39241Force and vibration controlIndexing code29
- G05B 2219/39048Closed loop kinematic self calibration, grip part of robot with handIndexing code28
- G05B 2219/39412Diagnostic of robot, estimation of parametersIndexing code28
- G05B 2219/39448Same teach pendant connects to many robot controllers over networkIndexing code28
- G05B 2219/39342Adaptive impedance controlIndexing code27
- G05B 2219/39389Laparoscopic surgery, camera on center of operated part, view around, scaleIndexing code27
- G05B 2219/39532Gripping force sensor build into fingerIndexing code27
- G05B 2219/39546Map human grasps to manipulator graspsIndexing code27
- G05B 2219/39002Move tip of arm on straight lineIndexing code26
- G05B 2219/39251Autonomous distributed control, joint and link is a subsystem, communication intensiveIndexing code26
- G05B 2219/39473Autonomous grasping, find, approach, grasp object, sensory motor coordinationIndexing code26
- G05B 2219/39178Compensation inertia armsIndexing code25
- G05B 2219/39244Generic motion control operations, primitive skills each for special taskIndexing code25
- G05B 2219/39487Parallel jaws, two fingered handIndexing code25
- G05B 2219/39058Sensor, calibration of sensor, potentiometerIndexing code24
- G05B 2219/39098Estimate stop, brake distance in predef time, then verify if in safeIndexing code24
- G05B 2219/39046Compare image of plate on robot with reference, move till coincidence, cameraIndexing code23
- G05B 2219/39062Calculate, jacobian matrix estimatorIndexing code23
- G05B 2219/39346Workspace impedance controlIndexing code23
- G05B 2219/39355Observer, disturbance observerIndexing code23
- G05B 2219/39542Plan grasp points, grip matrix and initial grasp forceIndexing code23
- G05B 2219/39015With different manipulator configurations, contact known sphere, ballbarIndexing code22
- G05B 2219/39397Map image error directly to robot movement, position with relation to worldIndexing code22
- G05B 2219/39289Adaptive ann controllerIndexing code21
- G05B 2219/39371Host and robot controllerIndexing code21
- G05B 2219/39441Voice command, camera detects object, grasp, moveIndexing code21
- G05B 2219/39571Grip, grasp non rigid material, piece of clothIndexing code21
- G05B 2219/39097Estimate own stop, brake time, then verify if in safe distanceIndexing code20
- G05B 2219/39196Use of passive joint, no actuator but brake, brake on or offIndexing code20
- G05B 2219/39292Neural brain based controller based on simplified model of vertebrate nervous systemIndexing code20
- G05B 2219/39486Fingered hand, multifingered handIndexing code20
- G05B 2219/39132Robot welds, operates on moving workpiece, moved by other robotIndexing code19
- G05B 2219/39181Compensation of coulomb friction in jointIndexing code19
- G05B 2219/39188Torque compensationIndexing code19
- G05B 2219/39254Behaviour controller, robot have feelings, learns behaviourIndexing code19
- G05B 2219/39413Robot self diagnosticsIndexing code19
- G05B 2219/39295Learn position correction values to be added to reference valuesIndexing code18
- G05B 2219/39339Admittance control, admittance is tip speed-forceIndexing code18
- G05B 2219/39469Grip flexible, deformable plate, object and manipulate itIndexing code18
- G05B 2219/39478Control force and posture of handIndexing code18
- G05B 2219/39557Vacuum gripper using mask with pattern corresponding to workpiece to be liftedIndexing code18
- G05B 2219/39369Host and robot controller and vision processingIndexing code17
- G05B 2219/39039Two cameras detect same reference on workpiece to define its position inIndexing code16
- G05B 2219/39191Compensation for errors in mechanical componentsIndexing code16
- G05B 2219/39192Compensate thermal effects, expansion of linksIndexing code16
- G05B 2219/39215Adaptive control with stabilizing compensationIndexing code16
- G05B 2219/39394Compensate hand position with camera detected deviation, new end effector attitudeIndexing code16
- G05B 2219/39554Gripper is formed by flexible tube, embraces object like a fingerIndexing code16
- G05B 2219/39011Fixed camera detects deviation end effector from reference on workpiece, objectIndexing code15
- G05B 2219/39032Touch probe senses constraint known plane, derive kinematic calibrationIndexing code15
- G05B 2219/39168Multiple robots searching an objectIndexing code15
- G05B 2219/39201Control of joint stiffnessIndexing code15
- G05B 2219/39252Autonomous distributed control, task distributed into each subsystem, task spaceIndexing code15
- G05B 2219/394147-dofIndexing code15
- G05B 2219/39018Inverse calibration, find exact joint angles for given location in world spaceIndexing code14
- G05B 2219/39041Calibrate only for end positionIndexing code14
- G05B 2219/39065Calculate workspace for end effector, manipulatorIndexing code14
- G05B 2219/39085Use of two dimensional maps and feedback of external and joint sensorsIndexing code14
- G05B 2219/39094Interference checking between robot and fixtureIndexing code14
- G05B 2219/39122Follower, follower mirrors leader, leaderIndexing code14
- G05B 2219/39183Compliance compensationIndexing code14
- G05B 2219/39384Control unit near robot, control and teaching panel in safe zoneIndexing code14
- G05B 2219/39427Panel on arm, hand of robot, controlled axisIndexing code14
- G05B 2219/39507Control of slip motionIndexing code14
- G05B 2219/39514Stability of grasped objectsIndexing code14
- G05B 2219/39523Set holding force as function of dimension, weight, shape, hardness, surfaceIndexing code14
- G05B 2219/39573Tool guidance along pathIndexing code14
- G05B 2219/39031Use of model for robot and for measuring deviceIndexing code13
- G05B 2219/39088Inhibit movement in one axis if collision dangerIndexing code13
- G05B 2219/39147Group transport, transfer object, ant problemIndexing code13
- G05B 2219/39149To assemble two objects, objects manipulationIndexing code13
- G05B 2219/39237Torque disturbance controlIndexing code13
- G05B 2219/39261Calculate driving torque from dynamic model, computed torque method variantIndexing code13
- G05B 2219/39311Multilayer, mnn, four layer perceptron, sigmoidal neural networkIndexing code13
- G05B 2219/39332Adaptive force controlIndexing code13
- G05B 2219/39345Active compliance control, control tension of spring with dc motorIndexing code13
- G05B 2219/39407Power metrics, energy efficiencyIndexing code13
- G05B 2219/39446Display of manipulator and workpiece and jog directionsIndexing code13
- G05B 2219/39509Gripping, grasping, links embrace, encircle, envelop object to graspIndexing code13
- G05B 2219/39013Locate movable manipulator relative to object, compare to stored gridpointsIndexing code12
- G05B 2219/39017Forward calibration, find actual pose world space for given joint configurationIndexing code12
- G05B 2219/39051Calibration cooperating manipulators, closed kinematic chain by alignmentIndexing code12
- G05B 2219/39056On line relative position error and orientation error calibrationIndexing code12
- G05B 2219/39123Manipulate, handle flexible objectIndexing code12
- G05B 2219/39137Manual teaching, set next point when tool touches other tool, workpieceIndexing code12
- G05B 2219/39177Compensation position working point as function of inclination tool, handIndexing code12
- G05B 2219/39483Control angle of rotationIndexing code12
- G05B 2219/39567Use electromagnetic attraction to bring robot hand in contact with workpieceIndexing code12
- G05B 2219/39007Calibrate by switching links to mirror position, tip remains on reference pointIndexing code11
- G05B 2219/39059Sensor adaptation for robots by softwareIndexing code11
- G05B 2219/39079Solve inverse differential kinematics in closed, feedback loop, iterateIndexing code11
- G05B 2219/39116Constraint object handled in cooperationIndexing code11
- G05B 2219/39139Produce program of follower from path of leader and desired relative positionIndexing code11
- G05B 2219/39155Motion skill, relate sensor data to certain situation and motionIndexing code11
- G05B 2219/39163Formation control, robots form a rigid formation, fixed relationshipIndexing code11
- G05B 2219/39347Joint space impedance controlIndexing code11
- G05B 2219/39376Hierarchical, learning, recognition and skill level and adaptation servo levelIndexing code11
- G05B 2219/39401Machine tool coordinates to manipulator coordinatesIndexing code11
- G05B 2219/39444Display of position, of shape of robot and toolIndexing code11
- G05B 2219/39445Select between jog modes, user, robot coordinates, tool, system feed, joint feedIndexing code11
- G05B 2219/39553Dual gripper, two heads to pick up different objectsIndexing code11
- G05B 2219/39025Spheric tool interrupts transmitted calibration beam, in different configurationsIndexing code10
- G05B 2219/39054From teached different attitudes for same point calculate tool tip positionIndexing code10
- G05B 2219/39084Parts handling, during assemblyIndexing code10
- G05B 2219/39131Each of the manipulators holds one of the pieces to be weldedIndexing code10
- G05B 2219/39136Teach each manipulator independently or dependently from each otherIndexing code10
- G05B 2219/39206Joint space position controlIndexing code10
- G05B 2219/39321Force control as function of position of toolIndexing code10
- G05B 2219/39335Independent joint control, decentralisedIndexing code10
- G05B 2219/39348Generalized impedance controlIndexing code10
- G05B 2219/39352Feedback error learning, ffw ann compensates torque, feedback from pd to annIndexing code10
- G05B 2219/39358Time optimal control along path for singular points, having veloctiy constraintsIndexing code10
- G05B 2219/39457Tendon driveIndexing code10
- G05B 2219/39504Grip object in gravity centerIndexing code10
- G05B 2219/39012Calibrate arm during scanning operation for identification of objectIndexing code9
- G05B 2219/39029Verify if calibration position is a correct, by comparing with range inIndexing code9
- G05B 2219/39044Estimate error model from error at different attitudes and pointsIndexing code9
- G05B 2219/39047Calibration plate mounted on robot, plate comprises sensors for measuring targetIndexing code9
- G05B 2219/39053Probe, camera on hand scans many points on own robot body, noIndexing code9
- G05B 2219/39399Convert position of old, teach to new, changed, actual tool by transformIndexing code9
- G05B 2219/39409Design of gripper, handIndexing code9
- G05B 2219/39432Direct robot control, click on mouse on variety of display command buttonsIndexing code9
- G05B 2219/39479Grip, release again to put object in correct position in tray, regripIndexing code9
- G05B 2219/394963-fingered handIndexing code9
- G05B 2219/39548Enter interactively parameter for gripper, then teach movementIndexing code9
- G05B 2219/39574Passive compliant hand, wristIndexing code9
- G05B 2219/39027Calibrate only some links, part of dofs, lock some links, ref pinsIndexing code8
- G05B 2219/39114Hand eye cooperation, active camera on first arm follows movement of secondIndexing code8
- G05B 2219/39124Grasp common rigid object, no movement end effectors relative to objectIndexing code8
- G05B 2219/39156To machine together workpiece, desktop flexible manufacturingIndexing code8
- G05B 2219/39217Keep constant orientation of handled object while moving manipulatorIndexing code8
- G05B 2219/39243Adaptive trajectory trackingIndexing code8
- G05B 2219/39246Control position and orientation of handled objectIndexing code8
- G05B 2219/39364Path, correction of path in function of loadIndexing code8
- G05B 2219/39474Coordination of reaching and graspingIndexing code8
- G05B 2219/39556Control system build into hand itselfIndexing code8
- G05B 2219/39049Calibration cooperating manipulators, closed kinematic chain by boltingIndexing code7
- G05B 2219/39077Solve inverse geometric model by iteration, no matrixes inversionIndexing code7
- G05B 2219/39157Collectively grasping object to be transportedIndexing code7
- G05B 2219/39159Task modellingIndexing code7
- G05B 2219/39221Control angular position of joint by length of linear actuatorIndexing code7
- G05B 2219/39224Jacobian transpose control of force vector in configuration and cartesian spaceIndexing code7
- G05B 2219/39242Velocity blending, change in a certain time from first to second velocityIndexing code7
- G05B 2219/39259Gps to control robotic armIndexing code7
- G05B 2219/39266Algorithm for controlIndexing code7
- G05B 2219/39329Adaptive force and position controlIndexing code7
- G05B 2219/39349Rcc remote center compliance device inserted between wrist and gripperIndexing code7
- G05B 2219/39406Obtain optimal parameters of model of systemIndexing code7
- G05B 2219/394176-dofIndexing code7
- G05B 2219/39462Pneumatic actuator, imitates human muscleIndexing code7
- G05B 2219/39467Select hand as function of geometric form of handIndexing code7
- G05B 2219/39506Grip flexible wire at fixed base, move gripper to top of wireIndexing code7
- G05B 2219/39549Structure, hand has connector for power supply and control signalsIndexing code7
- G05B 2219/39034Use of telescopic ballbarIndexing code6
- G05B 2219/39068Time needed to execute an instructionIndexing code6
- G05B 2219/39081Inexact solution for orientation or other dof with relation to type ofIndexing code6
- G05B 2219/39141Follower program has no taught positions, receives position from leader, convert fromIndexing code6
- G05B 2219/39143One program in robot controller for both robot and machine, press, moldIndexing code6
- G05B 2219/39153Human supervisory control of swarmIndexing code6
- G05B 2219/39161Search, grip object and bring to a home area, gather object, objectIndexing code6
- G05B 2219/39187Coriolis and centripetal compensationIndexing code6
- G05B 2219/39205Markov modelIndexing code6
- G05B 2219/39209Switch over from free space motion to constraint motionIndexing code6
- G05B 2219/39214Compensate tracking error by using model, polynomial networkIndexing code6
- G05B 2219/39233Adaptive switching of multiple models, same model but different initial estimates, differentIndexing code6
- G05B 2219/39253Virtual arm, has end effector on any joint of real manipulatorIndexing code6
- G05B 2219/39264Torque control using hardware designed for position controlIndexing code6
- G05B 2219/39323Force and motion controlIndexing code6
- G05B 2219/39326Model compensates positions as function of position to compensate force deformationsIndexing code6
- G05B 2219/39385Hybrid control system with neural brain based controller and classical ctrlerIndexing code6
- G05B 2219/39388Visual compliance, xy constraint is 2-d image, z position controlledIndexing code6
- G05B 2219/39453Select program as function of location of mobile manipulatorIndexing code6
- G05B 2219/39517Control orientation and position of object in hand, roll between platesIndexing code6
- G05B 2219/39535Measuring, test unit build into hand, end effectorIndexing code6
- G05B 2219/39028Relative to base calibrated 6-dof device, cmm connected between wrist and baseIndexing code5
- G05B 2219/39104Manipulator control orders conveyor to stop, to visualize, pick upIndexing code5
- G05B 2219/39112Force, load distributionIndexing code5
- G05B 2219/39175Cooperation between fixed manipulator and manipulator on vehicleIndexing code5
- G05B 2219/39182Compensation for base, floor deformationIndexing code5
- G05B 2219/39189Compensate for dead weight of tool as function of inclination toolIndexing code5
- G05B 2219/39218Force trackingIndexing code5
- G05B 2219/39247Control speed, acceleration as function of load and rate of fatigueIndexing code5
- G05B 2219/39276Ffw and pd and ann for compensation position errorIndexing code5
- G05B 2219/39284Nsc neural servo controllerIndexing code5
- G05B 2219/39286Forward inverse, dynamics model, relaxation neural network model firmIndexing code5
- G05B 2219/39305Learn, detect kinematic contraints in a plane from displacement and forceIndexing code5
- G05B 2219/39353Joint space observerIndexing code5
- G05B 2219/39357Execute motion of path in minimum of timeIndexing code5
- G05B 2219/39367Using a motion map, association between visual position and joint positionIndexing code5
- G05B 2219/39377Task level supervisor and planner, organizer and execution and path trackingIndexing code5
- G05B 2219/39381Map task, application to behaviour, force tracking, singularity to motion to actuatorIndexing code5
- G05B 2219/39395Expectation based visual servoing, use of modelIndexing code5
- G05B 2219/39415Hyper redundant, infinite number of dofsIndexing code5
- G05B 2219/394227-dof for arm and 6-dof for end effectorIndexing code5
- G05B 2219/39435Free movable unit has push buttons for other than position, orientation controlIndexing code5
- G05B 2219/39442Set manual a coordinate system by jog feed operationIndexing code5
- G05B 2219/39454Rubber actuator, two muscle drive, one for extension other for tractionIndexing code5
- G05B 2219/39497Each finger can be controlled independentlyIndexing code5
- G05B 2219/39541Place fingers to reorient object while graspingIndexing code5
- G05B 2219/39552Stewart platform hand, parallel structured handIndexing code5
- G05B 2219/39577Active electromechanical compliance for wristIndexing code5
- G05B 2219/39005Feedback for stability of manipulator, felt as force reflectionIndexing code4
- G05B 2219/39055Correction of end effector attachment, calculated from model and real positionIndexing code4
- G05B 2219/39063Quick calculation of coordinates by using precalculated, stored matrixes, inversesIndexing code4
- G05B 2219/39078Divide workspace in sectors, lookup table for sector joint angleIndexing code4
- G05B 2219/39089On collision, lead arm around obstacle manuallyIndexing code4
- G05B 2219/39118Cooperation between manipulator and vehicle with manipulatorIndexing code4
- G05B 2219/39144Scale moving time of all robots, machines to match slowest, no waitingIndexing code4
- G05B 2219/39158Configuration description language, to define behaviour of systemIndexing code4
- G05B 2219/39164Embodied evolution, evolutionary robots with basic ann learn by interactions with eachIndexing code4
- G05B 2219/39169Redundant communication channels with central controlIndexing code4
- G05B 2219/39197Passive compliance, no input of force reference, mechanical resilience, springIndexing code4
- G05B 2219/39198Manipulator used as workpiece handler and for machining operationIndexing code4
- G05B 2219/39226Operational space formulation, project model into cartesian coordinatesIndexing code4
- G05B 2219/39257Switch from task space to joint space controller when close to singularityIndexing code4
- G05B 2219/39316Two ann, second ann trained with calibration data to learn error firstIndexing code4
- G05B 2219/39318Position loop ann and velocity loop ann and force loop annIndexing code4
- G05B 2219/39359Tracking path, priority control for component perpendicular to pathIndexing code4
- G05B 2219/39365By using a cue, part of a stimulus to prompt an adaptedIndexing code4
- G05B 2219/39396Manipulator action on screen depends from displayed position on screenIndexing code4
- G05B 2219/39398Convert hand to tool coordinates, derive transform matrixIndexing code4
- G05B 2219/39408Integrated structure and control designIndexing code4
- G05B 2219/394194-dofIndexing code4
- G05B 2219/39433Enter a move file, robot will follow a series of instructionsIndexing code4
- G05B 2219/39489Soft fingertip, electro rheological controlled fluidIndexing code4
- G05B 2219/39492Finger impedance controlIndexing code4
- G05B 2219/39515Grapple object, grip in compliant mode, self alignment of fingers and objectIndexing code4
- G05B 2219/39534By positioning fingers, dimension of object can be measuredIndexing code4
- G05B 2219/39539Plan hand shapeIndexing code4
- G05B 2219/39561Gripper with build in positioning device to align handled objectIndexing code4
- G05B 2219/39568Extract, insert objects by controlling fingers, dexterousIndexing code4
- G05B 2219/39003Move end effector on ellipse, circle, sphereIndexing code3
- G05B 2219/39023Shut off, disable motor and rotate arm to reference pinIndexing code3
- G05B 2219/39052Self calibration of parallel manipulatorsIndexing code3
- G05B 2219/39061Calculation direct dynamicsIndexing code3
- G05B 2219/39064Learn kinematics by ann mapping, map spatial directions to joint rotationsIndexing code3
- G05B 2219/39086Reduce impact effect by impact configuration of redundant manipulatorIndexing code3
- G05B 2219/39111Use of flexibility or free joint in manipulator to avoid large forcesIndexing code3
- G05B 2219/39113Select grasp pattern based on motion oriented coordinabilityIndexing code3
- G05B 2219/39133Convert teached program for fixed workpiece to program for moving workpieceIndexing code3
- G05B 2219/39134Teach point, move workpiece, follow point with tip, place tip on nextIndexing code3
- G05B 2219/39142Moving time between positions in follower program coordinated online with leaderIndexing code3
- G05B 2219/39162Learn social rules, greedy robots become non-greedy, adapt to other robotsIndexing code3
- G05B 2219/39166Coordinate activity by sending pheromone messages between robots, no central controlIndexing code3
- G05B 2219/39179Of movement after lock stop by small movement against load, stop againIndexing code3
- G05B 2219/39229Linear parameterization of robot dynamicsIndexing code3
- G05B 2219/39288Track control with annIndexing code3
- G05B 2219/39296Learn inverse and forward model togetherIndexing code3
- G05B 2219/39299Learn forward dynamicsIndexing code3
- G05B 2219/39341Sliding mode based impedance controlIndexing code3
- G05B 2219/39344Cooperative impedance control, between fingers or armsIndexing code3
- G05B 2219/39351Compensation ann for uncertain trajectory in impedance controlIndexing code3
- G05B 2219/39375Mmi to path planner to servo controllerIndexing code3
- G05B 2219/39378Control panel separated from power control of articulationsIndexing code3
- G05B 2219/39382Level, organization and coordination or distribution of tasks and execution levelIndexing code3
- G05B 2219/39386Cell configuration, selection and connection of cell combinationsIndexing code3
- G05B 2219/39392Dynamic pyramiding, change vision field to small area if high tracking speedIndexing code3
- G05B 2219/39403Method, axial rotation of tool to make tool and base coordinates parallelIndexing code3
- G05B 2219/39421Dof is degree of freedom, 2-dofIndexing code3
- G05B 2219/394235-dofIndexing code3
- G05B 2219/394259-dofIndexing code3
- G05B 2219/39436Joystick mimics manipulator to provide spatial correspondanceIndexing code3
- G05B 2219/39437Joystick with additional handle for wrist and gripper controlIndexing code3
- G05B 2219/39452Select with mouse button a coordinate plane for micromanipulationIndexing code3
- G05B 2219/39465Two fingers each with 2-dofIndexing code3
- G05B 2219/39475Grasp slightly, rotate object between two fingers by action of gravityIndexing code3
- G05B 2219/39482Control position of center of gripIndexing code3
- G05B 2219/39488Each finger gets 1-dof, one more movement, translation or rotationIndexing code3
- G05B 2219/39498Each finger has force torque sensor in tip of fingerIndexing code3
- G05B 2219/39511Reorient, rotate object in hand between fingers by action of fingersIndexing code3
- G05B 2219/39545Trajectory generation for smoothly grasping moving objectIndexing code3
- G05B 2219/39547Program, plan gripping force, range and speedIndexing code3
- G05B 2219/39555Revolver with several grippers, handsIndexing code3
- G05B 2219/39559Polyvalent gripper, to grip, assemble, manipulateIndexing code3
- G05B 2219/39566Transparent gripper, object can always be seen by cameraIndexing code3
- G05B 2219/39006Move end effector in a plane, describing a raster, meanderIndexing code2
- G05B 2219/39009Using fixture with potentiometer, wire to end effector, estimate lenght of wireIndexing code2
- G05B 2219/39071Solve inverse kinematics by ann learning nonlinear mappings, consider smoothnessIndexing code2
- G05B 2219/39087Artificial field potential algorithm, force repulsion from obstacleIndexing code2
- G05B 2219/39093On collision, ann, bam, learns path on line, used next time forIndexing code2
- G05B 2219/39115Optimal hold and moving force, torqueIndexing code2
- G05B 2219/39125Task is grasp object with movable parts, like pliersIndexing code2
- G05B 2219/39128Grasp tool with two manipulators, rigidity, and use toolIndexing code2
- G05B 2219/39138Calculate path of robots from path of point on gripped objectIndexing code2
- G05B 2219/39145Follower path is the same as leader path and superposed desired relativeIndexing code2
- G05B 2219/39148To push or pull on objects, boxesIndexing code2
- G05B 2219/39165Evolution, best performing control strategy is transmitted to other robotsIndexing code2
- G05B 2219/39174Add dofs of mobility to dofs of manipulator to add user definedIndexing code2
- G05B 2219/39184Forward compensation in robot world space, inverse in joint spaceIndexing code2
- G05B 2219/39208Robot is active, realizes planned trajectory by itselfIndexing code2
- G05B 2219/39216Motion scalingIndexing code2
- G05B 2219/39222Disturbance rejection, suppressionIndexing code2
- G05B 2219/39248Visual servoing combined with inertial measurementsIndexing code2
- G05B 2219/39256Task space controllerIndexing code2
- G05B 2219/39273Neural oscillatorIndexing code2
- G05B 2219/39285From database find strategy and select corresponding neural servo controllerIndexing code2
- G05B 2219/39297First learn inverse model, then fine tune with ffw error learningIndexing code2
- G05B 2219/39313Ann for joint control, ann for trajectory optimizationIndexing code2
- G05B 2219/39314Ann for identification, ann for convergence, ann for tracking controlIndexing code2
- G05B 2219/39315Art ann classifier and input selector, bam ann to retrieve collision freeIndexing code2
- G05B 2219/39324Force as function of distance from boundary, border of grinding areaIndexing code2
- G05B 2219/39354Operation, work space observerIndexing code2
- G05B 2219/39362Adapth path of gripping point as function of position of cooperating machineIndexing code2
- G05B 2219/39366Smc sensory motor coordinationIndexing code2
- G05B 2219/39379Open architecture such as nasrem, ngc, dicam, saridis, chimera, gisc, utap, nomadIndexing code2
- G05B 2219/39402Transfer matrix for moving object and robot to absolute space, motion independentIndexing code2
- G05B 2219/39404Design of manipulatorIndexing code2
- G05B 2219/3941612-dofIndexing code2
- G05B 2219/394183-dofIndexing code2
- G05B 2219/3942416-dofIndexing code2
- G05B 2219/3942610-dofIndexing code2
- G05B 2219/39456Direct driveIndexing code2
- G05B 2219/39493Passive compliant finger, array of resilient rods in tipIndexing code2
- G05B 2219/39495Active electromechanical compliance for each fingerIndexing code2
- G05B 2219/39572Task, tool manipulationIndexing code2
- G05B 2219/39575Wrist, flexible wristIndexing code2
- G05B 2219/39037Screw axis measurement, jacobian estimation from end effector and joint speedsIndexing code1
- G05B 2219/39038Determine position of two cameras by using a common reference gridIndexing code1
- G05B 2219/39042Interchange robot and reference pattern, measure by camera at same locationIndexing code1
- G05B 2219/39067Calculate max load a manipulator can repeatedly liftIndexing code1
- G05B 2219/39069Inverse kinematics by arm splitting, divide six link arm into two threeIndexing code1
- G05B 2219/39073Solve inverse kinematics by fuzzy algorithmIndexing code1
- G05B 2219/39076Learn by function division, change only one variable at a time, combineIndexing code1
- G05B 2219/39092Treat interference in hardware, circuit and also in softwareIndexing code1
- G05B 2219/39095Use neural geometric modeler, overlapping spheresIndexing code1
- G05B 2219/39099Interlocks inserted in movement process if necessary to avoid collisionIndexing code1
- G05B 2219/39103Multicooperating sensing modulesIndexing code1
- G05B 2219/39126Manipulate very large objects, not possible to grasp, open palm and useIndexing code1
- G05B 2219/39151Use intention inference, observe behaviour of other robots for their intentionIndexing code1
- G05B 2219/39173Dynamic interaction between vehicle and manipulatorIndexing code1
- G05B 2219/39193Compensate movement before lock stop, by small movement against load, gravityIndexing code1
- G05B 2219/39207Manipulator is passive, gives operator only feedback of what is currently doneIndexing code1
- G05B 2219/39211If operator on platform moves in certain direction, arm will followIndexing code1
- G05B 2219/39227Configuration control, generate end effector forces to compensate dynamicsIndexing code1
- G05B 2219/39231Parameterization of inertia, coriolis and centrifugal matrixIndexing code1
- G05B 2219/39236Hybrid integrator back-stepping control, cascaded motor and manipulator subsystemsIndexing code1
- G05B 2219/39258Three objective attitude controlIndexing code1
- G05B 2219/39262Position joint to minimize energy in previous joints, equilibrium point, attractorIndexing code1
- G05B 2219/39265Cutting force disturbances compensated by accelerating a mass within tool headIndexing code1
- G05B 2219/39268Layer perceptron, drive torque from state variablesIndexing code1
- G05B 2219/39278Ann with pd in parallel, pd corrects response of annIndexing code1
- G05B 2219/39283Ffw ann to compensate torque or speedIndexing code1
- G05B 2219/39294Learn inverse dynamics, ffw decomposed ann adapted by pidIndexing code1
- G05B 2219/39303Feedback error learn inverse dynamics, felc use position reference and errorIndexing code1
- G05B 2219/39307Multiple ann, trajectory control net and force control netIndexing code1
- G05B 2219/39312Double neural network for tracking, follower microprocessor for servo controlIndexing code1
- G05B 2219/39383Supervisor communicates with several ion control agentsIndexing code1
- G05B 2219/39405Develop inverse model of system with annIndexing code1
- G05B 2219/39431Keys represent function of gripper, open, closeIndexing code1
- G05B 2219/39434Each function key of pc corresponds to a motor, jog each motorIndexing code1
- G05B 2219/39461Rotate arm in one direction, forearm in other direction but double speedIndexing code1
- G05B 2219/39464Estimation of human hand impedance in multijoint arm movementsIndexing code1
- G05B 2219/39471Push workpiece in order to grip it correctlyIndexing code1
- G05B 2219/39481Control distance finger from center, radiusIndexing code1
- G05B 2219/39491Each finger controlled by a controllerIndexing code1
- G05B 2219/395015-fingers with each 4-dofIndexing code1
- G05B 2219/39513Tip prehension grasp, grasp with tip of fingersIndexing code1
- G05B 2219/39516Push align object against wall, detect each time distance from grip pointIndexing code1
- G05B 2219/39518Rolling contact between fingers, robot arms and objectIndexing code1
- G05B 2219/39524Power grasp, between thumb and four fingers, acting as a virtual middleIndexing code1
- G05B 2219/39526Three fingers used, thumb, index, middle finger for lateral precisionIndexing code1
- G05B 2219/39537First slide object on table in order to be able to graspIndexing code1
- G05B 2219/39563Hand has a center pin to pick up coilsIndexing code1
- G05B 2219/39578Axis wristIndexing code1
- G05B 2219/39035Screw axis measurement, each joint moved in circle, cpa circle point analysisIndexing code0
- G05B 2219/39036Screw axis measurement, jacobian estimation from wrist and joint torques, no motionIndexing code0
- G05B 2219/39043Self calibration using ann to map robot poses to the commands, onlyIndexing code0
- G05B 2219/39066Two stage inverse kinematics algorithm, first inner joint variables, then outerIndexing code0
- G05B 2219/39072Solve inverse kinematics by linear hopfield networkIndexing code0
- G05B 2219/39074By formal substitution of two consecutive joints by a spherical jointIndexing code0
- G05B 2219/39075Solve inverse kinematics by error back propagation ebpIndexing code0
- G05B 2219/39108Regrasp object as function of impactIndexing code0
- G05B 2219/39119Path constraint handling of objectIndexing code0
- G05B 2219/39127Roll object on base by link controlIndexing code0
- G05B 2219/39152Basic behaviour, avoid, follow, aggregate, disperse, home, wander, grasp, dropIndexing code0
- G05B 2219/39154Each robot can pick up an information carrier, read and write itIndexing code0
- G05B 2219/39171Vehicle moves towards arm if streched arm, away from it if foldedIndexing code0
- G05B 2219/39185Ann as compensatorIndexing code0
- G05B 2219/39202Invariant inertia, constant inertia matrix independent of joint positionsIndexing code0
- G05B 2219/39203Fuzzy petrinet controllerIndexing code0
- G05B 2219/39204Petrinet controllerIndexing code0
- G05B 2219/39213Distributed tasks, space motion, contact, kinematic conditioning tasksIndexing code0
- G05B 2219/39223Resonance ratio control, between arm and motorIndexing code0
- G05B 2219/39225Rmfc resolved motion force control, apply known acceleration to payload massIndexing code0
- G05B 2219/39228Computed torque method and h-compensationIndexing code0
- G05B 2219/39232Fuzzy adaptation of sliding mode controllerIndexing code0
- G05B 2219/39234Constraint accelerated feedback, distance dependant sampling rateIndexing code0
- G05B 2219/39235Track surface without knowing surface geometryIndexing code0
- G05B 2219/39238Trajectory feedforward and feedback to input ann, output a control functionIndexing code0
- G05B 2219/39239Control additional actuator in each flexible linkIndexing code0
- G05B 2219/39245Computed torque fuzzy controllerIndexing code0
- G05B 2219/39249Computed torque controller combined with ann compensating switch type controllerIndexing code0
- G05B 2219/39255Penalty invariance:distribute disturbance equally over all joints, nodesIndexing code0
- G05B 2219/39263Normal and overload operation modes, robot speed or torque higher than nominalIndexing code0
- G05B 2219/39267Uncertainty estimation by the boundsIndexing code0
- G05B 2219/39269Neural adaptation followed by fuzzy correctionIndexing code0
- G05B 2219/39272Course by expert rule based system to correct fine fuzzy systemIndexing code0
- G05B 2219/39274Cmac cerebellar model articulation controller networkIndexing code0
- G05B 2219/39275Ann in parallel to known dynamics model to correct for unknown dynamicsIndexing code0
- G05B 2219/39277Segmented tree annIndexing code0
- G05B 2219/39279Ann parallel with p controllerIndexing code0
- G05B 2219/39281Ann for compensation torqueIndexing code0
- G05B 2219/39282Ffw ann for torque command, adapt as function of speed and detectedIndexing code0
- G05B 2219/39287Position and speed error to fuzzy input, output corrected by ann asIndexing code0
- G05B 2219/39291Fuzzy neural for adaptive force controlIndexing code0
- G05B 2219/39293Ann parallel to pd, learn inverse dynamics and feedforward of torque signalIndexing code0
- G05B 2219/39301Learn feedforward controlIndexing code0
- G05B 2219/39302Backpropagation end effector location error through the link equationsIndexing code0
- G05B 2219/39304Feedback error learn inverse dynamics, use actual position and errorIndexing code0
- G05B 2219/39306Three networks, data to cartesian, cartesian to joint angle, joint angle toIndexing code0
- G05B 2219/39308Position control net, pcn combined with velocity control net, vcnIndexing code0
- G05B 2219/39309Inverse dynamic network combined with time scaling network for trajectory planIndexing code0
- G05B 2219/39317Adapt weights mnn online, mnn as feedforward, maps inputs to joint torquesIndexing code0
- G05B 2219/39327Fuzzy adaptive force controlIndexing code0
- G05B 2219/39328Fuzzy pi force controlIndexing code0
- G05B 2219/39331Switch between position and force control by fuzzy logicIndexing code0
- G05B 2219/39333Fuzzy adaptive force and position control, hybridIndexing code0
- G05B 2219/39334Fuzzy reinforcement compliance controlIndexing code0
- G05B 2219/39336Pd controller combined with disturbance rejection at jointIndexing code0
- G05B 2219/39337Pd controller combined with joint energy based controllerIndexing code0
- G05B 2219/39356Fuzzy logic velocity observer, to estimate velocity in jointsIndexing code0
- G05B 2219/39363Track circular path on inclined surfaceIndexing code0
- G05B 2219/39368Sensorimotor command layer, between task space and sensor, motor spaceIndexing code0
- G05B 2219/39372Expert rule based system to correct parameters impedance controllerIndexing code0
- G05B 2219/39373Fuzzy for planning, fuzzy neural for adaptive force controlIndexing code0
- G05B 2219/39374Ffw and ann combined to compensate torqueIndexing code0
- G05B 2219/39411Effect of scaling drive armsIndexing code0
- G05B 2219/39428Panel with special keys for robot programming, like gripper, hand, wristIndexing code0
- G05B 2219/39429Using graphic kinematic perspective entered and represented by keysIndexing code0
- G05B 2219/39455Flexible microactuator, fluidic controlled fibre reinforced rubber, three tubesIndexing code0
- G05B 2219/39458Vehicle levitated, arm pushes to position vehicleIndexing code0
- G05B 2219/39459Finger actuator, ac motor and harmonic gear and encoderIndexing code0
- G05B 2219/39463Exercise treatment end effector, dexter cube with various switches for tasksIndexing code0
- G05B 2219/39472Braced manipulator, for fine positioning hand is resting on tableIndexing code0
- G05B 2219/39477Finger tracks moving light spot on objectIndexing code0
- G05B 2219/39485Lift workpiece with two fingers, then grasp it with two additional fingersIndexing code0
- G05B 2219/39494Each finger has 4-dofIndexing code0
- G05B 2219/394994-fingers with each 6-dofIndexing code0
- G05B 2219/395024-fingers with each 3-dofIndexing code0
- G05B 2219/395034-fingers with each 4-dofIndexing code0
- G05B 2219/39512Whole hand manipulation, use of fingertips and hand surfaceIndexing code0
- G05B 2219/39519Concurrent grasp, all forces converge in one pointIndexing code0
- G05B 2219/39521Pencil grasp, forces act in two points, along line of intersection ofIndexing code0
- G05B 2219/39522Regulus grasp, forces do not intersect at allIndexing code0
- G05B 2219/39525Lateral grasp, between thumb and four fingers, acting as virtual index fingerIndexing code0
- G05B 2219/39538Rotate object with one or more fingers, while sliding on tableIndexing code0
- G05B 2219/39544Fuzzy dynamic programming, generate trajectory of finger during trackingIndexing code0
- G05B 2219/39551Pivoting gripper, so part takes always vertical orientationIndexing code0
- G05B 2219/39562Dual end effector, one as tool, the other as workhandler, revolverIndexing code0
- G05B 2219/39564Spoon and fork, fork slides back if food delivered in mouthIndexing code0
- G05B 2219/39565Two fingered microhand, each finger is a parallel, stewart platformIndexing code0
- G05B 2219/39569Twirl baton, rotate cylinder through center perpendicular to lengthIndexing code0
- G05B 2219/39576Magnetically levitated wristIndexing code0
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Most cited
By later US patents
- Alignment of master and slave in a minimally invasive surgical apparatus2,565US 6,364,888 B1Intuitive Surgical, Inc. · 2002
- Image-directed robotic system for precise robotic surgery including redundant consistency checking2,101US 5,408,409 AInternational Business Machines Corporation · 1995
- Manipulator positioning linkage for robotic surgery1,602US 6,441,577 B2Intuitive Surgical, Inc. · 2002
- Haptic guidance system and method1,367US 8,010,180 B2MAKO Surgical Corp. · 2011
- Surgical manipulation system1,224US 5,876,325 AOlympus Optical Co., Ltd. · 1999