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1. 发明申请

US20150321351A1 Intuitive Motion Coordinate System for Controlling an Industrial Robot 有权
标题翻译：用于控制工业机器人的直观运动坐标系
公开(公告)号：US20150321351A1
公开(公告)日：2015-11-12
申请号：US14455345
申请日：2014-08-08
申请人： Chetan Kapoor , Ratheesh Rajan
发明人： Chetan Kapoor , Ratheesh Rajan
IPC分类号： B25J9/16
CPC分类号： G05B19/427 , B25J9/161 , G05B2219/39445 , Y10S901/06 , Y10S901/14 , Y10S901/28 , Y10S901/30
摘要： 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.
摘要翻译：一种用于相对于直观运动坐标系来控制工业机器人的方法和装置。感测到相对于机器人的触摸屏示教器的当前3D位置，并且相对于以机器人为中心的参考系而开发以操作者为中心的参考系。生成机器人的模拟，以便从控制器的当前位置对应于机器人的操作者视图，并且显示在吊坠上。生成并显示在吊坠上的运动控制结构适于从操作者接收指示以操作者为中心的参考系的模拟的相应增量移动的点动命令。每个点动命令从以操作员为中心的参考系变换到以机器人为中心的参考系，并且机器人根据转换的点动命令移动。感测到吊坠相对于机器人的移动，并且作为响应，显示的仿真被重新定向以对应于由操作者观察的相对于机器人的吊坠的新位置。

2. 发明申请

US20090270091A1 SELECTIVE CHANNEL SCANNING FOR NETWORKED DEVICES 有权
标题翻译：网络设备的选择性通道扫描
公开(公告)号：US20090270091A1
公开(公告)日：2009-10-29
申请号：US12109344
申请日：2008-04-25
申请人： Anupam Joshi , Ratheesh Rajan
发明人： Anupam Joshi , Ratheesh Rajan
IPC分类号： H04Q7/20 , H04B1/38
CPC分类号： H04W48/16 , H04W8/183 , H04W52/0229 , Y02D70/142 , Y02D70/144
摘要： Selectively scanning available channels for a network connection. A computing device defines a preferred channel list for a network along with a scan ratio. The scan ratio relates the frequency that the preferred channels are scanned versus the frequency that all the channels are scanned. In an embodiment, the preferred channel list reflects channels on which the computing device has recently connected. Employing the scan ratio thereby balances power consumption with fast connection establishment. The scan ratio is also adjustable to affect power consumption and battery life of the computing device.
摘要翻译：选择性扫描网络连接的可用通道。计算设备与扫描比率一起定义网络的优选频道列表。扫描比率将扫描优选通道的频率与扫描所有通道的频率相关。在一个实施例中，优选信道列表反映计算设备最近连接到的信道。采用扫描比，从而平衡功率消耗与快速连接建立。扫描比率也可调整，以影响计算设备的功耗和电池寿命。

3. 发明授权

US08165581B2 Selective channel scanning for networked devices 有权
标题翻译：网络设备的选择性通道扫描
公开(公告)号：US08165581B2
公开(公告)日：2012-04-24
申请号：US12109344
申请日：2008-04-25
申请人： Anupam Joshi , Ratheesh Rajan
发明人： Anupam Joshi , Ratheesh Rajan
IPC分类号： H04Q7/20
CPC分类号： H04W48/16 , H04W8/183 , H04W52/0229 , Y02D70/142 , Y02D70/144
摘要： Selectively scanning available channels for a network connection. A computing device defines a preferred channel list for a network along with a scan ratio. The scan ratio relates the frequency that the preferred channels are scanned versus the frequency that all the channels are scanned. In an embodiment, the preferred channel list reflects channels on which the computing device has recently connected. Employing the scan ratio thereby balances power consumption with fast connection establishment. The scan ratio is also adjustable to affect power consumption and battery life of the computing device.
摘要翻译：选择性扫描网络连接的可用通道。计算设备与扫描比率一起定义网络的优选频道列表。扫描比率将扫描优选通道的频率与扫描所有通道的频率相关。在一个实施例中，优选信道列表反映计算设备最近连接到的信道。采用扫描比，从而平衡功率消耗与快速连接建立。扫描比率也可调整，以影响计算设备的功耗和电池寿命。

4. 发明授权

US09958862B2 Intuitive motion coordinate system for controlling an industrial robot 有权
公开(公告)号：US09958862B2
公开(公告)日：2018-05-01
申请号：US14455345
申请日：2014-08-08
申请人： Chetan Kapoor , Ratheesh Rajan
发明人： Chetan Kapoor , Ratheesh Rajan
IPC分类号： G06F19/00 , G05B19/427 , B25J9/16
CPC分类号： G05B19/427 , B25J9/161 , G05B2219/39445 , Y10S901/06 , Y10S901/14 , Y10S901/28 , Y10S901/30
摘要： 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.

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