Akeel

Hadi Akeel, Bloomfield Hills, MI US

Patent application number	Description	Published
20090199690	METHOD OF CONTROLLING A ROBOT FOR SMALL SHAPE GENERATION - A method of controlling robot motion for small shape generation is provided. The method includes the steps of: a) providing a robot having a plurality of interconnected distal links with a respective plurality major axes and a respective plurality of minor axes, the robot having a controller for moving the robot to a starting position and along a path including a series of interpolated positions to be followed relative a workpiece; b) moving the robot to the starting position; c) determining a next interpolated position on the path, wherein the robot remains fixed in position about at least one of the major axes and a location and an approach vector of the next interpolated position can be achieved; and d) moving the robot to the next interpolated position. A method where the robot remains fixed in position about all major axes is also provided.	08-13-2009
20100191374	SECONDARY POSITION FEEDBACK CONTROL OF A ROBOT - A method of and apparatus for achieving dynamic robot accuracy includes a control system utilizing a dual position loop control. An outer position loop uses secondary encoders on the output side of the gear train of a robot joint axis, while the inner position loop uses the primary encoder attached to the motor. Both single and dual loop control can be used on the same robot and tooling axes.	07-29-2010

Patent application number	Description	Published
20090204258	DYNAMIC SPACE CHECK FOR MULTI-ARM SYSTEM MOVING ON A RAIL - A system and method for controlling motion interference avoidance for a plurality of robots are disclosed, the system and method including a dynamic space check system wherein an efficiency of operation is maximized and a potential for interference or collision is minimized.	08-13-2009

Patent application number	Description	Published
20090178029	Dependent Object Framework for JUnit Testing - Methods and apparatus, including computer program products, implementing and using techniques for testing a software application component. A dependent object framework is provided. The dependent object framework includes a set of static methods, a set of dependent object files, and a set of properties files. A test program is received. The test program references one or more objects described by the set of dependent object files. The one or more objects are loaded using at least one of the static methods of the dependent object framework. The received test program is run and a result of the test program is displayed.	07-09-2009