Randy A Graca

20100030381, Feb 4, 2010

Jul 29, 2008

12/181518

Scott J. Clifford - Rochester Hills MI, US
Paul D. Copioli - Sterling Heights MI, US
Bradley O. Niederquell - Troy MI, US
Randy Graca - Macomb MI, US
Yi Sun - West Bloomfield MI, US

G06F 19/00

700258, 700245, 700256, 901 2, 901 23, 901 31, 901 46, 901 49

A method and system for handling a swing metal panel using a robot's drive axis servo motor feedback to eliminate the need for the sensors and breakaway devices is provided. Using the servo motor feedback for this function reduces cost and improves reliability. The method also applies the servo motor feedback to hold a panel in position and exchange the panel between robots during the painting or coating process.

20100063625, Mar 11, 2010

Sep 5, 2008

12/205165

Kenneth W. Krause - Rochester Hills MI, US
Jim Huber - Rochester Hills MI, US
Ho Cheung Wong - Troy MI, US
Randy Graca - Macomb MI, US
Scott J. Clifford - Rochester Hills MI, US

G06F 19/00
G06F 15/16

700245, 709211, 901 50

A robot control system includes a line tracking encoder that measures a reference position of a conveyor line and transmits a tracking signal representing tracking data including the reference position of the conveyor line. A master controller is in communication with the encoder to receive the tracking signal, process the tracking data represented by the tracking signal, and generate a data packet in response to processing of the tracking data. A slave controller is in communication with the master controller and at least one robot for receiving the data packet and controlling the movement of the at least one robot in response to the data packet. A communications network directly interconnects the master controller and the slave controller and transmits the data packet from the master controller to the slave controller.

20140074289, Mar 13, 2014

Sep 9, 2013

14/021051

Randy A. Graca - Macomb MI, US
Matthew R. Sikowski - Clarkston MI, US
Jason Tsai - Bloomfield Hills MI, US

B25J 9/16

700254, 700257, 700255, 901 3, 901 16, 901 28, 901 43

A method for controlling a redundant robot arm includes the steps of selecting an application for performing a robotic process on a workpiece with the arm and defining at least one constraint on motion of the arm. Then an instruction set is generated based upon the selected application representing a path for a robot tool attached to the arm by operating the arm in one of a teaching mode and a programmed mode to perform the robotic process on the workpiece and movement of the arm is controlled during the robotic process. A constraint algorithm is generated to maintain a predetermined point on the arm to at least one of be on, be near and avoid a specified constraint in a robot envelope during movement of the arm, and a singularity algorithm is generated to avoid a singularity encountered during the movement of the arm.

20160059414, Mar 3, 2016

Aug 28, 2014

14/471016

- Rochester Hills MI, US
Gordon Geheb - Hartland MI, US
Nivedhitha Giri - Auburn Hills MI, US
Randy A. Graca - Macomb MI, US
David J. O'Toole - Fenton MI, US

B25J 9/16

A system and method for enhancing a visualization of coordinate points within a robot's working envelope is disclosed. Part data associated with a position of a part, which may include part offset from a known position, is read using a teach pendant program. The part data is automatically stored within a hidden program instruction of the teach pendant program. The part data may be stored within the part program in a motion instruction associated with a motion line of the teach pendant program.