Guillermo Jesus Rodriguez

20040016376, Jan 29, 2004

Jul 26, 2002

10/207682

Richard Rivera - Garden Grove CA, US
Guillermo Rodriguez - Rancho Cucamonga CA, US
Moi Bui - Rancho Santa Margarita CA, US

A47B013/00

108/157100

A knock-down table that can be quickly assembled and disassembled for compact storage or shipping. The apparatus includes a table top, a plurality of detachable legs and a ring-shaped brace. Coupling members are provided on the bottom side of the table top and project downwardly therefrom. Sockets are formed in the top ends of the table legs for slidably receiving the coupling members. The ring-shaped brace interconnects each of the legs and maintains the structure in a substantially rigid configuration.

20050172870, Aug 11, 2005

Apr 12, 2005

11/104259

Richard Rivera - Garden Grove CA, US
Guillermo Rodriguez - Rancho Cucamonga CA, US
Moi Bui - Rancho Santa Margarita CA, US

A47B013/00

108157150

A knock-down table that can be quickly assembled and disassembled for compact storage or shipping. The apparatus includes a table top, a plurality of detachable legs and a ring-shaped brace. Coupling members are provided on the bottom side of the table top and project downwardly therefrom. Sockets are formed in the top ends of the table legs for slidably receiving the coupling members. The ring-shaped brace interconnects each of the legs and maintains the structure in a substantially rigid configuration.

20060196396, Sep 7, 2006

May 2, 2006

11/415765

Richard Rivera - Garden Grove CA, US
Guillermo Rodriguez - Rancho Cucamonga CA, US
Moi Bui - Rancho Santa Margarita CA, US

A47B 13/00

108157100

A knock-down table that can be quickly assembled and disassembled for compact storage or shipping. The apparatus includes a table top, a plurality of detachable legs and a ring-shaped brace. Coupling members are provided on the bottom side of the table top and project downwardly therefrom. Sockets are formed in the top ends of the table legs for slidably receiving the coupling members. The ring-shaped brace interconnects each of the legs and maintains the structure in a substantially rigid configuration.

53033841, Apr 12, 1994

Nov 1, 1991

7/786499

Guillermo Rodriguez - La Canada CA
Kenneth K. Kreutz - San Diego CA
Abhinandan Jain - Altadena CA

The United States of America as represented by the Administrator of the
National Aeronautics and Space Administration - Washington DC

G05B 1900

395 99

This invention is a robot control system based on a high level language implementing a spatial operator algebra. There are two high level languages included within the system. At the highest level, applications programs can be written in a robot-oriented applications language including broad operators such as MOVE and GRASP. The robot-oriented applications language statements are translated into statements in the spatial operator algebra language. Programming can also take place using the spatial operator algebra language. The statements in the spatial operator algebra language from either source are then translated into machine language statements for execution by a digital control computer. The system also includes the capability of executing the control code sequences in a simulation mode before actual execution to assure proper action at execution time. The robot's environment is checked as part of the process and dynamic reconfiguration is also possible.

57108706, Jan 20, 1998

Sep 7, 1995

8/525813

Timothy Ohm - La Crescenta CA
Curtis Boswell - Pasadena CA
Hari Das - Altadena CA
Eric Paljug - McKees Rock PA
Guillermo Rodriguez - La Canada CA
Paul Schenker - Pasadena CA
Sukhan Lee - La Canada CA
Ed Barlow - San Dimas CA
Steve Charles - Geramtown TN

California Institute of Technology - Pasadena CA

G05G 1100
G05B 1900

395 98

The present invention is a double-jointed, tendon-driven revolute joint, a decoupled tendon-driven wrist, an antibacklash mechanism, a robot control system, and a robot manipulator incorporating the double-jointed, tendon-driven revolute joint, decoupled tendon-driven wrist, and antibacklash mechanism. The robot manipulator is a microsurgical teleoperated robot with actuators located at an actuator base. The overall system architecture includes a slave robot manipulator coupled to an amplifier chassis which is coupled to a control chassis. The control chassis is coupled to a workstation with a graphical user interface. Components of the robot manipulator are categorized into a mechanical sub-system, an electronics sub-system, a servo-control sub-system, and a high-level software control sub-system.

53773101, Dec 27, 1994

Apr 3, 1992

7/866779

Abhinandan Jain - Altadena CA
Guillermo Rodriguez - La Canada CA

The United States of America as represented by the Administrator of the
National Aeronautics and Space Administration - Washington DC

G06F 1500

395 95

The invention controls an under-actuated robot manipulator by first obtaining predetermined active joint accelerations of the active joints and the passive joint friction forces of the passive joints, then computing articulated body quantities for each of the joints from the current positions of the links, and finally computing from the articulated body quantities and from the active joint accelerations and the passive joint forces, active joint forces of the active joints. Ultimately, the invention transmits servo commands corresponding to the active joint forces thus computed to respective ones of the joint servos. The computation of the active joint forces is accomplished using a recursive dynamics algorithm. In this computation, an inward recursion is first carried out for each link beginning with the outermost link in order to compute the residual link force of each link from the active joint acceleration if the corresponding joint is active or from the known passive joint force if the corresponding joint is passive. Then, an outward recursion is carried out for each link beginning with the innermost link in which the active joint force is computed from the residual force if the corresponding joint is active or the passive joint acceleration is computed from the residual link force if the corresponding joint is passive.

55465080, Aug 13, 1996

Apr 3, 1992

7/862861

Abhinandan Jain - Altadena CA
Guillermo Rodriguez - La Canada CA

The United States of America as represented by the Administrator of the
National Aeronautics and Space Administration - Washington DC

G05B 1940

395 95

A robot manipulator controller for a flexible manipulator arm having plural bodies connected at respective movable hinges and flexible in plural deformation modes corresponding to respective modal spatial influence vectors relating deformations of plural spaced nodes of respective bodies to the plural deformation modes, operates by computing articulated body quantities for each of the bodies from respective modal spatial influence vectors, obtaining specified body forces for each of the bodies, and computing modal deformation accelerations of the nodes and hinge accelerations of the hinges from the specified body forces, from the articulated body quantities and from the modal spatial influence vectors. In one embodiment of the invention, the controller further operates by comparing the accelerations thus computed to desired manipulator motion to determine a motion discrepancy, and correcting the specified body forces so as to reduce the motion discrepancy. The manipulator bodies and hinges are characterized by respective vectors of deformation and hinge configuration variables, and computing modal deformation accelerations and hinge accelerations is carried out for each one of the bodies beginning with the outermost body by computing a residual body force from a residual body force of a previous body and from the vector of deformation and hinge configuration variables, computing a resultant hinge acceleration from the body force, the residual body force and the articulated hinge inertia, and revising the residual body force modal body acceleration.

55198147, May 21, 1996

Nov 10, 1993

8/153943

Guillermo Rodriguez - La Canada CA
Kenneth K. Kreutz - San Diego CA
Abhinandan Jain - Altadena CA

The United States of America as represented by the Administrator of the
National Aeronautics and Space Administration - Washington DC

G05B 1900
G05B 1500

395 99

This invention is a robot control system based on a high level language implementing a spatial operator algebra. There are two high level languages included within the system. At the highest level, applications programs can be written in a robot-oriented applications language including broad operators such as MOVE and GRASP. The robot-oriented applications language statements are translated into statements in the spatial operator algebra language. Programming can also take place using the spatial operator algebra language. The statements in the spatial operator algebra language from either source are then translated into machine language statements for execution by a digital control computer. The system also includes the capability of executing the control code sequences in a simulation mode before actual execution to assure proper action at execution time. The robot's environment is checked as part of the process and dynamic reconfiguration is also possible.