Abstract: A databus multiplexing connection system is disclosed including an electrical connector for multiplexing data including in-line CAN-bus splice connector. The connector includes a 4-way connector body and a secondary lock/bussing assembly. The secondary lock/bussing assembly includes a main body, buss-bars, and one or more optional resistors. The secondary lock/bussing assembly secures terminals inside the connector body, provides an interface for connection of a 2-way mating connector thereto, verifies that the terminals are properly installed (i.e. proper orientation) in the connector body.

Abstract: An autotuning procedure for a PID-type controller employs a low frequency sine wave as an exciting input and models the controlled system as a second order linear system. The system is tuned to a desired damping ratio by following an overdamped trajectory, in closed loop gain and phase lag space, to the target closed loop gain and phase lag values on a locus of a desired damping ratio as based on that modeling system.

Abstract: A control system and method including an integrator coupled with a rate-varying multiplier which operate in parallel with a conventional controller. Because the integration is rate-variable, the resulting control system has the benefits of an integral position control without the problems of integral windup and subsequent overshoot. The system and method have less following and steady state error, faster settling time and better tolerance to noise than traditional PD and PID controls in controlling dynamic manipulators such as robots. Also, because the integrations are performed in a rate-variable manner, errors due to mechanical static friction, i.e. "sticktion", are substantially reduced without sacrificing dynamic performance of the system.

Abstract: A method and system are provided for automatically determining the position and attitude of a three-dimensional body at a work station by utilizing three cameras each of which generates a non-overlapping plane of image data, including a single target point of the body without the use of structured light. The locations of the target points are determined and processed within a programmed computer together with calibration data relating to the expected position of the body in the work station to provide data relating to the position and attitude of the body with respect to the work station. The resultant data relating to the position and attitude of the body are subsequently transformed into a first set of offset data relating to the difference between the actual and expected positions of the body. The first set of offset data is then transformed into a second set of offset data in the coordinate system of a peripheral device such as a robot, programmable controller, numerically controlled machine, etc.