Abstract: A wine decanter includes a reservoir that holds wine and a neck with an opening to allow wine to enter and exit the reservoir. The reservoir is generally rectangular with opposing front and rear sides and opposing left and right sides, and a substantially flat bottom. Protrusions are located on the reservoir inner surface at one of the front and rear sides or left and right sides. Each protrusion spans an entire length of one of the sides and protrudes into the reservoir thereby aerating the wine as it passes by the protrusions. All protrusions are located above the flat bottom of the reservoir such that none of the protrusions are located on the flat bottom of the reservoir, thereby allowing the wine to pool on the flat bottom of the reservoir. A base is provided that moves the decanter in a controlled back-and-forth motion to aerate the wine.

Abstract: An industrial robot device includes a swivel with an attachment mechanism for the attachment of a tool. The attachment mechanism includes at least two different attachment devices for two different kinds of tools. A first attachment device includes a positioning mechanism defining a certain angular position of an attached tool relative to the swivel. A second attachment device is arranged for allowing an arbitrary angular position of an attached tool relative to the swivel. Also contemplated is an industrial robot that is provided with the invented device and to a method for manipulating objects.

Abstract: A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit. The robot or the control unit includes at least one first computer running a servo controller. A motion limit is configured for at least one axis of the robot arm. A reference signal for a robot position is sent to a robot controller together with a measurement of a position of the robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator for the purpose of limiting the motion of an arm of the robot.

Abstract: A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit. The robot or the control unit includes at least one first computer running a servo controller. A motion limit is configured for at least one axis of the robot arm. A reference signal for a robot position is sent to a robot controller together with a measurement of a position of the robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator for the purpose of limiting the motion of an arm of the robot.

Abstract: An industrial robot device includes a swivel with an attachment mechanism for the attachment of a tool. The attachment mechanism includes at least two different attachment devices for two different kinds of tools. A first attachment device includes a positioning mechanism defining a certain angular position of an attached tool relative to the swivel. A second attachment device is arranged for allowing an arbitrary angular position of an attached tool relative to the swivel. Also contemplated is an industrial robot that is provided with the invented device and to a method for manipulating objects.

Abstract: An arm part of a manipulator of an industrial robot has at each end thereof a connector for connecting the arm part to a gear and a stiffener for stiffening the end region of the arm part. At least one aperture is arranged in a hollow structure of the stiffener for providing access to connecting members.

Abstract: The method operates in the remote communication unit, the remote communication unit responsive to a first wireless communication system and to a second wireless communication system, and the method includes receiving a time delay parameter from the first wireless communication system; storing the time delay parameter; and based on the time delay parameter, accessing the second wireless communication system.