Abstract: In an example embodiment, a robot positioning device includes a first interface configured to communicate with a robot and a second interface configured to communicate with a location measuring system. The robot positioning device includes a calibrator, a modeler, and an instructor. The calibrator is configured to direct the location measuring system to determine robot calibration locations when robot joints are positioned in calibration joint positions. The modeler is configured to create a calibrated model relating robot joint positions to robot locations based at least in part on the robot calibration locations received from the location measuring system and associated calibration joint positions of the robot joints. The instructor is configured to receive a goal location from the robot. The instructor is further configured to transmit goal joint positions to the robot, the goal joint positions based at least in part on the goal location and the calibrated model.

Abstract: An off-line graphical user interface (GUI) system and method provide for input control of a three-dimensional coordinate measuring machine (CMM) using the CMM's probe. A GUI image presents a plurality of control operation icons associated with the CMM. A controller uses the CMM to locate the GUI image in a coordinate system of the CMM. The controller defines coordinates of the control operation icons and references the coordinates to the coordinate system of the CMM. The controller also defines a function activation zone associated with each of the control operation icons. Each function activation zone defines criteria relating movement of the CMM's probe therein to the operational function of the CMM associated with one of the control operation icons corresponding thereto. Satisfaction of the criteria causes the operational function of the CMM to be carried out by the CMM.

Abstract: In an example embodiment, a robot positioning device includes a first interface configured to communicate with a robot and a second interface configured to communicate with a location measuring system. The robot positioning device includes a calibrator, a modeler, and an instructor. The calibrator is configured to direct the location measuring system to determine robot calibration locations when robot joints are positioned in calibration joint positions. The modeler is configured to create a calibrated model relating robot joint positions to robot locations based at least in part on the robot calibration locations received from the location measuring system and associated calibration joint positions of the robot joints. The instructor is configured to receive a goal location from the robot. The instructor is further configured to transmit goal joint positions to the robot, the goal joint positions based at least in part on the goal location and the calibrated model.

Abstract: An off-line graphical user interface (GUI) system and method provide for input control of a three-dimensional coordinate measuring machine (CMM) using the CMM's probe. A GUI image presents a plurality of control operation icons associated with the CMM. A controller uses the CMM to locate the GUI image in a coordinate system of the CMM. The controller defines coordinates of the control operation icons and references the coordinates to the coordinate system of the CMM. The controller also defines a function activation zone associated with each of the control operation icons. Each function activation zone defines criteria relating movement of the CMM's probe therein to the operational function of the CMM associated with one of the control operation icons corresponding thereto. Satisfaction of the criteria causes the operational function of the CMM to be carried out by the CMM.

Abstract: A spatial parallel-architecture robotic Carpal wrist is shown. The structure of the robotic Carpal wrist allows for the application of a closed-form solution to the kinematic problem of determining all of the possible inputs to the actuators that result in a desired end orientation of the distal plate. The robotic Carpal wrist has a structure including a base plate, a distal plate and six equal length links connecting the base plate to the distal plate with the six links being arranged in three chains of two links each and with three actuators being mounted in fixed relationship to the base plate. The three actuators cause the three links connected to the base plate to each pivot with a single degree-of-freedom relative to the base plate. Each of the three chains of links includes a three degree-of-freedom joint between its two links.