Abstract: Power requirements for a robotic system are achieved through the employment of modular-type linear motor (LM) cells of either the one dimensional or two-dimensional type. Increasing system power requirements are met through the utilization of an increasing number of modular linear motor cells precisely positioned upon a common mounting plate to assure proper operation with a common platen.

Abstract: Collision detection in a multi-robot system. A "map" of the "world" is stored in memory. A collision map containing a desired robot move is created. The initial position of the desired robot is removed from the "world" map by combining the robot map and the "world" map in a logical exclusive-OR operation and thereafter combining the collision map and the "world" map in a logical exclusive-OR operation followed by combining the collision map and the "world" map in a logical "inclusive-OR" operation in a byte-by-byte manner. A collision is indicated by a difference in any bit position of the inclusive and exclusive-OR combinations. The lack of any difference indicates that the move may be made. Similar logic operations are performed to partially and ultimately totally deallocate an allocated path and for considering alternative moves or partial moves responsive to the presence of a "collision". The method is performed using a computer which may be no more sophisticated than a conventional personal computer (i.

Abstract: A technique for preventing a stalled linear motor device from damage including monitoring accelerometer servos which generate signals representative of the difference between a command acceleration signal controlling the linear motor and the actual acceleration experienced by the linear motor device which signal represents the acceleration error and the direction of the error. The different signal is compared against programmed limits to develop a break-loose signal when the programmed limit (positive or negative) is exceeded. The break-loose signal is monitored as to duration, which duration is preprogrammed according to the dynamics of the system specifications presently in use.

Abstract: A robotic system in which robot devices are assembled from an inventory of elements responsive to a work request. The robotic devices include robots incorporating two-dimensional, linear motors movable along a stationary platen and coupled to various power sources through flexible, extendible, umbilical cords. The robot devices are selectively connectible with manipulators for holding parts to be assembled and/or for performing operations on such parts and/or members to which such parts are mounted. The devices are automatically assembled by selecting elements capable of performing the tasks necessary to complete the work request as well as selecting those elements which result in optimization of the assembly time and avoid collisions and cord tangling in moving along the paths traversed by the robot devices during their assembly.

Abstract: A method for mounting one or a plurality of multilead components (25-28) on a circuit board (20) is herein disclosed. The method comprises the steps of loading a releasable template (32) with the component/components to be mounted, positioning the releasable template proximate to the board, releasing the component/components from the template onto the board such that each lead of each component is proximate to a corresponding aperture in the board, and imparting a vibratory motion (via 29 and 23) to the board thereby inserting the component/components into the board. Also disclosed are various embodiments of an apparatus for achieving this mounting method using a programmable robotic arm (FIG. 2).