Abstract: A mobile robot or automatic guided vehicle having a multijointed robot arm. The robot arm has a gripper and charge coupled device camera mounted at the free end of the arm. The gripper is for engaging, holding and releasing workpieces. The robot arm transfers workpieces to and from process machines or storage areas. The robot arm finds the workpiece or the place to set it down by looking at two light emitting diodes placed a known distance and orientation away from the workpiece or set down place. The robot arm and camera are controlled by a computer on board the vehicle. The automatic guided vehicle and robot arm are used to transfer workpieces from place to place in an automated manufacturing environment.

Abstract: A lead frame locater is used to locate actual positions of lead frame leads in respect to the semiconductor chip to provide accurate wire bonding of the semiconductor chip to the lead frame leads.

Abstract: A visual navigation system navigates an electrically controllable apparatus such as a mobile robot. Navigation commands are generated to move the mobile apparatus based upon the location of the mobile apparatus. Once the location of the mobile apparatus is determined and the coordinates of a new position are provided, then the commands are transmitted to the mobile apparatus to relocate to the new position. The repetitive update of the location and move commands ensure the movement of the mobile apparatus without wire or rails.

Abstract: An apparatus having a reservoir for enclosing a fluid and a valve for selectively applying gas under pressure to said reservoir and venting said reservoir to the ambient air. A controller supplies a pulse of predetermined duration selected from a plurality of durations to actuate the valve to apply the gas under pressure to the reservoir for expelling a predetermined amount of ink therefrom through a tube by compensation for dynamic effects. The ink is transferred from one end of the tube to a selected item of a sheet of items by moving the end of the tube closely adjacent to the sheet while the ink is being expelled from the reservoir and through the tube for transfer to the individual item.