Abstract: Provided is a medical support arm system including a support arm that is a multilink structure having a plurality of links connected by a joint unit including an actuator, and supports a medical unit. The medical support arm system further includes a control device including an external force estimation unit to estimate an external force acting on the joint unit on the basis of a drive characteristic of the actuator, and a joint control unit to control drive of the joint unit on the basis of an external torque estimated by the external force estimation unit.

Abstract: A method of planning works for robots includes creating a work plan for a plurality of robots, each having a work tool, sharing at at least one station a work to a plurality of work parts of the workpiece. The method includes the steps of calculating a distribution of the work parts to the robots, calculating, as a robot operation, a work order of the work parts and a moving path of the work tool for each of the robots based on the calculated work distribution, and calculating a disposed location of each of the robots with respect to the workpiece and a station where the robot is disposed so that an inter-robot interference does not occur during execution of the calculated robot operation.

Abstract: Orthosis device and related methods for controlling the device to counteract a gravitational force exerted on the person without directing the orthosis device in a pre-determined pattern of motion.

Abstract: The disclosure relates to the medical device field. In particular, the disclosure relates to a dynamically controlled plasma scalpel in combination with an imaging system to selectively remove biofilm while minimizing damage to healthy tissue. Systems and apparatuses according to the disclosure include: (1) dynamically controlled plasma scalpel, (2) biofilm imaging system, (3) computer control system, (4) three-dimensional scalpel positioning stage, and (5) biofilm detritus removal system.

Abstract: It is an object of the present invention to obtain a work determination apparatus capable of preventing or reducing a time lag between the occurrence and determination of an anomaly in work. A work determination apparatus includes: a sensor data output unit that outputs sensor data with an output interval of an integral multiple of a control period with which a motion of a robot is controlled, the sensor data representing a state of work of the robot; and a determination unit that determines a quality of the work of the robot by inference using a recurrent neural network, based on the sensor data outputted from the sensor data output unit.

Abstract: A control method includes an input step for inputting information concerning a setting angle for a robot arm of a robot, the robot including the robot arm including an arm and a driving section including a servomotor that drives the arm, a calculating step for calculating, based on a first servo parameter corresponding to setting at a first setting angle for the robot arm and a second servo parameter corresponding to setting at a second setting angle different from the first setting angle for the robot arm, a third servo parameter corresponding to the setting angle for the robot arm.

Abstract: A robot system includes: a plurality of robot arms having a motor; a plurality of controllers controlling the robot arms; and a teaching device designating the controller and transmitting an instruction signal thereto. The controller includes: a control unit controlling an operation of the robot arm; a motor operation control unit controlling whether to operate the motor or not; a first connector and a second connector for coupling a wiring electrically coupling to the teaching device; and a first enable valid/invalid switch setting whether to operate the motor or not. The motor operation control unit controls the operation of the motor, based on the setting by the first enable valid/valid switch about whether to operate the motor or not, regardless of the instruction signal.

Abstract: A teaching method for detecting external force applied to a robot arm, driving the robot arm with force control based on the external force, and teaching a position and a posture of the robot arm, the teaching method including gradually relaxing, according to an elapsed time from when operation of the robot arm is started or a movement amount of the robot arm from when the operation of the robot arm is started, a restrictive condition for restricting the driving of the robot arm.

Abstract: A walking support system includes: an information output device (260); a motion detector (220) which detects a motion of a user; a foot landing position detector (230) which detect a foot landing position of the user; a determiner (240) which determines a recommended foot landing position which is a landing position of the feet suitable for stabilizing motions of a gait of the user on the basis of motions of a gait of the user detected by the motion detector, the foot landing position detected by the foot landing position detector, and dynamics; and an output controller (250) which outputs information indicating the recommended foot landing position determined by the determiner to the information output device.

Abstract: Methods and systems according to one or more examples are provided for testing an automated platform, such as a robot. In one example, a system comprises a first robot configured to perform one or more processing operations on a workpiece. The system further comprises a second robot configured to simulate one or more parameters of the workpiece and an associated processing operation to provide one or more test conditions corresponding to each of the one or more processing operations the first robot would perform on the workpiece to test the first robot.

Abstract: The invention relates to a device for roughening cylinder bores using a beam tool and offering a very high level of process reliability even for a large quantity.

Abstract: A three-dimensional surface potential distribution measurement system for measuring a surface potential of a measurement object comprises: a laser light source; a Pockels crystal exhibiting Pockels effect in which a refractive index changes depending on potential difference between the first end surface and the second end surface; a mirror disposed so as to be attached stationarily to the second end surface of the Pockels crystal; a photodetector to detect a light intensity of the laser light corresponding to the potential difference of the Pockels crystal; a housing that holds those elements; a three-dimensional motion-driver capable of three-dimensionally moving the housing; and a driving controller that controls the three-dimensional motion-driver.

Abstract: A method of stacking goods by a robot, a system of controlling the robot to stack the goods, and the robot are provided in the field of robot control. The method includes: acquiring a current pose and a target pose of the goods; obtaining a collision-free motion trajectory of the robot and/or an end effector of the robot based on the current pose and the target pose of the goods; and controlling the robot to place the goods in the target pose in accordance with the collision-free motion trajectory. The method of stacking goods by the robot, the system of controlling the robot to stack the goods, and the robot are configured to realize a process of fully automated stacking the goods in the scenario of logistically loading or unloading the goods. The efficiency of loading or unloading the goods can be improved, and the labor cost can be reduced.

Abstract: Provided are a measurement system, a measurement device, a measurement method, and a measurement program. 3D data is registered to 3D data based on the displacements of joints of a robot at a point in time when a 3D sensor measures 3D data of a measurement object at a specific measurement point while the robot is stopped, and the displacements of the joints of the robot at a point in time when the 3D sensor measures 3D data of the measurement object at a measurement point other than the specific measurement point while that robot is in motion. The 3D data is further registered to the 3D data such that a registration error between the 3D data and the 3D data is less than a threshold value. Similarly, each of 3D data is registered to the 3D data.

Abstract: A method of adjusting multiple tools on a common mount includes the interrogating first and second actual target positions on at least one workpiece. A variance is determined between the first and second actual target position and first and second theoretical target positions. At least one of the first and second tools is moved relative to the other of the first and second tools from the first and second theoretical target positions to a desired spacing respectively aligned with the first and second actual target positions.

Abstract: A robot system includes a robot, a moving body, a determination circuit, a calculation circuit, and a control circuit. The robot includes a mount and a first arm. The determination circuit is configured to determine a lastly moved part of the robot which is lastly moved to make the robot take an operation posture. The calculation circuit is configured to calculate, based on the lastly moved part, an angle between a travel direction of the moving body and an orientation axis of the first arm when the robot in the operation posture is viewed along a height axis of the robot. The control circuit is configured to control the robot to work on a workpiece keeping the robot in the operation posture with the calculated angle while controlling the moving body to move in the travel direction.

Abstract: An operating device for controlling or programming a manipulator with six degrees of freedom that can be controlled independently from one another. The operating device includes three input arrangements which are each configured to specify a movement of the manipulator along an x-axis, y-axis or z-axis of the manipulator, and to specify a rotation of the manipulator about the x-axis, y-axis or z-axis of the manipulator. The three input arrangements are thereby respectively aligned along one of three main axes of the operating device.

Abstract: A system for replacement of sleeves that can be slipped on arbors of Wei y transfer rollers of a printing machine has a storage device, in which the sleeves, which are not used in cl current ink transfer, can be stored, and transport devices, with which several sleeves can be transported to the printing machine, Devices for the transfer of the sleeves with which the sleeves can be transported between the storage device, the transport devices, an, the arbors of the ink transfer rollers include devices for receiving the sleeves, which are associated with a robotic arm such that the devices for receiving the sleeves have three degrees of freedom for translation and are rotatable about at least two axes of rotation.

Abstract: Apparatus and methods for providing a surgical table base with sufficient stiffness and adjustable support members with force feedback are described herein. In some embodiments, a base for a surgical table includes a base body to which other components of a surgical table can be coupled. A surgical table, and optionally a patient supportable by the surgical table, and any equipment to be carried by the surgical table, collectively representing a table load to be carried by the base body to support the surgical table on a surface. The base further includes a support assembly coupled to the base body to support the base body on the surface. The support assembly includes at least four support members. Each support member has a surface-engaging end and can transmit a portion of a total load represented by the weight of the base and the table load through the surface-engaging end to the surface. The surface-engaging ends of any three of the four support members define a plane.

Abstract: A simulation apparatus includes a backup information input unit that reads backup information containing parameters and operation programs of a plurality of automated machines operating according to interactive interlock signals; a virtual device generator that generates virtual devices of respective ones of the plurality of automated machines on the basis of the parameters contained in the backup information; an I/O association relationship storage that stores an association of the interlock signals between the plurality of automated machines; an I/O connecting unit that connects the interlock signals between the virtual devices generated in the virtual device generator in accordance with the association stored in the I/O association relationship storage; and a program executing unit that executes the operation programs read by the backup information input unit.

Abstract: A simulation device for a robot system includes: an input unit that allows input of the constitution of a virtual robot; a storage unit that stores the constitutions and elements of virtual-robot candidates and settings of virtual-robot-controller candidates in association with each other; a difference extracting unit that reads the constitution of one of the virtual-robot candidates that most closely approximates the input virtual robot and extracts the difference; a virtual-robot generating unit that reads the setting of the associated virtual-robot-controller candidate and the settings of the virtual-robot-controller candidates associated with the elements of the virtual-robot candidates included in the extracted difference and that adds or deletes the setting for each of the elements to generate new candidates and a new virtual robot and virtual robot controller; and a candidate updating unit that stores the constitutions of the new virtual-robot candidates and the settings of the generated virtual-robot-

Abstract: A robot simulator according to one aspect of the embodiment includes a job information acquiring unit, an image generating unit, a playback information generating unit, and an output unit. The job information acquiring unit acquires job information that includes a group of operation commands for a robot and information for a plurality of target points through which the robot passes. The image generating unit generates virtual three-dimensional images of a robot system including the robot in a three-dimensional space for each of the operation commands. The playback information generating unit generates playback information for continuously replaying the three-dimensional images by animation in association with the job information. The output unit generates and outputs an output file in which the job information, the three-dimensional images, and the playback information are embedded in an electronic document format that can be browsed in a general-purpose manner.

Abstract: Systems and methods for hands-on training of students. Such a system includes one or more programmable controllers configured to interact with one or more external devices. Each programmable controller includes a microcontroller, a memory device, an interface for remotely accessing the programmable controller, and at least one bus interface for interfacing with an external microcontroller of another programmable controllers. The method includes functionally coupling a first of the programmable controllers to an external device, programming the first programmable controller to operate the external device, and providing instructions to the external device through the programmable controller from a remote location relative to the first programmable controller.

Abstract: A device for robotic direct lead-through teaching includes a robot, a replacing member and a lead-through teaching member. The robot has an operation member coupled with the replacing member. The lead-through teaching member mounted replaceably at the replacing member has a force sensor. The force sensor has six-axis load information. A path teaching is executed manually upon the operation member of the robot so as to store coordinate information. In additional, a method for robotic direct lead-through teaching is also provided.

Abstract: A machine which repetitively performs an operation, or operations, on mass-produced parts which are subject to part-to-part variations compensates for such variations by self-adjustment of its operation, or operations, at a location, or locations, where an operation, or operations, is, or are, performed.

Abstract: A machine which repetitively performs an operation, or operations, on mass-produced parts which are subject to part-to-part variations compensates for such variations by self-adjustment of its operation, or operations, at a location, or locations, where an operation, or operations, is, or are, performed.

Abstract: A robot apparatus includes a manipulator, a teaching apparatus, and a control apparatus. The manipulator includes a hand and an arm having a plurality of joints. The teaching apparatus teaches operation of the manipulator. The control apparatus controls the manipulator based on a control signal from the teaching apparatus for causing the manipulator to operate in a predetermined operation direction. In a case where the predetermined operation direction has been checked, the control apparatus transmits, to the manipulator, a control signal for causing the manipulator to operate at a regular speed. In a case where the predetermined operation direction has not been checked, the control apparatus transmits, to the manipulator, a control signal for causing the manipulator to operate at a speed lower than or equal to a safety speed that is set based on the regular speed.

Abstract: A motor control device includes: a force command unit that designates a force to be applied to a workpiece to be machined by a machining device having a motor as a driving source; a force detecting unit that detects the force applied to the workpiece; a velocity-command calculating unit that calculates a velocity command based on the designated force and the detected force; a torque-command calculating unit that calculates a torque command based on the velocity command and the velocity of the motor; a motor control unit that controls the motor based on the torque command; a determining unit that determines the machining stage of the workpiece based on the detected force; and a gain changing unit that changes at least one of gains individually provided in the velocity-command calculating unit and the torque-command calculating unit in accordance with the determined machining stage.

Abstract: A vehicle part inspection device is configured to inspect an inspection object secured on a jig frame by a securing unit, and may include: i) a sensing unit which is pivotably installed on a mount frame, moves in multi-axis directions along the jig frame, and senses an inspection portion of the inspection object; and ii) angle changing units which are installed to be radially connected with the sensing unit, and change a sensing angle of the sensing unit by applying forward and rearward operating force to the sensing unit.

Abstract: A servo motor is driven to rotate a feed axis to move a movable part of a machine tool controlled by a numerical controller in a feed axis direction. A sensor that senses force from the outside (worker) applied to the movable part and a direction of the force is provided on the movable part. The numerical controller generates a movement command for moving the movable part in the direction of the force detected by the sensor and drives the servo motor based on the movement command.

Abstract: A robot includes an arm and a control unit configured to control a motion of the arm using compliant motion control. The control unit changes a parameter value of the compliant motion control depending on a relative position and orientation of a first object moving along with the arm and a second object.

Abstract: Robotic arms may be utilized to grasp inventory items within an inventory system. Information about an inventory item to be grasped can be detected and used to determine a grasping strategy in conjunction with information from a database. Instructions for grasping an inventory item can be generated based on the detected information and the database.

Abstract: A total time necessary for work is shortened by reducing program correcting.

Abstract: A robot controller making a robot execute tasks including several work units in a parallel manner for several workpieces, in accordance with several operation programs for individually commanding the work units. The robot controller includes an information collecting section collecting state information showing, in real time, a state of an environment of the robot; a program selecting section selecting a first executable program satisfying a task starting condition, from operation programs ready to be executed for workpieces, based on the state information; a processing section processing, for execution, the first executable program; and a program-completion judging section judging whether the processing section has completed a processing of the first executable program.

Abstract: An in-line hydraulic accumulator system has a substantially rigid elongated accumulator member that at least in part forms a longitudinal liquid channel having first and second liquid interfaces. The first liquid interface is longitudinally spaced from the second liquid interface to transport liquid therebetween. The accumulator system also has a compressible member that longitudinally extends within elongated member and at least in part forms the longitudinal liquid channel. The compressible member is configured to compress, expand, or both expand and compress in response to varying liquid pressures within the longitudinal liquid channel.

Abstract: A method for restarting a robot after a premature interruption of a processing program, which controls it, at an interruption point. The robot has an atomizer apparatus for automatic coating of workpieces, and the processing program is used to preset a nominal movement of the atomizer apparatus with respect to a workpiece, which is to be coated and can be moved by means of a feed device, and to preset the associated nominal atomizer parameters. After the interruption of the processing program, the atomizer apparatus is first of all moved to a restarting point, which is located on the nominal movement path and is located ahead of the interruption point. After this, the atomizer apparatus is then moved on the nominal movement path, corresponding to a predeterminable velocity function, to a transfer point which is located on the nominal movement path and is located behind the interruption point. The atomizer apparatus is switched on again between the restarting point and the transfer point.

Abstract: A robot includes a robot hand, an arm unit, and a controller. The robot hand includes a movable portion. To the arm unit, the robot hand is mounted. The controller is configured to control the arm unit to move the movable portion of the robot hand so as to adjust a holding position of the robot hand relative to a to-be-held object.

Abstract: Provided is a control method for a robot system including: working units; and a robot having unit related processes that include moving between two of the working units and executing work. The control method includes: determining, in a case of detecting a first working unit that has come into a work required condition, whether an operation of the robot is stopped on a way from a current position to a position of a second working unit; stopping the operation of the robot on the way if determining that the operation of the robot is stopped on the way; and selecting a unit related process corresponding to a working unit other than the first working unit, moving the robot until the robot arrives at a position, and stopping the operation of the robot at the position, if determining that the operation of the robot is not stopped on the way.

Abstract: The present invention relates to an embedded robot control system, particularly to an embedded robot control system of a highly expandable distributed control mode. An aspect of the present invention features an embedded robot control system. In accordance with an embodiment of the present invention, the embedded robot control system, which controls a plurality of robot instruments, which have a motor and a sensor, and a robot, which is connected with the plurality of robot instruments, can include a master controller, which is installed on the robot and controls the motor and the sensor of the robot instrument, and a slave controller, which is installed on another robot, connected to the robot, or the robot instrument and receives a control signal of the motor or the sensor from the master controller and controls the motor and the sensor.

Abstract: A human gesture tracking system includes a sensor device with at least one sensor unit, where the sensor unit is configured to measure at least one of position in three dimensions of a portion of an operator's limb and orientation in three dimensions of the portion of the operator's limb, a processor configured to receive information from the sensor device so as to determine orientation and position displacement in six degrees of freedom of the operator's limb, and an activator that is coupled to communicate with the processor and is further actuated by the operator to designate a start time and an end time in which position and orientation displacements of the portion of the operator's limb are determined by the processor. During system operation, the processor determines position and orientation displacements of the portion of the operator's limb in tracking sessions, each tracking session is defined as a time period between the start time and the end time as designated by the activator.

Abstract: The present invention provides an unmanned fully autonomous threat representative mobile land target for testing modern weapon systems and training personnel. The invention implements novel navigation and vehicle control algorithms which allow any predefined course to be represented spatially and temporally with continuously and smoothly varying curvatures having no discontinuities of curvature, direction, or acceleration that enable the target vehicle to traverse a predefined course with unprecedented speed, accuracy, and maneuverability without the need for communication with any remotely located station. It is emphasized that this abstract is provided to comply with the rules requiring an abstract that will allow a searcher or other reader to quickly ascertain the subject matter of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope of the claims.

Abstract: In an animatronic system, recording and playing performances of individual axes of character movement involves, during recording, continually commanding speeds and rotational directions of a stepping axis motor in response to manual movement of a joystick. The joystick commands are modified by means of a feedback motor electrically coupled to the axis motor to mechanically interact with the joystick.

Abstract: A motion path search device which searches for a motion path of a movable part of a robot capable of being taught a motion by direct teaching in which the robot is directly moved by an operator includes: a first space identification unit which identifies a space swept through by the movable part of the robot in the direct teaching; a second space identification unit which identifies a space swept through by at least a portion of a body of the operator in the direct teaching; a space combining unit which calculates, as an accessible space, a union of the space identified by the first space identification unit and the space identified by the second space identification unit; and a path search unit which searches for a motion path of the movable part within the accessible space calculated by the space combining unit.

Abstract: There is provided a control apparatus and control method for robot arm, robot, control program for robot arm, and integrated electronic circuit, which can improve robot arm operability upon performing tasks such as cooperative conveyance and direct teaching. The grip portion separated from the end effector attached to the robot arm is provided. When a person grips and shifts the grip portion, a tracking control unit controls so that the robot arm follows the shift. A fixing switch unit switches between a fixing state where, upon switching to “playback mode”, a fixing portion is located at a fixed position to fix the end effector and the grip portion to maintain a gap distance therebetween and a relatively shiftable state where, upon switching to “teaching mode”, the fixing portion is located at an accommodated position to relatively shift them from each other without maintaining the gap distance.

Abstract: A method of synchronizing a pickup of a handling device, a computer readable medium and a control device are disclosed. During movement, a pickup of a multi-axis handling device is synchronized with an object to be picked up which is carried along by a conveyor device. Furthermore, the pickup is synchronized with a moving conveyor device in order to put the object down onto the conveyor device. The pickup is synchronized along a computationally-determined polynomial path of at least the 3rd order between a starting point and a destination point.

Abstract: The safety of an operator which may be endangered by an erroneous instruction by the operator or a robot control system is ensured by making more stringent a condition regarding the separation of the operator from the vicinity of a robot when an operation program of the robot is activated. An interlock to which a condition regarding activation of the operation program of the robot is added is provided in a feeding unit which is connected to a robot controlling unit by wireless connection for charging a teaching unit, so as to provide a robot system which improves the safety of the operator.

Abstract: A production control apparatus of a production system provided with a storing means for storing in advance a production system model comprised of workpiece information regarding workpieces and program information regarding a plurality of work programs of robots and a plurality of machining programs of machine tools, an updating means for updating the production system model based on run status signals showing run statuses of the robots and machines tools and workpiece signals from the detectors, and an instructing means for selecting one work program and one machining program based on the updated production system model and instructing running of the selected work program and work program to the robot and machine tool. Due to this, by calling up a work program of the robot etc. in accordance with the state of the production system, it is possible to change the program and restore the system from error.

Abstract: An apparatus provides selective communication between multiple programmable robot controllers and one or more teaching devices connected by a network. The network controls communication between the teaching devices and the controllers including active tasks and passive tasks for preventing communication of active tasks between any of the controllers and more than one of any of the teaching devices. The network permits communication of the passive tasks between any of the controllers and one of the teaching devices communicating active tasks with another one of the controllers.

Abstract: A control system for a plurality of mechanical units, namely robots and/or external axes. A manually-operated control, such as a joy-stick or key panel, is adapted to move at least one of the mechanical units or part thereof. The control system includes an indicator adapted to indicate whether the at least one mechanical unit or part thereof that is to be moved is associated with any other mechanical unit(s) or part(s) thereof and consequently indicate that movement of the at least one mechanical unit or part thereof will also result in the movement of the indicated associated mechanical unit(s) or part(s) thereof.

Abstract: A robot control system provided in a machining system including a robot and a machine tool. The robot control system includes a robot controller controlling the robot, a portable teach pendant connected to the robot controller, and a communication network adapted to connect the robot controller to a machine tool controller controlling the machine tool. The teach pendant includes a display section configured to display information relating to the robot and the machine tool. The robot controller includes a processing section configured to obtain information relating to the machine tool from the machine tool controller through the communication network, make the display section of the teach pendant display a machine tool-related screen in accordance with a given screen program, and make the machine tool-related screen of the display section of the teach pendant display the information, as obtained, relating to the machine tool.