Abstract: An automatic procedure for locating actuator addresses on a bus system is revealed. The actuators may be identical except for their physical position, and thus their function and address on a bus system that controls and powers the actuators. Because their functions are different, the control system can determine which actuator is in which location, and thus locate the address for each actuator on the bus. Each actuator may then receive and act upon commands from the control system appropriate to its location and function. As a result, a manufacturer or dealer can stock a single actuator, rather than many actuators. Several such actuators would otherwise have to be manufactured and stocked separately, even though the only difference between them might be an installed software or firmware program to identify and control each actuator. Additionally, fewer wires may be required in harnesses to control the actuators.

Abstract: To train the sequential kinematic behavior of an automated telekinegenesis robot system, a virtual reality simulator is driven with kinematic parameter data derived from a teleoperational device, which models the sequential behavior to be exhibited by the target robot. Sensor outputs of the teleoperational device are processed by a geometry conversion algorithm, to generate data representative of the spatial kinematics of the robot's desired travel path. A kinematic machine simulator program within a robotic control simulation workstation simulates a virtual machine based upon the actual parameters of the robot. The virtual reality simulation program is interactive, allowing the workstation operator to selectively interrupt the operation of the machine, modify its control parameters, and then rerun the program, until the desired behavior of the target machine is achieved.

Abstract: A method of determining position information of a workpiece relative to a robot includes the ability to move the workpiece into a variety of orientations relative to the robot during the touch sensing location procedure. The position information is then used for performing a robot operation including coordinated motion. A coordinated reference frame is defined with respect to a moveable positioner that supports the workpiece. Known kinematic relationships between the positioner and the robot are used to control operation of the robot within the coordinated reference frame throughout the touch sensing location procedure. By moving the workpiece relative to the robot during the touch sensing location procedure, a greater variety of workpieces can be processed and relatively complicated workpiece configurations can be accurately determined. The robot operating parameters are modified according to the determined position information.

Abstract: A method and an apparatus are specified for alignment of the shaft W1 of a rotating machine M1 in a predetermined nominal position by moving the machine M1 on the base, as well as an apparatus for carrying out the method. The instantaneous position of the shaft W1 is detected in a known manner by a sensor device 7, which provides electrical position signals corresponding to the difference between the instantaneous position of the shaft W1 and the shaft nominal position. These position signals, the known relative position of the mounting points 6 of the machine M1 on the base with respect to the predetermined reference points on this base, and other geometric measurement data are used by a computer to calculate correction values for position corrections to be made at the individual mounting points 6 of the machine M1, and these correction values are brought to the attention of the alignment technician 4, for the magnitude and direction for each mounting point 6.

Abstract: A position control system, capable of correcting the positional deviation between mechanically related control axes. The position control system comprises a structural body having a Y-shaft supported by a fixed member so that two end portions can move in a vertical direction and a main shaft provided in this shaft so that it can move in a horizontal direction, servo motors for driving the two end portions, a servo motor for driving the main shaft, and a control device for performing the servo control of the servo motors. The control device adjusts the positions of the two end portions of the Y-shaft in accordance with the position of the main shaft with respect to the Y-shaft at the position control to correct the positional deviation from the target position of the main shaft in the vertical direction.