Abstract: A robot positioned welding tip dresser assembly includes a pivot arm pivotally mountable on a welding gun apparatus. The pivot arm is pivotal about a pivot point. A welding tip dresser is mounted on a distal end of the pivot arm. A first retaining tab extends from the pivot arm. The first retaining tab includes an opening extending therethrough. At least one positioning mechanism is disposed relative to the pivot point and is cooperable with the first retaining tab to retain the pivot arm in one of a home position and a working position. The first retaining tab is engagable by end-of-arm tooling of a robot. The end-of-arm tooling is operable to release the positioning mechanism, and movement of the robot moves the pivot arm between the home and working positions.

Abstract: A robot system comprises one or more tools (5, 15), a camera (9) and a light source (13), which can be moved independent of the camera (9), in order to illuminate the field of vision of the camera from different directions.

Abstract: An assembling apparatus and method easily applicable to an existing production line and capable of improving assembling quality and reducing equipment cost. The assembling apparatus performs processing such as part assembling or the like to a processed part which is free-flow conveyed by a processed part conveyor. The processing is performed by a robot which is conveyed in the same direction as the processed part by a robot conveyor having its own motor. The processed part conveyor is provided with a removable pallet for supporting the processed part. The robot conveyor comprises a turntable which mounts and rotationally positions the robots thereon, a pallet support provided on the turntable so that the removed pallet from the processed part conveyor is supported thereon, and a connector for connecting with the processed part conveyor to synchronously convey the same.

Abstract: An intelligent modular hybrid robot arm system is usable with mobile robots, and is applicable to stationary industrial arms. The intelligent modular hybrid robot arm system provides a large work envelope and a controlled and directed rotational movement for a flexible snake robot arm. The intelligent modular hybrid robot arm system has the ability to change end effector tools and sensors. The platform computers have the ability to interact with other subsystems for coordinated as well as independent tasks. The flexibly snake robot arm can be covered with a flexible sensor network, or “skin”. The intelligent modular hybrid robot arm system can manage its energy use, stores the arm in a compact shape and uses a central support tube offering unobstructed arm access to all sectors of its working envelope.

Abstract: A probe end module system for an arm comprising: a probe end module having an arm end and an opposing probe end; a module-arm interface located at the arm end; at least one module-probe interface located at the probe end; the arm further comprising a movable member and a movable position reporting device.

Abstract: A molded component retrieving apparatus and a molding machine with the molded component retrieving apparatus include first and second units. The first unit includes a base, first to third arms and a first lift arm. The second unit includes fourth to sixth arms and a second lift arm. The second unit is removably mounted on the third arm through an intermediate base member. Rotary shafts of the arms are parallel. A holding unit to hold and retrieve the molded component or the runner is arranged at the forward end of the first and second lift arms. The third and sixth arms can be kept in position even when the drive sources are reduced in number and other arms are pivoted using a belt and a pulley.

Abstract: The invention describes a method of sending a message (M) from a sender to a recipient in which a record content (S1, S2, S3, S4, S5, S6, S7) of the message (M) is recorded and supplemented with motion control content (T1, T2, T3, T4, T5, T6, T7). The message (M) is transmitted from a transmitting device (10) of the sender to a message rendering device (40) of the recipient, which message rendering device (40) is capable of performing motion. The message rendering device (40) is controlled according to the motion control content (T1, T2, T3, T4, T5, T6, T7) to perform defined motion synchronised to a presentation of the record content (S1, S2, S3, S4, S5, S6, S7) of the message (M). Furthermore, an appropriate message transmitting device (10), an appropriate message rendering device (40) and an message transmission system (1) are described.

Abstract: Apparatus for a CMM Arm with Exoskeleton is provided comprising an Internal CMM Arm with a base end and a probe end, and an Exoskeleton driving the Internal CMM Arm through a plurality of transmission. One or more contact probes, optical probes and tools are mounted on the probe end. The CMM Arm with Exoskeleton is provided in manually operable and automated embodiments. The CMM Arm with Exoskeleton is operable for accurate measurement or for performing accurate operations. Methods are provided for operation of the CMM Arm with Exoskeleton.

Abstract: A laboratory robot assembly for a field of life sciences includes a plurality of robot modules including at least one first robot module having an X-axis arm and at least one Y-axis arm located movably on said X-axis arm in an X direction, the robot modules are located side-by-side in the X direction, each of the robot modules has one X-axis arm and one Y-axis arm, and at least one Y-axis arm of a first robot module is movable at least incrementally along the X-axis arm of an adjacent robot module.

Abstract: The present invention intends provided a tandem pressing apparatus which can shorten and the conveying distance i.e. the conveying time without increasing conveying speed of the work. A tandem pressing apparatus of the present invention is comprised of a tandem pressing line constructed by plural tandem presses 10 and 20 disposed side by side, and a work conveying apparatus 70 including a main member and an arm portion. Each of the tandem press includes a bed, 11, plural uprights 13a to 13d studded on the bed, and a slide 15 supported on the uprights to be ascended or descended. The main member 62 and 63 is provided at a portion located inside the uprights of the adjacent two tandem presses constructing the tandem pressing line and does not interfer with the slide. The arm member 65 is held on the main member to transfer the work having been pressed by the upstream tandem press to the downstream tandem press.

Abstract: A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The controller controls and limits movement of robotic arms relative to the patient.

Abstract: An unmanned robotic vehicle is capable of sensing an environment at a location remote from the immediate area of the vehicle frame. The unmanned robotic vehicle includes a retractable appendage with a sensing element. The sensing element can include a camera, chemical sensor, optical sensor, force sensor, or the like.

Abstract: The invention relates to an arrangement for assisting a percutaneous intervention, comprising an imaging system for tomographic imaging, a robot registered therewith and devices for capturing movements of the patient. A processing unit registers a 4D image dataset recorded before the intervention with a 2D or 3D image dataset of the patient which was recorded immediately before the intervention by the imaging system at a defined respiratory position. From this image data, the access path is transmitted to the robot as a function of the movements captured during recording the 4D image dataset and registration, said robot in turn, depending on the instantaneous movement data, holding the instrument on a predetermined target path and preventing the instrument from being advanced by the person if and as long as the instantaneous movement data does not match the previously recorded movement data. The arrangement reduces the risk of puncture errors.

Abstract: A robot has a controllable arm which carries an instrument or tool. The robot is provided with a camera to obtain an image of a work piece, including images of markers and an indicator present on the work piece. The robot processes the images to determine the position of the markers within a spatial frame of reference. The robot is controlled to effect predetermined movements of the instrument or tool relative to the work piece. The processor is further configured to determine the position of the indicator and to respond to movement of the indicator within the spatial frame of reference of the robot when the markers are concealed to determine a new position of the indicator and thus the new position of the work piece. Subsequently, the robot is controlled, relative to the new position of the work piece, to effect predetermined movements relative to the work piece.

Abstract: A bending machine for bending elongated workpieces supplied from a magazine is disclosed. The bending machine comprises a base support; two bending robots arranged on a common guideway centrally mounted to the base support, such that the robots are displaceable parallel to the longitudinal direction of the base support. A holding clamp is positioned on the front face of the base support, with one auxiliary gripper on either side of the holding clamp. The holding clamp is displaceable in parallel with the bending robots. A discharge gripper is positioned on the rear surface of the base support, laterally offset with respect to the holding clamp. All grippers and clamps are pivotable to an inner pivoting position, in which they can hold a workpiece in the working area of the bending machine between both bending robots; and to an outer pivoting position away from the base support.

Abstract: A vehicle (for example an unmanned robot vehicle) which includes a main body provided with a main locomotion mechanism for traveling over a terrain. The device is provided with at least one arm for enhanced support and maneuverability, the arm pivotally attached to the main body. The arm is controllable and capable of being rotated to a position where the arm or at least a substantial portion of the arm is placed in contact with the terrain or obstacle, so as to provide support or leverage to the main body.

Abstract: Embodiments of the invention relate to systems and methods for manipulating a frame in a manufacturing process. In one embodiment of the invention, a system with at least one robot with a pair of robotic arms can be deployed in a manufacturing process. A frame associated with the manufacturing process can include a first portion operable to be manipulated by the robot or one robot arm, and a second portion operable to be manipulated by the robot or the other robot arm. An associated control device, such as a computer or software program, can coordinate operation, movement, and control of the robot, including the pair of robotic arms.

Abstract: A wafer transferring robot in semiconductor device fabricating equipment and a method of detecting wafer warpage by using the wafer transferring robot are provided. In the realizing the wafer transferring robot to transfer a wafer, vacuum lines are formed to adsorb a plurality of regions of the wafer. Whether the wafer is warped or not and the extent of warpage are determined in real time, depending on whether the wafer is adsorbed by the vacuum lines. When no warpage occurs on the wafer or when the extent of warpage is slight, the wafer is allowed to be normally processed. When the extent of warpage is too serious to perform a normal process on the wafer, the wafer is previously processed as an error, thereby preventing the waste of time, cost and manpower caused by performing an unnecessary process.

Abstract: A parallel kinematic machine has a parallel kinematic mechanism including an end effecter and a parallel link mechanism. A numerical control device controls a position and orientation of the end effecter based on kinematics of the parallel kinematic mechanism. A posture setter sets an adjustment tool on the end effecter in a known posture in a reference coordinate system defined outside the parallel kinematic mechanism based on a measurement method. A data acquirer acquires data in accordance with a measurement method selecting code for designating the measurement method used by the posture setter in setting the adjustment tool in the known posture, and defines a correlation between kinematic parameters for the parallel kinematic mechanism and the reference coordinate system. A calculator calculates the kinematic parameters based on the acquired data by using a relational expression describing forward kinematics of the parallel kinematic mechanism.

Abstract: Palletizing systems and methods increasing the efficiency at which pallets of mixed products are built. The systems and methods include a pallet building module for receiving customer orders and generating pallet building instructions for arranging the products on the pallets, among other functions. The pallet building module is in communication with a number of robot cells that include source products and pallet building robots for building pallets based upon instructions generated by the pallet building module. The system includes other modules for system control including conveyor controllers, forklift controllers, and automatic guided vehicle controllers, among other controllers. Methods for building pallets of mixed product from source products within more than one robot cell.

Abstract: An embodiment of the present invention is a technique to automate transfer of parts for high throughput. A boat transfer unit (BTU) arm carrying a boat containing a plurality of parts is rotated from an initial position to a first position that is below a process chamber. The BTU arm engages a boat support that supports the boat. The BTU arm is moved upward to a second position such that the boat partially enters the process chamber at a distance D with respect to an entrance opening of the process chamber. An elevator arm carrying a pedestal is engaged to lower side of the boat support. The BTU arm is moved away from the second position. The elevator arm is moved upward to fully insert the boat inside the process chamber.

Abstract: A device of the present invention is used for forming a layered battery cell having at least first electrode and at least one second electrode of charge opposite from said first electrode and a separator layer positioned between the first and second electrodes and at least one of a first current collector connected to at least one of the first and second electrodes and at least one of a second current collector connected to at least one of the first and second electrodes. At least one support member is integrated with an assembly line. A plurality of pins extend from the support member for receiving the first and second electrodes and the first and second current collectors layered with one another to assemble the same into a unitary package.

Abstract: A cutting tool assembly is provided for removing flash portions and gates from a molded article. The cutting tool assembly includes a holder device including an upper plate, a cylindrical collar, and a bearing disposed between the upper plate and the cylindrical collar to allow movement of the cylindrical collar relative to the upper plate. The cutting tool assembly further includes a cutting member fixedly secured to the cylindrical collar wherein movement of the cylindrical collar relative to the upper plate provides the cutting member with degrees of rotational freedom to float relative to the molded article during trimming of the flash portions and gates.

Abstract: A temporary operation path is set by connecting a plurality of welding points in a virtual space generated by a computer to investigate whether an end effector can be operated along the temporary operation path. If the operation cannot be operated, a path to avoid interference with a workpiece is set automatically while extracting a portion in which the workpiece exists in the internal space surrounded by the end effector in order to set a narrow-area operation path for withdrawing the end effector from a welding point. Next, in order to set a wide-area operation path for making movement between withdrawing points, a template operation is applied, in which the end effector is moved by a prescribed distance in a prescribed direction.

Abstract: Systems and methods for performing robotically-assisted surgical procedures on a patient enable an image display device to provide an operator with auxiliary information related to the surgical procedure, in addition to providing an image of the surgical site itself. The systems and methods allow an operator to selectively access and reference auxiliary information on the image display device during the performance of a surgical procedure.

Abstract: A robotic system that moves a surgical instrument in response to the actuation of a foot pedal that can be operated by the foot of a surgeon. The robotic system has an end effector that is adapted to hold a surgical instrument such as an endoscope. The end effector is coupled to a robotic arm assembly which can move the endoscope relative to the patient. The system includes a computer which controls the movement of the robotic arm in response to input signals received from the foot pedal.

Abstract: A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The controller controls and limits movement of robotic arms relative to the patient.

Abstract: A robot apparatus and a motion controlling method for the robot apparatus wherein a reflex motion or the like can be performed at a high speed while decreasing the calculation amount of and the concentrated calculation load to a control apparatus. The robot has a control configuration having a hierarchical structure including a higher order central calculation section corresponding to the brain, reflex system control sections corresponding to the vertebra, and servo control systems and actuators corresponding to the muscles. From restrictions to the power consumption and so forth, there is a limitation to increase of the speed of a control cycle of the higher order central calculation section. External force acting upon the machine body is a disturbance input of a high frequency band, and a very high speed control system is required.

Abstract: The invention relates to a holding device for wafers in an arrangement for wafer inspection, comprising two grippers (11, 12), each of which, in the closed state of the holding device (8), encloses a subsection of the wafer circumference and which are connected to a drive device (27) and, when the latter is driven, the grippers (11, 12) move away from each other for the purpose of opening the holding device (9) and move toward each other for the purpose of closing the holding device (8), and a holding arm (13), on which the two grippers (11, 12) are pivotably mounted. In this case the holding arm (13) is mounted such that it can rotate about an axis (A) which lies substantially in the plane covered by the wafer (W), so that after a rotation through 180° about the axis (A), a wafer (W) held between the grippers (11, 12) has been turned.

Abstract: An ATM currency cassette with a currency overload prevention arrangement. The cassette includes a currency stack push plate having a flexible arm. The arm becomes flexed by currency pressing against it due to an overloaded condition. The cassette lid includes a rib. The rib engages the flexed arm during closing of the lid to prevent full closure of the lid. With the lid prevented from closure, the currency loader can become aware of the overloaded situation and remove excess currency from the cassette.

Abstract: A programming platform for generating parts programs for a machine tool or production machine is described. A user inputs an instruction to an interpreter integrated in the programming platform, a simulator then simulates an effect of the instruction, and a display graphically displays to the user the effect of the instruction in the form of a two-dimensional or three-dimensional representation. A collision monitor monitors the effect of the instruction to determine if a collision between two or more machine elements and/or workpieces and/or tools can be expected. The programming platform hence represents a homogeneous integrated programming environment for generating, simulating and testing of parts programs for machine tools and production machines.

Abstract: A robotic device for moving at least one object between locations, including a servo motor system having a single servo axis for effecting motion in at least two directions of motion. The robotic device includes a link arm rotationally coupled to said servo motor system for lifting and placing said at least one object, a head assembly having gripper arms for gripping and releasing said at least one object at said locations. The head assembly includes a leveling mechanism for maintaining said at least one object in a desired orientation, and a split ring sensing mechanism, disposed between said gripper arms, for determining the presence of said at least one object.

Abstract: A workpiece transfer device for machine tools that easily achieves positional adjustment of the rack while suppressing increases in cost and therefore preventing occurrences of vibrations and noise is disclosed. The workpiece transfer device includes a frame member having a rectangular cross-section. The device extends from a workpiece machining position to a workpiece loading/unloading position. A support member is hung on the frame member so as to be movable via a linear guide and which has a workpiece holding mechanism mounted thereon. A drive mechanism for rotationally driving a pinion gear engaged with a rack is provided on the frame member so as to be parallel to the linear guide so that the support member is moved between the two positions. The linear guide is disposed on one wall of the frame member and the rack is disposed on another wall surface so as to have its position adjustable.

Abstract: A method of three-dimensional handling of an object by a robot uses a tool and one camera mounted on the robot and at least six target features which are normal features of the object are selected on the object. The features are used to train the robot in the frame of reference of the object so that when the same object is subsequently located, the robot's path of operation can be quickly transformed into the frame of reference of the object.

Abstract: A system (10) for conducting an image-guided medical procedure on a subject (20) includes a medical imaging apparatus (100) which intermittently during the procedure obtains, upon demand, real-time medical images of the actual procedure. A robotic arm (200) hold a medical instrument (e.g., a biopsy needle (210)) that is used to perform the procedure. The robotic arm (200) manipulates the medical instrument in response to drive signals from a haptic control (400). A detector (e.g., a strain gauge (230)) measures forces experienced by the medical instrument during the procedure. The haptic control (400) generates the drive signals in response to manipulations of an input device (e.g., a knob (404) or an auxiliary instrument, such as, in the case of a biopsy, a remote needle (500)) by an operator, and the operator receives tactile feedback from the haptic control (400) in accordance with the measured forces experienced by the medical instrument. A display (e.g.

Abstract: A buckling arm robot for machining workpieces with laser radiation has at least a first axis, a second axis, a third axis, a fourth axis, and a fifth axis. A laser device is arranged in the second axis and configured to emit a laser beam. The laser beam emitted by the laser device is guided within the third, fourth, and fifth axes before striking a workpiece to be machined.

Abstract: A robot is disclosed in which load torque imposed on motors is reduced and therefore small-sized motors can be used. In the robot, an arm member, a first link, a second link and a third link constitute a parallel linkage, and the first link and the third link are coaxially pivotally supported on a base. With a pivotal shaft for pivotally connecting the second link and the third link, one end of a fourth link having shorter link length than the link length of the third link is pivotally connected to the second and third links and one end of a fifth link having the same link length as that of the fourth link is pivotally connected to the other end of the fourth link. The other end of the fifth link is pivotally supported on the base with a pivotal shaft to which the rotary shaft of the motor is coupled, so that the fifth link can move according to the rotation of the motor.

Abstract: The invention provides an input device for robotic surgical techniques and other applications. The input device has a handle supported by a linkage having joints with a redundant degree of freedom, with the joints being movable with at least one more degree of freedom than the handle. At least one joint of the linkage is actively driven to prevent the linkage from approaching singularities of the joint system, motion limits of the joints, or the like, and also to drive the linkage toward a freely articulatable configuration. In one embodiment, a robotic master controller includes an arm assembly supporting a gimbal having such a redundant linkage, with the arm primarily positioning the gimbal in a three dimensional controller workspace and the gimbal coupling the arm to the handle with four rotational degrees of freedom. One or more additional degrees of freedom may also be provided for actuation of the handle.

Abstract: The invention concerns a kinematic device for supporting and programmably moving a terminal element. The platform (11) bearing the terminal element (12) is linked by four swivel joints (9) and (10) with two legs each consisting of two support rods (7) or (8) forming deformable parallelograms mounted each on slides (3) or (4) mobile in the x direction. The pivot plate (29) articulated on the platform (11) about the hinge pin (30) is controlled by the control rods (27), controlling pivoting (14) and lateral displacement (18) connected respectively by the swivel joints (26, 13 and 17) to the slides (3, 12 and 26). It consists in a parallel kinematics with four degrees of freedom, namely three translational and one rotational whereof the angle can be greater than 120°.

Abstract: A method of avoiding collisions between a robot and at least one other object such as another robot is provided in which the user does not need to make any provisions in a robot program for avoiding collisions and defining common work-areas. Furthermore, the method allows for automatic configuration of the workcell from a collision avoidance standpoint. It determines automatically which components have potential collisions with which other components. Since the inventive method is based on predicting the configurations of the moving components over a period of time sufficient enough to allow the machines to stop safely and checks for interference, a priori knowledge of trajectories is not required. If a collision is predicted the machines are commanded to a stop on or off their paths. In this way the inventive collision avoidance method can also be used as a safeguard with other explicit methods.

Abstract: An arm operation mechanism for an industrial robot includes a support, a first arm, a second arm, a link base, a parallel link and a conversion mechanism. The first arm has a base end pivotally connected to the support for rotation relative to the support. The second arm has a base end pivotally connected to a tip end of the first arm for rotation relative to the first arm. The link base is pivotally connected to the first arm for rotation relative to the first arm. The parallel link keeps a constant posture of the link base upon the rotation of the first arm. The conversion mechanism converts the rotation of the link base relative to the first arm into the rotation of the second arm relative to the link base.

Abstract: A method for controlling movement of an automated machine. The movement is defined by a plurality of steps. First, a buffer of a predetermined size is defined. The buffer stores a current step and one or more previous steps in the movement of the automated machine. Then a current step in the movement of the automated machine is executed. Next, the buffer is checked to see if the current step executed in the movement of the automated machine movement is the same as a predetermined step of interest. If the current step is a predetermined step of interest, the buffer is checked to determine what at least one previous step was. If the current step was the step of interest, a new step is executed in the movement of the automated machine, the new step executed depending on what the at least one previous step was.

Abstract: A micro actuator including: a translationally driving section having a moving portion which is incorporated in a case 14 and moves translationally; and a displacement enlarging member 1 having one end portion 1g connected to the moving portion of the translationally driving section and another end portion 1h connected to the case, wherein as the one end portion 1g is pulled on the basis of the translational movement, the amount of displacement of its distal end 1a is enlarged.

Abstract: A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon.

Abstract: A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon.

Abstract: A twin link robotic arm has first and second arm links and a grounded first rotation synchronization member. The first arm link is rotatable relative to the grounded first rotation synchronization member about a first axis of rotation. The second arm link is rotatably mounted to the first arm link and is rotatable relative to the first arm link about a second axis of rotation. A second rotation synchronization member is provided on the second arm link. The second rotation synchronization member is non-rotatably fixed relative to the second arm link and is rotatable relative to the first arm link about the second axis of rotation. A rotation synchronizing coupler connects the first rotation synchronization member to the second rotation synchronization member and drives rotation of the second arm link relative to the first arm link about the second axis of rotation when the first arm link is rotated about the first axis of rotation.

Abstract: A robot is disclosed in which load torque imposed on motors is reduced and therefore small-sized motors can be used. In the robot, an arm member, a first link, a second link and a third link constitute a parallel linkage, and the first link and the third link are coaxially pivotally supported on a base. With a pivotal shaft for pivotally connecting the second link and the third link, one end of a fourth link having shorter link length than the link length of the third link is pivotally connected to the second and third links and one end of a fifth link having the same link length as that of the fourth link is pivotally connected to the other end of the fourth link. The other end of the fifth link is pivotally supported on the base with a pivotal shaft to which the rotary shaft of the motor is coupled, so that the fifth link can move according to the rotation of the motor.

Abstract: Disclosed is a method of controlling a robot including a motor having a rotation shaft, an arm part having one end connected to the rotation shaft and interlocking with a rotation of the motor, a position controller controlling the motor, and a main controller generating a speed command profile for controlling the motor, based on the inputted motion command of the arm part and transmitting the profile to the position controller, comprising a step of generating the speed command profile controlling a speed of the motor so as to allow the arm part to have an acceleration profile in uniform speed. With this configuration, the slipping of a workpiece can be prevented and further increasing the motion speed while the arm part is traveling, by making the motion speed of the arm part constant.

Abstract: A substrate transfer system employs a robot hand which is composed such that a sum length of a first arm and a third arm equal a length of a second arm, and a length of the first arm becomes longer than a length of the third arm. A ratio between arm lengths is determined such that a distal end portion of the first arm, a distal end portion of the second arm, a distal end portion of the third arm, and a distal end portion of the workpiece held by the end effector are inscribed in a track circle around a rotational axis of the first arm as a center. The ratio of the first, second and third arm lengths is approximately 1:({square root over ( )}5+1)/2:({square root over ( )}5−1)/2. This optimized ratio of the arm lengths allows the arm rotational radius to be smaller than the conventional value, and makes it possible to achieve a longer transfer distance in an equal installation area.

Abstract: A controllable camera support including a pivoting arm adapted to be rotatably connected to a pivot point defining a first rotational axis. The pivoting arm also defines a radial axis. The camera support also includes a camera holder mounted on the pivoting arm. The camera holder is displaceable along the radial axis. The camera further includes motors coupled to the pivoting arm and to the camera holder. The motors are adapted to impart rotational and radial motions to the camera holder. The camera support also includes a control device for controlling the motors. The invention also covers a system further including a focal adjustable, rotational, tilting camera mounted on the camera holder. When a target that is focused by the camera becomes obstructed, the control device is adapted to move the camera to another position all the while focusing on the target.