Abstract: An apparatus for manipulating a workpiece or the like comprising a pair of inger assemblies mounted on a common support. The finger assemblies have belts with contact surfaces arranged in a confronting relationship. A first operating mechanism is provided for moving the finger assemblies along a first axis towards each other to grip a workpiece between the belt contact surfaces. A second operating mechanism is provided for rotating the belts about the first axis in order to impart a corresponding rotation to the workpiece gripped therebetween. A third operating mechanism is provided for moving the belts in either the same or opposite directions in order to impart either translational movement to the workpiece along a second axis perpendicular to the first axis or rotational movement to the workpiece about the second axis.

Abstract: A robot assembly for acquiring unorientated workpieces from a bin. A sensing system views the bin and collects data. A computer analyzes the data to determine candidate holdsites on the workpiece. The hand of the robot assembly then engages a workpiece at a selected holdsite. The workpiece is moved to a pose where the position and orientation of the workpiece are determined. After this determination, the workpiece may be disengaged, or moved to an intermediate or final goalsite. The method is applicable to workpieces that have six continuous unknown degrees of freedom. Furthermore, partial occlusion of the workpiece by the robot hand is allowed.

Abstract: Apparatus for acquiring individual workpieces from a supply of randomly oriented workpieces in a storage bin or the like. The apparatus includes a movably mounted head assembly having a gripper connected thereto by an intermediate flexible support. A sensor generates a control signal responsive to a contact force exerted by the gripper on a workpiece. The gripper operates to grip the workpiece contacted thereby. The flexible support is then retracted to lock the gripper against an abutment surface fixed relative to the head assembly. Operation of the gripper and/or movement of the head assembly may be controlled in response to said control signal.

Abstract: A short range, precision navigation and tracking system and method therefor are disclosed. The navigation and tracking system utilizes a master-repeater configuration with a phase lock loop controlling the modulation frequency of the master FM transmitter.

Abstract: Visual system for determining position in space and/or orientation in three-dimensional space for purposes, for example, of directing or instructing an industrial robot to perform manipulative acts and apparatus employing the visual system. The system includes a portable object arbitrarily movable in three-dimensional space and possessing the discernible properties of position in space and/or orientation in space. One or more sensors extract visual information or image data from the portable object and convert the same to an electric signal or signals. A computer is connected to receive the signal or signals which are analyzed and, in the case of the industrial robot, the information obtained is used to prepare operating instructions.

Abstract: A new static system for the detection and measurement of gaseous air pollnts such as sulfur dioxide using a coated piezoelectric crystal is disclosed. The system is rugged, portable and inexpensive. It is readily adapted for automatic, periodic, multiple-component monitoring of an industrial exhaust stream. Also disclosed are materials especially suitable for coating the piezoelectric crystals of the present invention.

Abstract: This invention relates to a process and article of manufacture useful for quickly and easily assessing the quality of fish intended for human consumption. An enzyme and a dye are first fixed on a carrier. The treated carrier then changes color upon contact with fish in the presence of moisture. The resulting color of the treated carrier has been found to be a sensitive and reliable indicator of fish quality.

Abstract: The present invention relates to novel photoconductive materials, their preparation, and their use in camera tubes. In particular, we disclose a method for preparing a Conductron-type photoconductive element from silver sulfide.