Abstract: The invention relates to a computer system (6) having a multicore processor (20) and an operating system, in particular a so-called ‘general-purpose’ operating system. The multicore processor (6) has at least one first processor core (21) and at least one second processor core (22). The operating system is configured to allocate real-time tasks, in particular hard real-time tasks, solely to the first processor core (21) and to allocate further tasks solely to the second processor core (22).

Abstract: The invention relates to a robot (R), a medical work station, and a method for projecting an image (20) onto the surface of an object (P). The robot (R) comprises a robot arm (A) and a device (18) for projecting the image (20) onto the surface of the object (P), said device (18) being mounted on or integrated into the robot arm (A).

Abstract: The invention relates to a medical device, a medical work station, and a method for registering an object (P). The medical device comprises a navigation system (17, 18) and a robot (R) having several axes of rotation (1-6). The navigation system (17, 18) comprises a detection device (18) for detecting prominent points on an object (P) or markers (M) placed on the object (P) as well as a processing device (17) for determining the position of the object (P) on the basis of the prominent points or markers (M) detected by means of the detection device (18). The detection device (18) of the navigation system is mounted on the robot (R).

Abstract: A process and a device are provided for determining the pose as the entirety of the position and the orientation of an image reception device. The process is characterized in that the pose of the image reception device is determined with the use of at least one measuring device that is part of a robot. The device is characterized by a robot with an integrated measuring device that is part of the robot for determining the pose of the image reception device.

Abstract: The invention relates to a method for determining a position for and positioning a detection device (E) of a navigation system. First, a computer simulation of a system is done that comprises a robot (R) which has first markers (M1) of a navigation system or first prominent points, a three-dimensional object (P) which has second markers (M2) of the navigation system or second prominent points, and a detection device (E) of the navigation system. Various positions of the robot (R), the object (P), and/or the detection device (E) are simulated, and the quality of the detectability of the first markers (M1) or the first prominent points on the robot (R) and/or the second markers (M2) or the second prominent points on the object (P) are automatically determined for the simulated positions by means of the detection device (E). The determined qualities and the corresponding simulated positions and/or the simulated position having the highest or at least a sufficiently high determined quality is/are output.

Abstract: The invention relates to an industrial robot (10) having a robot base (20) and a manipulator (12) movably mounted thereon having a plurality of motion axes (13-18), each being associated with an actuator (33-38) and at least one axis sensor (43-48, 73-78), wherein a multi-axis redundant sensor arrangement (26) is provided that comprises a plurality of redundant sensors (22-24).

Abstract: A method for operating cooperating, differing devices, particularly of a plant, with different controls controlling the control sequences and in particular with different control cycles, is characterized in that the clocks (IPOi) of the different controls (3.1, 3.2, 3.3) are interpolated on a common system clock (tTick) and that the control sequences are synchronized. An apparatus suitable for performing the inventive method correspondingly has at least one common interpolating device (5.3) for the controls (3.1, 3.2, 3.3) for interpolating the cycles (IPOi) of the different controls (3.1, 3.2, 3.3) on a common system clock (tTick) and at least one synchronizing device (5) for synchronizing the control sequences.

Abstract: To improve the handling, such as the gripping and displacement, of essentially rod-shaped objects, especially bars of articles that are stacked into one another in such a way that they can be separated, such as plastic cups, the present invention proposes a device with a plurality of first holding rods with essentially hook-like end pieces for extending under the rod-shaped objects. The device according to the present invention is characterized in that the end pieces can be moved under the objects and for releasing same by a motion into a plane extending at right angles to the direction of extension of the first holding rods.

Abstract: A process is provided for controlling a robotal device, such as a multiaxial industrial robot, by a control unit, with a control core for executing control processes for the robotal device. An interface function checks whether models and/or procedures optionally contained in the control core or additional models and/or transformation procedures and/or special algorithms of kinematic structures, which can be preset at the interface are used as model modules for motion-relevant variables of the robotal device. Special and third-party kinematics can thus also be operated with a control device suitable for executing the process without the control itself having to be modified.

Abstract: In order to determine a virtual sensor tool center point sensor TCP of a light section sensor, the invention provides that: the sensor TCP is placed in sufficient concordance with a point on a line on a surface a so-called feature of a reference part with a known location; a normal to the surface of the reference part is determined; the Z direction of the sensor is brought in concordance with the normal of the surface of the reference part, and; a defined alignment of the sensor with the line of the feature is determined.

Abstract: A system and process is provided for controlling a robot path of a robot including providing a main path for movement of the robot based on path data having points along the main path and providing a safe evacuation path from each point in the main path to get to a safe position. The main path is formed with safety evacuation path considerations in mind such that along any point on ride path the robot can be safely moved to a safety point or to the unload position or safe position.

Abstract: An automatic manipulator, such as a multiaxial industrial robot, with a carrying component structure (support structure) for transmitting forces between individual members of the automatic manipulator. The entire support structure is formed from a material that is resistant with respect to external effects, such as moisture or the like. The material of the support structure may be, in particular, a material that is suitable for use in contact with foods, such as stainless steel, so that the automatic manipulator according to the present invention can be used reliably and without additional costly protective measures in environments in which there is a risk for contamination, such as in the food industry.

Abstract: The invention relates to an apparatus and a method for controlling at least one machine, such as an industrial robot, having drives, safety peripheral components and a controller for a machine, and also having a safety controller. In this arrangement, the safety controller has superordinate access over the respective machine controller both to the machine drives and to the safety peripherals. This achieves the most easily configurable integration of the safety control loop into the operating control loops.

Abstract: A method for controlling a plurality of manipulators, such as multiaxial or multiaxle industrial robots. At least one manipulator functions as the reference manipulator and is moved in a plurality of preset poses within its working area at which internal position values are determined as first desired poses. For each desired pose, subsequently a first actual pose of the reference manipulator is determined by an external measuring system. Subsequently at least one further manipulator moves up to specific poses of the reference manipulator as second desired poses and for each of these poses an actual pose of the further manipulator is determined by an external measuring system. On the basis of actual-desired deviations between the thus determined desired and actual poses of the two manipulators, subsequently a parameter model for the further manipulator is established and with it it is possible to compensate simultaneously both its own errors and those of the reference manipulator.

Abstract: A method and a system for controlling a plurality of manipulators with a large number of control units associated with the manipulators in such a way that each control unit controls at least one manipulator, are characterized in that an operating device accesses several control units for controlling the manipulators. Thus, it is possible according to the invention to operate even very closely juxtaposed manipulators without any crossing and interlacing of the connecting channels between the operating devices and control units which would prevent a reliable association in operation. The invention also makes it possible for only one operator to operate cooperating robots.

Abstract: The invention relates to a workpiece positioning device (1) comprising at least one positioning axis (35, 39) and a modular machine frame (3) on which at least one workpiece receiving element (8, 9) is arranged. At least one frame part (4, 5, 6, 7) comprises at least one frame module (15) provided, in turn, with a long carrier element (16) and at least one connection element (17, 18, 18?).

Abstract: A device (1) is proposed for guiding elongated, flexible elements (2) along parts (6.1, 6.2) of a machine (6) movable relative to one another. The flexible elements (2) can e.g. be power supply cables bunched in a hose for a tool of a multiaxial industrial robot (6), which are guided along the axes of the latter. A device (1) according to the invention is characterized by a sheet blank (1.1) located on the surface of a machine part (6.1) for creating a fixing face (1.1g) for machine attachment (7) spaced from said surface. At least one flexible element (2) is held and guided in a gap 1.1d) between the surface and the fixing face (1.1g). As a result of the thus created, layered or superimposed arrangement of machine attachments (7) and flexible elements (2) guided on the machine space conflict between the same is avoided.

Abstract: The invention relates to a method for carrying out a robot-assisted measurement of measurable objects. The paths of a sensor (S) are defined and transmitted to a robot co-ordinate system. The actual paths of the sensor (S) guided on the robot are recorded. A plurality of measurable objects (200) is measured, the sensor (S) being guided with the robot along said actual paths. A compensating device makes it possible to compensate internal and/or external influences produced on the robot (R). The compensation stage is carried out after a determined number of measurements.

Abstract: The invention relates to a method for adjusting and controlling an automatically controlled manipulator, for example a robot. This is often achieved with the aid of dynamic manipulator models, taking into account friction torques, which occur in gear mechanisms that are provided to displace axes of the manipulator. A model for the gear mechanism friction torque is determined for at least one axis, based on driven axis speeds and axis accelerations, in addition to a motor temperature on the drive side of one of the motors that is associated with the relevant axis, said model also being used to determine target values, such as a motor position or a motor current. The inventive method is characterised in that the gear mechanism friction torque that complies with the model is determined in accordance with a gear mechanism temperature.

Abstract: The invention relates to a wheel (1) with a driven wheel body (2), comprising two support elements (21, 22), between which a number of roller bodies (3) with a spherical surface are arrange to rotate, which at least partly extend beyond the circumference of the support elements (21, 22) the rotational axes of which are arranged at an angle to the rotational axis (23) of the wheel body (2). The ratio of the outer diameter (Du) of the wheel (1) to the maximum radius (Ra) of the roller body (3) is between 1.08 and 1.13, in particular, between 1.09 and 1.12.