Abstract: Disclosed is a mobile robotic arm workcell. A robotic arm is mounted on a superstructure that carries all the equipment associated with the workcell's task. Thus, the workcell is self-contained needing only power. The workcell may be moved by activating air bearings that are pressurized by an air compressor that is also mounted on the superstructure. Power is received via power contacts that engage a power rail. Guidance is provided a guide system. The guide system may include guide rails engaged by guide carriages. Propulsion is provided by a drive system that may engage the guide system or the factory floor.

Abstract: Disclosed is a method and system for compensating for the load a part places on a part positioner system that positions the part for work operations by a robot. The part positioner system rotates a part holding assembly about the axis of rotation of a shoulder drive. The part holding assembly may have a column that extends perpendicular to the shoulder center line. A counter weight system is incorporated into the column that includes a counter weight pack that is moved along the length of the column. The shoulder drive drives the part and part holding assembly load in order to measure a torque applied to the shoulder drive. A load offset may be calculated based on the applied torque. The counter weight pack may then be moved to a position on the column calculated to balance the load of the part and part holding assembly.