Abstract: A robotized surgery system (10) comprises at least one robot arm (11) which acts under the control of a control console (12) intended for the surgeon. The console (12) comprises an eye tracking system (21) for detecting the direction of the surgeon's gaze and for entering commands depending on the directions of the gaze detected. The console (22) comprises advantageously a screen (23) with at least one zone (23) for viewing the operating field and, among the commands which can be performed depending on the gaze directions, there is advantageously an automatic command for enabling or disabling the movement of the robot arm (11) when a gaze direction which falls within or outside of said zone (23) of the screen is detected.

Abstract: A robotic system and apparatus is provided. The apparatus may include a housing having a flexible manipulating mechanism operatively connected with the housing. The flexible manipulating mechanism may include an end effector configured to manipulate an object. The apparatus may further include a first imaging device associated with the housing, the first imaging device configured to indicate a position of an object. The apparatus may also include a computing device configured to receive an imaging signal from the first imaging device and to direct the flexible manipulating mechanism towards the object based upon, at least in part, the imaging signal. Numerous other embodiments are also within the scope of the present disclosure.

Abstract: A robot includes: an arm; a driving source that pivots the arm; an angle sensor that detects a pivot angle and outputs pivot angle information; an inertia sensor that is attached to the arm and outputs inertial force information; a control command generating unit that outputs a control command defining rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used when the driving source is controlled; and an arm operation control unit that performs a first control based on the control command, the pivot angle information, and the inertial force information, if the control conversion determining unit determines that the inertial force information should be used, and performs a second control based on the control command and the pivot angle information, if the control conversion determining unit determines that the inertial force information should not be used.

Abstract: A window cleaning apparatus includes a first cleaning unit and a second cleaning unit that is attached to both sides of a window, respectively, by a magnetic force and moved on the sides, and a method of controlling a movement of the window cleaning apparatus. The method includes detecting the first initial attachment position of the window cleaning apparatus and moving the window cleaning apparatus close to the detected initial attachment position after cleaning.

Abstract: A control method for a robot apparatus including a power supply unit, an articulated arm having a plurality of joints each having an actuator and a driver, and a control device includes determining by the control device whether a total of required power in all of the actuators is equal to or lower than an allowable power of the power supply unit by using a trajectory through teaching points for moving the articulated arm from a first position/attitude to a second position/attitude before the articulated arm starts moving, and if not, resetting by the control device the trajectory for moving the articulated arm from the first position/attitude to the second position/attitude to a trajectory causing a total of required powers in all of the actuators to be equal to or lower than the allowable power of the power supply unit.

Abstract: Devices, systems, and methods for avoiding collisions between manipulator arms using a null-space are provided. In one aspect, the system calculates an avoidance movement using a relationship between reference geometries of the multiple manipulators to maintain separation between reference geometries. In certain embodiments, the system determines a relative state between adjacent reference geometries, determines an avoidance vector between reference geometries, and calculates an avoidance movement of one or more manipulators within a null-space of the Jacobian based on the relative state and avoidance vector. The joints may be driven according to the calculated avoidance movement while maintaining a desired state of the end effector or a remote center location about which an instrument shaft pivots and may be concurrently driven according to an end effector displacing movement within a null-perpendicular-space of the Jacobian so as to effect a desired movement of the end effector or remote center.

Abstract: A robot apparatus includes a multi-joint robot including, in at least one portion, a joint including a motor, a speed reducer connected to the motor, an input angle detecting unit configured to detect a rotational angle of a rotating shaft of the motor, and an output angle detecting unit configured to detect an output rotational angle of the speed reducer, and a controller configured to diagnose a state of the speed reducer from an angle difference between the input rotational angle detected by the input angle detecting unit and the output rotational angle detected by the output angle detecting unit.

Abstract: A robot includes a base, a first arm rotatably connected to the base around a first rotating axis, a second arm rotatably connected to the first arm around a second rotating axis orthogonal to the first rotating axis, a third arm rotatably connected to the second arm around a third rotating axis parallel to the second rotating axis, and a three-axis inertial sensor provided in the third arm and including a first detection axis, a second detection axis, and a third detection axis orthogonal to each other, the first detection axis and the third rotating axis being parallel to each other.

Abstract: A method of selecting a teaching point program in a three-dimensional graphical representation of a workcell includes the steps of generating the three-dimensional graphical representation of the workcell, calculating a three-dimensional boundary box for each teaching point program associated with the workcell, converting each boundary box to a two-dimensional boundary area, and recognizing which boundary areas overlap a selected area drawn over a two-dimensional display screen. Each boundary area that has been recognized as overlapping the selected area is identified to a user and presented in a list if multiple candidate boundary areas are recognized and identified. The user may then edit those teaching point programs identified as being associated with the selected area.

Abstract: Methods and apparatus for braking may control a brake between three states. Methods and apparatus for braking may comprise a sensor for sensing information about a brake input device, may comprise a brake control system coupled with the brake and the brake input device, and may control the brake based on the sensed information and input to the brake input device. Methods and apparatus for braking may control the brake to engage a friction material with a rotor if the brake input device indicates the brake should be engaged, and to remove the friction material from contact with the rotor if the brake input device indicates the brake should not be engaged. Methods and apparatus for braking may determine a condition of imminent braking based on the sensed information and may control the brake to enter a ready-to-engage state accordingly.

Abstract: Example embodiments may relate to methods and systems for selecting a grasp point on an object. In particular, a robotic manipulator may identify characteristics of a physical object within a physical environment. Based on the identified characteristics, the robotic manipulator may determine potential grasp points on the physical object corresponding to points at which a gripper attached to the robotic manipulator is operable to grip the physical object. Subsequently, the robotic manipulator may determine a motion path for the gripper to follow in order to move the physical object to a drop-off location for the physical object and then select a grasp point, from the potential grasp points, based on the determined motion path. After selecting the grasp point, the robotic manipulator may grip the physical object at the selected grasp point with the gripper and move the physical object through the determined motion path to the drop-off location.

Abstract: Systems and methods for providing vibration feedback in robotic systems are disclosed. A system for configuring a robotic surgery system to provide vibration feedback during robot-assisted surgery includes a sensor, an actuator, and a controller. The sensor is coupled to the robotic surgery system such that the sensor senses a vibration of a surgical tool. The actuator is coupled to the surgery system such that the actuator provides a vibration to a user at a control station. The controller is electrically coupled with the sensor and the actuator. The controller is configured to receive data corresponding to a sensed vibration from the sensor. The controller is further configured to actuate the actuator based on the received data such that the actuator provides a vibration to the user when the sensor senses the vibration of the tool. The above system may be configured to provide tactile and/or audio feedback.

Abstract: A system and a method for editing and controlling actions of a mobile robot allowing for the creation and modification of behaviors and of motions both according to an event logic and according to a time logic, the latter controlling the event logic and thus allowing for the synchronization of the behaviors and motions of different robot subassemblies. The system is organized in behavior and motion layers including action sequences and a timeline. The actions can be programmed in boxes interconnected by signals which convey information. The boxes are organized in a hierarchical structure, the lowest level of which comprises a script that can be interpreted by a virtual robot which simulates the execution of the commands and, where appropriate, by a physical robot. The motions of the robot can also be controlled graphically by motion screens.

Abstract: A system for tuning the operation of a gas turbine is provided based on measuring operational parameters of the turbine and directing adjustment of operational controls for various operational elements of the turbine. A controller is provided for communicating with sensors and controls within the system. The controller receiving operational data from the sensors and comparing the data to stored operational standards to determining if turbine operation conforms to the standards. The controller then communicates selected adjustment in an operational parameter of the turbine. The controller then receives additional operational data from the sensors to determine if an additional adjustment is desired or is adjustment is desired of a further selected operational parameter.

Abstract: Devices, systems and methods for replacing a factory installed or similar air suspension controller in a vehicle with an augmentor, which sends correct status messages to the vehicle main computer when the air suspension is replaced with coil springs or shocks. The augmentor can includes a voltage regulator, an indicator and bus interface. At power on, the program initializes the microcontroller registers, timer registers, and control registers, then loop until an inquiry or command is received, then responds with status messages that are the same as the status messages sent by the original factory installed air suspension controller until power is removed.

Abstract: One illustrative embodiment is a method comprising operating an engine and an aftertreatment system by controlling a plurality of charge constituents provided the engine, iteratively perturbating one or more combustion inputs effective to vary operation of the engine, and determining fuel consumption and emissions information at the operating points effective to seek a weighted optimization of multiple parameters including fuel consumption and reductant consumption while also meeting a predetermined NOx emissions criterion. Further embodiments, forms, objects, features, advantages, aspects, and benefits shall become apparent from the description and figures.

Abstract: The present invention applies to a mobile robot which can have a human appearance and sophisticated functions enabling it to execute missions. To enable communications internal to the robot to be optimized and allow for a versatility that is both physical (possible substitution of parts of the robot) and software (replacement of programs to adapt it to new missions), an architecture with three computer levels is provided. The highest level comprises the intelligence of the robot which generates commands which are transmitted by an intermediate computer to low-level cards which control the sensors and actuators. Communication between the intermediate computer and the low-level cards is managed by at least one specific secure communication protocol.

Abstract: A robot system includes a plurality of robots, a plurality of cells, a detection device, and a changer device. Each of the plurality of robots is configured to operate based on an operation command. The plurality of cells respectively accommodate the plurality of robots and are connectable to each other. The detection device is configured to detect that the plurality of cells are connected to each other. When the detection device detects that the plurality of cells are connected to each other, the changer device is configured to change at least one operation command among operation commands for the plurality of robots respectively accommodated in the connected cells.

Abstract: A tele-operation system enabling a robot arm to move by following a motion of a motion of a hand of a user without an additional mechanical apparatus, the tele-operation system including a slave robot having a robot arm, a master console configured to detect a gesture of a user, and to control the slave robot from a remote place so that the slave robot moves by following the gesture of the user.

Abstract: A motor control system for wear compensation between a disc and a pad in an electromechanical brake is disclosed. The system includes a switching unit configured to select a force control loop when a state of the electronic pedal is an applied state and select a velocity control loop when the state of the electronic pedal is a released state, an angular displacement amount calculation unit configured to calculate an angular displacement amount for reverse rotation of a motor for the wear compensation using a clamping force measured by a clamping force sensor of the force control loop when the velocity control loop is selected, and an angular velocity profile generation unit configured to generate an angular velocity profile having an area of the calculated angular displacement amount, generate an angular velocity command value at every sampling time from the generated angular velocity profile, and apply the generated value to the velocity control loop.