Abstract: A method for controlling a redundant robot arm includes the steps of selecting an application for performing a robotic process on a workpiece with the arm and defining at least one constraint on motion of the arm. Then an instruction set is generated based upon the selected application representing a path for a robot tool attached to the arm by operating the arm in one of a teaching mode and a programmed mode to perform the robotic process on the workpiece and movement of the arm is controlled during the robotic process. A constraint algorithm is generated to maintain a predetermined point on the arm to at least one of be on, be near and avoid a specified constraint in a robot envelope during movement of the arm, and a singularity algorithm is generated to avoid a singularity encountered during the movement of the arm.

Abstract: An anorectal probe system comprising; an anorectal probe assembly having an insertion end for insertion into a patient's rectum, said probe assembly including a transducer at or adjacent to the insertion end for collecting ultrasound data; a mounting in rotational engagement with said probe assembly at a point distal from the insertion end; said mounting pivotally coupled to the probe assembly at a point intermediate the insertion end and rotational engagement point; wherein on application of a moment about said pivotal coupling, said mounting and probe assembly are arranged to permit selective pivotal movement of the probe assembly about the coupling.

Abstract: A system and method for controlling avoiding collisions and deadlocks in a workcell containing multiple robots automatically determines the potential deadlock conditions and identifies a way to avoid these conditions. Deadlock conditions are eliminated by determining the deadlock-free motion statements prior to execution of the motions that have potential deadlock conditions. This determination of deadlock-free motion statements can be done offline, outside normal execution, or it can be done during normal production execution. If there is sufficient CPU processing time available, the determination during normal production execution provides the most flexibility to respond to dynamic conditions such as changes in I/O timing or the timing of external events or sequences. For minimal CPU impact the determination is done offline where many permutations of programming sequences can be analyzed and an optimized sequence of execution may be found.

Abstract: A method of controlling a robot (32) includes the steps of selecting an initial configuration from at least one of a first, second, and third sets to position a TCP at a starting point (44) along a path (33) and selecting a final configuration different than the initial configuration to position the TCP at an ending point (46). Next, the TCP moves from the starting point (44) while maintaining the initial configuration, approaches the singularity between a first point (48) and a second point (50), and selects one of the axes in response to reaching the first point (48). The angle for the selected axis is interpolated from the first point (48) to the second point (50). After the interpolation, the angles about the remaining axes are determined and positions the arms in the final configuration when the TCP reaches the second point (50) and moves to the ending point (46) while maintaining the final configuration.

Abstract: A method of controlling a robot (32) includes the steps of selecting an initial configuration from at least one of a first, second, and third sets to position a TCP at a starting point (44) along a path (33) and selecting a final configuration different than the initial configuration to position the TCP at an ending point (46). Next, the TCP moves from the starting point (44) while maintaining the initial configuration, approaches the singularity between a first point (48) and a second point (50), and selects one of the axes in response to reaching the first point (48). The angle for the selected axis is interpolated from the first point (48) to the second point (50). After the interpolation, the angles about the remaining axes are determined and positions the arms in the final configuration when the TCP reaches the second point (50) and moves to the ending point (46) while maintaining the final configuration.