Abstract: An apparatus and method for determining the feasibility of performing a programmed sequence of motions with a robot. Included is a work robot at a first location having a plurality of power-driven, signal-controlled, relatively massive links interconnected to permit relative motion in plural degrees of freedom, the work robot having a given mechanical response characteristic. Associated with each link of the work robot is a position transducer which generates a signal representative of the actual position of its associated work robot link. Also included is a portable, relatively lightweight, manually manipulable simulator robot located remote from the work robot. The simulator robot has a plurality of different interconnected links adapted for manual movement in different degrees of freedom for setting a program of desired mechanical responses, with the links and degrees of freedom of the simulator robot simulating those of the work robot.

Abstract: A system for evaluating whether a work-performing robot can perform a series of programmed motions is disclosed which includes means for continuously comparing the velocity of the various links of a robot simulator, which is manually moved through the sequence of motions to be programmed, against predetermined velocity limits associated with the corresponding links of the work-performing robot which will reproduce the programmed steps, and providing humanly perceptible alarm indications uniquely identifiable with the various robot links when the motions manually programmed on the robot simulator exceed the velocity limits of the work-performing robot. Additionally, the individual velocities of the various robot simulator links are summed, and the sum continuously compared against the power limit of the hydraulic pump driving the link actuators of the work-performing robot.

Abstract: A bowling scoring system having a single computation means for computing scores bowled on any of a plurality of lanes and which (1) includes an error correction system; (2) computes anew at the end of each frame a team total score which will reflect any corrections made to bowlers' scores, including all pinfall actually earned by bowlers on a team and will be for a discrete team frame whether or not all bowlers on the team are bowling in the same frame; (3) is adapted to be selectively conditioned to score league bowling on all lanes, open bowling on all lanes, or league bowling on some lanes and open bowling on other lanes; (4) includes logic which anticipates the nature of a subsequent readout and conditions the readout device for the readout in advance of the operation; (5) incorporates a separate center for readout for each lane to be scored; and (6) is formed of a number of electronic registers fabricated primarily of semiconductor components.