Abstract: A computing system and method are presented. The computing system may store sensor data which includes: (i) a set of movement data, and (ii) a set of actuation data. The computing system may divide the sensor data into training data and test data by: (i) selecting, as the training data, movement training data and corresponding actuation training data, and (ii) selecting, as the test data, movement test data and corresponding actuation test data. The computing system may determine, based on the movement training data and the actuation training data, at least one of: (i) a friction parameter estimate or (ii) a center of mass (CoM) estimate, and may determine actuation prediction data based on the movement test data and based on the at least one of the friction parameter estimate or the CoM estimate. The computing system may further determine residual data, and determine a value for an error parameter.

Abstract: A computing system and method for estimating friction and/or center of mass (CoM) are presented. The system may perform the method by selecting at least one of: (i) a first joint from among a plurality of joints, or (ii) a first arm segment from among a plurality of arm segments. The computing system further outputs a set of one or more movement commands for causing robot arm movement that includes relative movement between the first arm segment and a second arm segment via the first joint, and receiving a set of actuation data and a set of movement data associated with the first joint or the first arm segment. The computing system further determines, based on the set of actuation data and the set of movement data, at least one of: (i) a friction parameter estimate or (ii) a CoM estimate.

Abstract: A computing system and method for estimating friction and/or center of mass (CoM) are presented. The system may perform the method by selecting at least one of: (i) a first joint from among a plurality of joints, or (ii) a first arm segment from among a plurality of arm segments. The computing system further outputs a set of one or more movement commands for causing robot arm movement that includes relative movement between the first arm segment and a second arm segment via the first joint, and receiving a set of actuation data and a set of movement data associated with the first joint or the first arm segment. The computing system further determines, based on the set of actuation data and the set of movement data, at least one of: (i) a friction parameter estimate or (ii) a CoM estimate.

Abstract: A robotic system includes a user interface configured to receive a jog command for manually operating a robotic unit; a control unit, coupled to the user interface, configured to: real-time parallel process the jog command including to: execute a collision check thread to determine whether the jog command results in a collision or results in an unobstructed status for the robotic unit within an operation environment based on an environment model and a robot model, execute a jog operation thread to determine whether the unobstructed status is provided within a collision check time limit; and execute the jog command by the robotic unit based on the unobstructed status provided before the collision check time limit.

Abstract: A robotic system includes a user interface configured to receive a jog command for manually operating a robotic unit; a control unit, coupled to the user interface, configured to: real-time parallel process the jog command including to: execute a collision check thread to determine whether the jog command results in a collision or results in an unobstructed status for the robotic unit within an operation environment based on an environment model and a robot model, execute a jog operation thread to determine whether the unobstructed status is provided within a collision check time limit; and execute the jog command by the robotic unit based on the unobstructed status provided before the collision check time limit.

Abstract: A computing system and method are presented. The computing system may store sensor data which includes: (i) a set of movement data, and (ii) a set of actuation data. The computing system may divide the sensor data into training data and test data by: (i) selecting, as the training data, movement training data and corresponding actuation training data, and (ii) selecting, as the test data, movement test data and corresponding actuation test data. The computing system may determine, based on the movement training data and the actuation training data, at least one of: (i) a friction parameter estimate or (ii) a center of mass (CoM) estimate, and may determine actuation prediction data based on the movement test data and based on the at least one of the friction parameter estimate or the CoM estimate. The computing system may further determine residual data, and determine a value for an error parameter.

Abstract: A computing system and method for estimating friction and/or center of mass (CoM) are presented. The system may perform the method by selecting at least one of: (i) a first joint from among a plurality of joints, or (ii) a first arm segment from among a plurality of arm segments. The computing system further outputs a set of one or more movement commands for causing robot arm movement that includes relative movement between the first arm segment and a second arm segment via the first joint, and receiving a set of actuation data and a set of movement data associated with the first joint or the first arm segment. The computing system further determines, based on the set of actuation data and the set of movement data, at least one of: (i) a friction parameter estimate or (ii) a CoM estimate.

Abstract: A computing system includes at least one processing circuit in communication with a robot having a robot arm that includes or is attached to an end effector apparatus. A object handling environment including a source of objects for delivery to a destination is provided. The at least one processing circuit identifies a target object amongst the plurality of objects in the source of objects, determines an approach trajectory for the robot arm and end effector apparatus to approach the plurality of objects, determines a grasp operation for grasping the target object with the end effector apparatus, and controls the robot arm and end effector apparatus to traverse the determined trajectories and pick up the target object. The at least one processing circuit determines a destination approach trajectory, and controls the robot arm and end effector apparatus gripping the target object to approach the destination, and release the target object into the destination.

Abstract: A computing system and method are presented. The computing system may store sensor data which includes: (i) a set of movement data, and (ii) a set of actuation data. The computing system may divide the sensor data into training data and test data by: (i) selecting, as the training data, movement training data and corresponding actuation training data, and (ii) selecting, as the test data, movement test data and corresponding actuation test data. The computing system may determine, based on the movement training data and the actuation training data, at least one of: (i) a friction parameter estimate or (ii) a center of mass (CoM) estimate, and may determine actuation prediction data based on the movement test data and based on the at least one of the friction parameter estimate or the CoM estimate. The computing system may further determine residual data, and determine a value for an error parameter.

Abstract: A computing system and method for estimating friction and/or center of mass (CoM) are presented. The system may perform the method by selecting at least one of: (i) a first joint from among a plurality of joints, or (ii) a first arm segment from among a plurality of arm segments. The computing system further outputs a set of one or more movement commands for causing robot arm movement that includes relative movement between the first arm segment and a second arm segment via the first joint, and receiving a set of actuation data and a set of movement data associated with the first joint or the first arm segment. The computing system further determines, based on the set of actuation data and the set of movement data, at least one of: (i) a friction parameter estimate or (ii) a CoM estimate.

Abstract: A computing system and method are presented. The computing system may store sensor data which includes: (i) a set of movement data, and (ii) a set of actuation data. The computing system may divide the sensor data into training data and test data by: (i) selecting, as the training data, movement training data and corresponding actuation training data, and (ii) selecting, as the test data, movement test data and corresponding actuation test data. The computing system may determine, based on the movement training data and the actuation training data, at least one of: (i) a friction parameter estimate or (ii) a center of mass (CoM) estimate, and may determine actuation prediction data based on the movement test data and based on the at least one of the friction parameter estimate or the CoM estimate. The computing system may further determine residual data, and determine a value for an error parameter.

Abstract: A computing system and method for estimating friction and/or center of mass (CoM) are presented. The system may perform the method by selecting at least one of: (i) a first joint from among a plurality of joints, or (ii) a first arm segment from among a plurality of arm segments. The computing system further outputs a set of one or more movement commands for causing robot arm movement that includes relative movement between the first arm segment and a second arm segment via the first joint, and receiving a set of actuation data and a set of movement data associated with the first joint or the first arm segment. The computing system further determines, based on the set of actuation data and the set of movement data, at least one of: (i) a friction parameter estimate or (ii) a CoM estimate.

Abstract: A robotic system includes a user interface configured to receive a jog command for manually operating a robotic unit; a control unit, coupled to the user interface, configured to: real-time parallel process the jog command including to: execute a collision check thread to determine whether the jog command results in a collision or results in an unobstructed status for the robotic unit within an operation environment based on an environment model and a robot model, execute a jog operation thread to determine whether the unobstructed status is provided within a collision check time limit; and execute the jog command by the robotic unit based on the unobstructed status provided before the collision check time limit.

Abstract: A torque sensor terminal block structure includes an electric motor (1) which outputs driving force for driving a load (8), a strain body (3) interposed on a way of a power transmission system from the electric motor (1) to the load (8), a power detector (4) which outputs a detection signal according to a strain of the strain body (3) as a signal indicating a driving force transmitted from the electric motor (1) to the load (8), and a terminal block (6) which acquires the detection signal of the power detector (4) and transmits the output result to a signal processing circuit section. The terminal block (6) is set parallel to a magnetic flux output from the electric motor (1).

Abstract: A torque sensor terminal block structure includes an electric motor (1) which outputs driving force for driving a load (8), a strain body (3) interposed on a way of a power transmission system from the electric motor (1) to the load (8), a plurality of power detectors (4) which output a detection signal according to strain of the strain body (3) as a signal indicating the driving force, and a terminal block (6) which acquires the detection signal of the power detectors (4) and transmits the output result to a signal processing circuit section (10). The wirings to the signal processing circuit section (10) are twisted spirally as a single stranded wire, and an opening degree between single wirings when the stranded wire extending from the power detectors (4) to the terminal block (6) is unwound, is set to be same for each of the power detectors (4).

Abstract: A control system of a power unit in accordance with the present invention corrects a basic command value of an electric motor 2, which has been determined such that the detection value of a driving force to be applied to a rotary member 5 is converged to a desired value, according to a manipulated variable determined by an observer 16. The electric motor 2 is controlled according to a desired control value after the correction. The observer 16 determines the manipulated variable such that the driving force based on the desired control value is brought close to the resultant force of a force indicated by the rotary member 5 and an inertial force.

Abstract: Provided is a torque sensor terminal block structure including an electric motor (1) which outputs driving force for driving a load (8), a strain body (3) interposed on a way of a power transmission system from the electric motor (1) to the load (8), a power detector (4) which outputs a detection signal according to a strain of the strain body (3) as a signal indicating a driving force transmitted from the electric motor (1) to the load (8), and a terminal block (6) which acquires the detection signal of the power detector (4) and transmits the output result to a signal processing circuit section. The terminal block (6) is set parallel to a magnetic flux output from the electric motor (1).

Abstract: Provided is a torque sensor terminal block structure including an electric motor (1) which outputs driving force for driving a load (8), a strain body (3) interposed on a way of a power transmission system from the electric motor (1) to the load (8), a plurality of power detectors (4) which output a detection signal according to strain of the strain body (3) as a signal indicating the driving force, and a terminal block (6) which acquires the detection signal of the power detectors (4) and transmits the output result to a signal processing circuit section (10). The wirings to the signal processing circuit section (10) are twisted spirally as a single stranded wire, and an opening degree between single wirings when the stranded wire extending from the power detectors (4) to the terminal block (6) is unwound, is set to be same for each of the power detectors (4).

Abstract: A control system of a power unit in accordance with the present invention corrects a basic command value of an electric motor 2, which has been determined such that the detection value of a driving force to be applied to a rotary member 5 is converged to a desired value, according to a manipulated variable determined by an observer 16. The electric motor 2 is controlled according to a desired control value after the correction. The observer 16 determines the manipulated variable such that the driving force based on the desired control value is brought close to the resultant force of a force indicated by the rotary member 5 and an inertial force.

Abstract: Provided are novel water containing active hydrogen wherein the content of active hydrogen is high and a process wherein such active hydrogen-containing water is produced simply at high efficiency from an inexpensive material without needing complex apparatus or special treating agents. The water containing active hydrogen of the present invention with respect to which, in an electron spin resonance spectrum pattern obtained by measuring under such a condition that immediately after generation treatment of hydrogen radicals, 25% by mass of 5,5-dimethyl-1-pyrroline-N-oxide is added to thereby stabilize hydrogen radicals, the intensities of peaks ascribed to hydrogen radicals occurring in the vicinity of 331.8 mT magnetic field strength and in the vicinity of 335.5 mT magnetic field strength are 0.03 or greater and 0.