Abstract: A method for performing robot dynamic path modification using a remote tool center point (RTCP) coordinate frame, for applications such as material dispensing. A processing tool is fixedly mounted in a workcell and the robot holds and moves the workpiece during the processing. The RTCP coordinate frame is defined at the tip of the tool. A nominal processing path on the workpiece is defined, and a prescribed offset distance from the tip of the tool to the workpiece is defined. A sensor measures the actual offset distance from the tool tip to the workpiece. A controller applies the offset in the RTCP coordinate frame and calculates robot motions causing the robot to move the workpiece nominal path past the tool tip at the offset distance. The controller converts the offset from the RTCP frame to a workcell frame, and performs inverse kinematics calculations to generate robot joint motion commands.

Abstract: Methods and systems include ways to synchronize a press machine and tending robots, including a pick robot and a drop robot, where the press machine includes an operating area for pressing a blank into a part. The pick robot and the part are moved out of the operating area while the drop robot carrying the blank is moved into the operating area. At least a portion of the pick robot and/or the part resides within the operating area at the same time at least a portion of the drop robot and/or the blank resides within the operating area. The pick robot is in communication with the drop robot and the movement of the pick robot is synchronized with the movement of the drop robot to prevent the pick robot or part from colliding with the drop robot or the blank.

Abstract: An apparatus and method are provided for automated collection, aggregation, verification, storage, and export of data. The method includes receiving first data having a first data format, importing the first data into second data having a second data format according to user-defined import rules, and matching the second data to existing data of the system to produce temporary data having a third format. The method further includes displaying to a user of the system the temporary data, receiving from the user change data, the change data specifying changes to one or more elements of the temporary data, and applying the changes specified by the change data to the temporary data to produce modified temporary data. The method also includes exporting the modified temporary data in a user-defined fourth format.

Abstract: Methods and systems include ways to synchronize a press machine and tending robots, including a pick robot and a drop robot, where the press machine includes an operating area for pressing a blank into a part. The pick robot and the part are moved out of the operating area while the drop robot carrying the blank is moved into the operating area. At least a portion of the pick robot and/or the part resides within the operating area at the same time at least a portion of the drop robot and/or the blank resides within the operating area. The pick robot is in communication with the drop robot and the movement of the pick robot is synchronized with the movement of the drop robot to prevent the pick robot or part from colliding with the drop robot or the blank.

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: The present invention relates to affinity transactions devices, systems, and methods, including a community-incentivize exchange (CIE) comprising one or more computer systems configured to permit aggregation of purchasing power of social community members along aligned interests to facilitate purchases of desired nods or POS transactions from one or more vendors willing to exchange the nods or consummate POS transactions for consideration from the members and to return compensation to the social community in exchange for incentivizing the members to effect such purchases.

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: The present invention provides methods and apparatus for trimming semiconductor devices and circuits, such as pin electronics circuits used in automated test equipment (ATE) systems and the like, without requiring a laser trimming operation. In a preferred embodiment, the present invention addresses the need to precisely adjust a reference current and/or voltage by replacing a conventional current/voltage reference source with a digital-to-analog (D/A) converter. A select switch or mechanism is preferably coupled to the input of the D/A converter and operatively presents a digital input word to the D/A converter by selectively reading the digital word from at least one of a data register and a fuse register. The data register is preferably used during testing of the overall current or voltage reference by iteratively trying various digital input codes while concurrently measuring the analog output signal from the D/A converter until the output signal sufficiently matches a predetermined output value.

Abstract: The present invention provides methods and apparatus for trimming semiconductor devices and circuits, such as pin electronics circuits used in automated test equipment (ATE) systems and the like, without requiring a laser trimming operation. In a preferred embodiment, the present invention addresses the need to precisely adjust a reference current and/or voltage by replacing a conventional current/voltage reference source with a digital-to-analog (D/A) converter. A select switch or mechanism is preferably coupled to the input of the D/A converter and operatively presents a digital input word to the D/A converter by selectively reading the digital word from at least one of a data register and a fuse register. The data register is preferably used during testing of the overall current or voltage reference by iteratively trying various digital input codes while concurrently measuring the analog output signal from the D/A converter until the output signal sufficiently matches a predetermined output value.

Abstract: A method of controlling a powered manipulator in a plurality of workspaces is disclosed. The manipulator includes a handle, a motor, a force sensor, and is in combination with a processor controlling the manipulator. The method includes the steps of imparting force on the control handle, sensing direction and magnitude of the force, and sending data of the force to the processor. The data is processed to establish movement commands for the manipulator. The processor is programmed to establish at least one virtual constraint in a first workspace for limiting movement of the manipulator to prevent an operator from moving the manipulator to a limit of this workspace. After the manipulator is moved in this workspace, the manipulator is relocated from the first workspace into a second workspace different from the first workspace where the manipulator is then moved again.

Abstract: A method for teaching movements to a robot (12) is disclosed. The robot (12) includes a fixture (14) for cooperating with a workpiece (16), at least one sensor (18) for sensing a spatial relationship of the robot fixture (14) relative to the workpiece (16), at least one motor (20), and a microprocessor (22) for controlling motion of the robot (12) relative to the workpiece (16).

Abstract: A method of controlling a powered manipulator in a plurality of workspaces is disclosed. The manipulator includes a handle, a motor, a force sensor, and is in combination with a processor controlling the manipulator. The method includes the steps of imparting force on the control handle, sensing direction and magnitude of the force, and sending data of the force to the processor, The data is processed to establish movement commands for the manipulator. The processor is programmed to establish at least one virtual constraint in a first workspace for limiting movement of the manipulator to prevent an operator from moving the manipulator to a limit of this workspace. After the manipulator is moved in this workspace, the manipulator is relocated from the first workspace into a second workspace different from the first workspace where the manipulator is then moved again.

Abstract: A method of controlling a powered manipulator (10) is disclosed. The powered manipulator (10) includes at least one motor (12), at least one force sensor (14) on a manual control handle (16) and a microprocessor (18) combined with the plurality of the force sensors (14) for controlling a powered manipulator (10) within physical limits of a workspace. The method comprises the steps of the operator imparting a force on the control handle (16), sensing the direction and magnitude of the force with the plurality of force sensors (14) and sending the force data to the microprocessor (18), processing the force data from the plurality of force sensors (14) with the microprocessor (18) to create movement commands for the powered manipulator (10) and moving the powered manipulator (10) in response to the movement commands from the microprocessor (18).