Abstract: The object cutting method comprises a step of locating a converging point of laser light within a monocrystal sapphire substrate, while using a rear face of the monocrystal sapphire substrate as an entrance surface of the laser light, and relatively moving the converging point along each of a plurality of lines to cut set parallel to the m-plane and rear face of the substrate, so as to form a modified region within the substrate along each line and cause a fracture to reach a front face. In this step, t?[(d/2)?m]/tan ?<Z<t?e is satisfied, where e is the minimum allowable distance from a position where the converging point is located to the front face, and m is the amount of meandering of the fracture in the front face.

Abstract: The object cutting method comprises the steps of locating a converging point of laser light within a monocrystal sapphire substrate, while using a rear face of the monocrystal sapphire substrate as an entrance surface of the laser light, and relatively moving the converging point from one side to the other side along each of a plurality of lines to cut set parallel to the a-plane and rear face of the substrate, so as to form a modified region within the substrate along each line; and thereafter exerting an external force on the object along each line, so as to extend a fracture occurring from the modified region, thereby cutting the object along each line.

Abstract: Methods and apparatuses for dicing substrates by both laser scribing and plasma etching. A method includes laser ablating material layers, the ablating by a laser beam with a centrally peaked spatial power profile to form an ablated trench in the substrate below thin film device layers which is positively sloped. In an embodiment, a femtosecond laser forms a positively sloped ablation profile which facilitates vertically-oriented propagation of microcracks in the substrate at the ablated trench bottom. With minimal lateral runout of microcracks, a subsequent anisotropic plasma etch removes the microcracks for a cleanly singulated chip with good reliability.

Abstract: A laser cutting machine for cutting a workpiece having a first thickness (using a first processing laser beam having a first laser beam characteristic and a workpiece having a different second thickness using at least a second processing laser beam having a different second laser beam characteristic includes a laser source for producing a unprocessed laser beam having a laser wavelength of less than 4 ?m, a device which forms from the unprocessed laser beam the processing laser beams, and a control unit which controls the device in dependence on the thickness of the workpiece to be cut.

Abstract: A beam head unit including beam heads configured to scan a single laser beam on a thin-film layer of a workpiece from an irradiation start side toward an irradiation end side in a direction crossing a feeding direction of the workpiece while the workpiece is fed by a constant-speed feeder; laser oscillator configured to emit the laser beam to irradiate each beam head; a controller configured to control scanning speed of the laser beam emitted from each beam head and feeding speed of the workpiece to control a machining line formed in the workpiece fed at the predetermined feeding speed. The controller is configured to switch a beam head to use to form the machining line between the beam heads to form the machining line alternately. This configuration makes it possible to form machining lines highly efficiently in the thin-film layer of the workpiece while feeding the workpiece.

Abstract: A system and method of hybrid welding a dual fillet weld. The system includes a laser system that leads a first torch and preheats at least one workpiece. The system also includes a first welding power supply that supplies a first welding waveform to a first wire via the first torch. The first welding waveform creates a first arc between the first wire and the at least one workpiece. The system further includes a second welding power supply that supplies a second welding waveform to a second wire via a second torch. The second welding waveform creates a second arc between the second wire and the at least one workpiece. A controller in the system is operatively coupled to the first power supply, the second power supply and the laser system. The controller synchronizes the first welding waveform and the second welding waveform such that welding current pulses of the second welding waveform at the second torch are not in phase with welding current pulses of the first welding waveform at the first torch.

Abstract: A laser sintering device and a laser sintering method are provided. The laser sintering device includes a laser source and a sintering platform. The laser source projects a laser beam on a plane, and by changing directions of the laser beam an action area on the plane is defined. The sintering platform provides a sintering area. The sintering platform is arranged in such a way that at least a first region of the sintering area is located within the action area and at least a second region of the sintering area is located outside the action area. The sintering platform is movable such that at least a part of the second region replaces at least a part of the first region within the action area.

Abstract: A method for removing a metal from a single-thread fabric for making a pattern, characterized in that said single-thread fabric is a square-mesh metallized and etching laser made fabric.

Abstract: A system and method for laser processing a complex pattern and a perimeter around the complex pattern on a moving web, the complex pattern and the perimeter processed continuously with a single laser. The complex pattern may be a plurality of holes such that cutting of the perimeter forms a disk having multiple holes. The plurality of holes are interior to the disk and laser processed using a camming program while a web of material is continuously moving. The laser is then repositioned to cut the perimeter while the laser remains on and the web is continuously moved. The multi-hole disk may be cut from a continuous roll of abrasive material.

Abstract: Providing a core ball wherein a junction melting temperature and a low alpha dose are set for suppressing a soft error generation and solving a mounting problem. A metallic powder as a core is a sphere. A pure degree of a Cu ball of the metallic powder is equal to or higher than 99.9% but equal to or less than 99.995%. A contained amount of one of Pb and Bi or a total contained amount of Pb and Bi is equal to or higher than 1 ppm. A sphericity of the Cu ball is equal to or higher than 0.95. A solder plating film for coating the Cu ball comprises Sn—Bi based alloy. U contained in the solder plating film is equal to or less than 5 ppb and Th is equal to or less than 5 ppb. An alpha dose of the core ball is equal to or less than 0.0200 cph/cm2.

Abstract: Providing an Ag ball having a low alpha dose and a high sphericity regardless of impurity elements having an amount equal to or more than a predetermined value except for Ag. In order to suppress a soft error and reduce an connection fault, a content of U is equal to or less than 5 ppb, a content of Th is equal to or less than 5 ppb, a purity is equal to or more than 99.9% but equal to or less than 99.9995%, an alpha dose is equal to or less than 0.0200 cph/cm2, a content of either Pb or Bi or a total content of both Pb and Bi is equal to or more than 1 ppm, and a sphericity is equal to or more than 0.90.

Abstract: Provided is a high-temperature lead-free solder alloy having excellent tensile strength and elongation in a high-temperature environment of 250° C. In order to make the structure of an Sn—Sb—Ag—Cu solder alloy finer and cause stress applied to the solder alloy to disperse, at least one material selected from the group consisting of, in mass %, 0.003 to 1.0% of Al, 0.01 to 0.2% of Fe, and 0.005 to 0.4% of Ti is added to a solder alloy containing 35 to 40% of Sb, 8 to 25% of Ag, and 5 to 10% of Cu, with the remainder made up by Sn.

Abstract: A silver paste composition comprising silver particles having a particle diameter of 0.1 ?m to 20 ?m, and a solvent, wherein the above-described solvent comprises a solvent having a boiling point of 300° C. or more.

Abstract: A weld repair for repairing an imperfection in a nickel base superalloy article. The weld repair provides a weldment that includes a weld joint, a heat affected zone adjacent to the weld joint and a nickel base alloy base material adjacent to the heat affected zone and opposite the weld joint. The weld joint utilizes a nickel base weld filler material, having a composition, in weight percent of 0.03-0.13% C, 22.0-23.0% Cr, 18.5-19.5% Co, 1.8-2.2% W, 0.7-1.4% Nb, 2.2-2.4% Ti, 1.3-2.0% Al, 0.005-0.040% Zr, 0.002-0.008% B, up to 0.15% Mo, up to 0.35% Fe, up to 0.10% Mn, up to 0.10% Cu, up to 0.10% V, up to 0.15% Hf, up to 0.25% Si, and the balance Ni and incidental impurities. The weld filler material is characterized by an absence of Ta.

Abstract: Apparatus for assisting in weld assembling a box column from a tack-welded pre-assembly of planar plate components. The apparatus features (1) an elongate frame defining a rotational-assembly axis, and (2) plural pre-assembly-receiving, rotational support structures mounted at spaced locations on the frame—each support structure including (a) an openable/closable yoke possessing a collar-reception zone, (b) an openable/closable collar rotatably receivable within this reception zone, and possessing a central throughpassage having a cross-sectional configuration which is larger than that of a box-column which is to be assembled, and (c) a pair of removably-collar-attachable, throughpassage clamping shoes for forming cooperatively, within the collar throughpassage, a window for complementarily, receiving extension therethrough of a box-column pre-assembly's cross section.

Abstract: A method of remanufacturing a component having a heat treated hardened layer over a substrate material is disclosed. The method includes removing at least the heat treated hardened layer of the component to expose the substrate material. The method also includes providing a cladding material on the substrate material. The method further includes melting the cladding material via a laser beam to form a single layered coating with hardness greater than or substantially equal to hardness of the heat treated hardened layer, on the substrate material.

Abstract: A method for repairing a turbomachine component comprises the steps of: setting up a laser cladding machine including a laser source a powder feeder and an air source, for repairing a narrow recess of the turbomachine component; defining a path including areas to be repaired by laser cladding within the narrow recess; moving forward the laser cladding machine or the turbomachine component, in order that said path is covered from the first to the second end point by the laser beam and the powder jet for repairing said areas to be repaired; moving backward the laser cladding machine or the turbomachine component, in order that said path is covered from the second to the first end point by the air jet for blowing away the powder in excess.

Abstract: Methods for fabricating a hermetic seal to seal a portion of an apparatus, for example and without limitation, a portion having a MEMS sensor. One such method uses crimping devices to compress a seal in a cavity formed in a housing that includes a MEMS sensor attached to a stress isolator. Under such compression, the seal deforms to hermetically seal surfaces around the inside, outside and bottom of the stress isolator.

Abstract: An explosion-proof valve installed to a hole portion of a pressure vessel and valve opening when the pressure within the pressure vessel goes beyond a predetermined value so as to release the pressure integrally has a tubular portion inserted to the hole portion, an outside flange portion provided in one end portion of the tubular portion and engaging with an opening peripheral edge portion outside the vessel in the hole portion, a locking projection provided in the other end portion of the tubular portion and engaging with an opening peripheral edge portion in side the vessel in the hole portion, and a membrane portion provided in an inner peripheral side of the tubular portion and rupturing due to the pressure at the valve opening time, and has such a shape that an outer diameter of the outside flange portion is made smaller than an outer diameter of the locking projection.

Abstract: A cutting tool for cutting a hard brittle material is formed from a light-transmittable material through which laser light can pass and is provided with a rake angle, the laser light is propagated through the cutting tool, the cutting tool and the hard brittle material are brought into contact with each other, the laser light is incident to at least a contact part where the cutting tool and the hard brittle material are in contact with each other and a part with the rake angle, the laser light except for Fresnel reflection light on an end surface of the cutting tool is incident to the hard brittle material through the contact part and the rake angle part to soften the hard brittle material, and the softened hard brittle material is cut.

Abstract: A guide collet for a post driver having a main body configured to partially receive a post therein is attachable to the main body of the post driver and comprises a plurality of parts that collectively form a collet opening when the parts are attached to the main body of the post driver. The collet opening is configured and adapted to slideably receive a post. The parts of the guide collet are separable from each other without tools when the guide collet is detached from the main body of the post driver such that the guide collet is capable of being separated from a post that previously extended through the collet opening without sliding an end of the post through the collet opening.

Abstract: A processing machine that has a lens retaining device for retaining a raw lens in a processing machine has a tool mount for immobilizing the lens retaining device in a processing tool, and a workpiece mount for receiving a raw lens to be processed. The workpiece mount has a curved surface and is connected to the tool mount. An air channel extends from the tool mount to the curved surface of the workpiece mount. Furthermore, the workpiece mount has an adhesion element which at least to some extent forms the curved surface, wherein the adhesion element has adhesive properties on the curved surface. When processing raw lenses with such a retaining device, the raw lens is retained on the retaining device by means of the adhesion element and by generating a vacuum so that the raw lens is retained solely by means of the adhesion element during processing.

Abstract: Woodworking machines including a blade to cut a workpiece and a detector to detect movement or position of at least part of a human body near the blade and a reaction system adapted to mitigate possible injury upon detection of a dangerous condition between the human and the blade.

Abstract: A hand power tool includes at least one electric-motor drive that is configured to act upon at least one motor shaft, and that is accommodated by a first housing part, the motor shaft and the first housing part defining a first common axis. The electric-motor drive is an electronically commutated electric motor. The hand power tool further includes at least one output shaft configured to drive a tool in an oscillating manner, and at least one second housing part that is configured to accommodate a rechargeable battery, the rechargeable battery and the second housing part defining a second common axis.

Abstract: A pressure-adjusting lapping element is included as a structural component of a carrier assembly in a lapping head. The lapping element includes actuator nodes that permit fine tuning of a lapping force applied through the lapping element to a work piece. An actuator assembly is directly attached to the lapping element and manipulates the individual actuator nodes. The lapping element further includes whippletree structure to permit a desired degree of flexibility in the lapping element to respond to force inputs at the actuator nodes.

Abstract: A structured abrasive article is provided that has a backing having first and second opposed major surfaces and a structured abrasive layer disposed on and secured to the first major surface of the backing. The structured abrasive layer includes a polymeric binder, abrasive particles dispersed in the binder and an additive dispersed in the binder. The additive provides improved chemical mechanical planarization (CMP) polish performance, including high oxide/nitride selectively, high removal rates, lower nitride loss and improved with-in-wafer non-uniformity (WIWNU).

Abstract: A double-side polishing method of polishing both surfaces of a wafer by holding the wafer with a carrier including a holding hole configured to hold the wafer and a ring-shaped resin insert disposed along an internal circumference of the holding hole, the resin insert having an inner circumferential surface configured to contact a peripheral portion of the wafer, interposing the carrier between upper and lower turn tables to which polishing pads are attached, polishing both the surfaces of the wafer while maintaining planarity of the inner circumferential surface at or below 100 ?m and verticalness of the inner circumferential surface at or below 5°. The method can inhibit the degradation of the flatness of the polished wafer, such as particularly an outer circumferential sag, due to variation in shape of the inner circumferential surface of the resin insert of a carrier.

Abstract: The present invention provides a sound level meter that may be removably coupled to a saw blade sharpening apparatus to aid in safe, reliable, reproducible and effective saw blade sharpening. The sound level meter is adapted to be removably attached to the saw blade sharpening apparatus and to provide accurate and reliable indication of interference between the saw blade and the saw blade sharpening stones. The sound level meter is capable of detecting interference even in the often noisy operating environment.

Abstract: A sanding system comprising a flexible base, a flexible sanding element, and a dust suction device is disclosed. The flexible base has an upper surface and a lower surface. The flexible sanding element is attached to the flexible base so as to form a closed air-tight joint. The flexible sanding element has an upper surface, a lower sanding surface, and at least one aperture extends through the flexible sanding element. A space is defined between the lower surface of the flexible base and the upper surface of the flexible sanding element. The space is in fluid communication with the aperture, and a dust suction device is in fluid communication with the space.

Abstract: A coated abrasive article having an abrasive layer formed from alumina-zirconia (AZ) abrasive particles and glass diluent particles was found to have excellent grinding performance when compared to abrasive layers formed from 100 percent AZ particles or a blend of 60 percent AZ particles and 40 percent aluminum oxide particles. Replacing the significantly harder aluminum oxide particles with the much softer glass particles while still being able to maintain the same performance of the abrasive disc was an unexpected result.

Abstract: The present invention relates to crimping pliers in particular used for forming at least three recesses at a contact element housing an electrical conductor. The inventive crimping pliers (1) comprise a toggle lever drive (6). The toggle lever drive (6) is built with an elastic pressure lever (18). The pressure lever (18) is preferably built with an offset or cranking (33) so that with the application of a longitudinal force the pressure lever (18) is biased by a bending. The flexible design of the pressure lever (18) provides a variable crimping stroke (in particular also in connection with a forced locking mechanism (28)) for different dimensions of the contact elements to be crimped.

Abstract: A locking pliers locking pliers includes a fixed handle. A fixed jaw is connected to the fixed handle. A movable jaw cooperates with the fixed jaw and includes movable and fixed pivoting regions. A movable handle is pivotally connected to the movable pivoting region. A movable pivot unit includes a pivot pin engaging with the fixed handle and the fixed pivoting region, and a pivot hole disposed in one of the fixed handle and the fixed pivoting region and configured and dimensioned to loosely receive the pivot pin. The pivot hole has a first diametrical size and the pivot pin having a second diametrical size not greater than 0.8 times the first diametrical size. A biasing member engages with the fixed handle and the movable jaw.

Abstract: A socket for an impact tool includes an input recess configured to receive an anvil of the impact tool and an output recess configured to receive a head of a fastener.

Abstract: The present invention provides a socket-engaging tool set having a plurality of elongated socket-engaging tools assembled together in a concentric arrangement. Each socket-engaging tool may generally have a constant outer cross-sectional size and shape along most or all of its length, and the outer cross-sectional shape may be hexagonal such that the socket-engaging tools are a plurality of concentric hex keys. Biasing springs may be provided to bias the positioning of one or more concentric socket-engaging tool(s) in the absence of an external force that might overcome such biasing. An external force may be used to cause selective retraction/extension of one or more socket-engaging tool(s) to create a common distal end of desired size. A device may include an adjustment mechanism(s) to manually affect the positioning of the one or more socket-engaging tool(s). Methods are also provided for the assembly and operation of a device of the present invention.

Abstract: A socket for an impact tool includes an input recess configured to receive an anvil of the impact tool and an output recess configured to receive a head of a fastener.

Abstract: A hand-held machine tool is disclosed. The tool has an electric motor and an output shaft which can be driven by the electric motor about a working axis. The output shaft has an intake space which is open on the output side for receiving a machine tool and which has two elongated holes cutting into the intake space in the radial direction. Blocking elements lie in the elongated holes and protrude into the intake space and are movable between an end on the output side of the elongated hole and an end on the drive side of the elongated hole. The blocking elements abut on a radial stop in the radial direction and are forced into the intake space in an engaging manner. The stop overlaps in a locked position with the ends on the output side of the elongated holes and can be moved in the withdrawal direction against a spring force of a spring for releasing a radial movement of the blocking elements from the engagement with the intake space.

Abstract: An impact driver accessory, having a work portion and a shank, the shank has an axial hole at a distal end and the work portion has an engagement portion, the engagement portion is inserted in the axial hole and is secured in the axial hole, wherein there is a non-filled tubular section in the shank; A method of manufacturing an impact driver accessory, includes following steps, forming an axial hole at a distal end of the shank of a suitable length and inserting the engagement of the work portion in the axial hole and securing the engagement in the hole by one or more of a variety of mechanical mean, wherein there is a non-filled tubular section since the depth of the axial hole is longer than the length of the engagement of the work portion. The non-filled tubular section is serving as an torsion zone to withstand the large torsion.

Abstract: A driving tool, such as a nailer, includes a compression piston slidably disposed within a compression cylinder. An electric motor and a crank mechanism reciprocally drive the compression piston within the compression cylinder, and a sensor directly or indirectly detects the position of the compression piston. Prior to the start of a driving operation, a return operation is performed to move the compression piston to its bottom dead center when the sensor detects that the compression piston is located at a position other its bottom dead center.

Abstract: Newly laid sod often requires extra support to stay in the correct spot to allow it to grow. The present invention relates to a device that allows for a more ergonomic and convenient way to securely drive sod or erosion control mat staples into the ground. The invention uses a handle connected to a driving rod. The driving rod is comprised of an elongated member that has a spring wrapped around it, with a spring restricting member on each end of the driving rod. These spring restricting members make sure the spring does not slip out of alignment when the spring is compressing or expanding. The driving rod is then securely attached to a driving plate. The driving plate and driving rod is what bears the force that is exerted on the handle and drives the pin into the ground. The entire structure is covered by a pair of protective members with a top end cap that prevents the users from getting their hand caught in the inner workings of the device, and an end cap that has an opening for inserting the pin.

Abstract: A valve includes a valve body, an inlet orifice in fluid communication with a first fluid volume, an outlet aperture in fluid communication with a second fluid volume and in selective fluid communication with the inlet orifice by a first fluid flow path, an activation member axially movable relative to the valve body, and a plunger axially movable within the valve body. The plunger includes an aperture therethrough defining a second fluid flow path between the first and second fluid volumes. The valve is operable in a first mode in which fluid flow is only permitted along the first fluid flow path in response to manual actuation of the activation member. The valve is operable in a second mode in which fluid flow is only permitted along the second fluid flow path when a pressure difference between the first and second fluid volumes reaches a predetermined value.

Abstract: A blade-replaceable saw is provided which enables blade replacement work without the need of an additional connecting fitting or the like, facilitates extraction and insertion of saw blades with respect to the grip during that work, and also prevents looseness between the saw blade and the grip even during the use of the saw. The blade-replaceable saw has a saw blade (10) and a grip (20), the saw blade (10) having on its base side a flat insertion handle section (12) configured to be inserted into the grip (20), the grip (20) having a flat insertion slot (22) for receiving the insertion handle section (12) of the saw blade (10), the saw enabling replacement of the saw blade (10). A projection (24) is formed on an inner wall surface (22a) of the flat insertion slot (22) of the grip (20), for reducing the contact area with, and also reducing the contact gap with, the flat insertion handle section (12) of the saw blade (10).

Abstract: A modular tool construction is provided comprising a tool shaft with a first and second connector assembly that are adapted to removably support tool implements at each end, whereby the tool can take on different tasks without resorting to multiple, single-use tools. The connector assemblies comprise an elongated, male connector member that is adapted to be received by a complimentary female member. The connection between the male and female members aligns the tool shaft with the tool implement. A slidable sleeve is thereafter positioned over the joint and threadably secured thereover. The internal members and the sleeve provide sufficient support to prevent prying and failure at the joint location, while also providing for ease of attachment and removal of different implements. The tool shaft is adapted to comprise a male and a female connector member at opposing ends.

Abstract: A flexible tool holder is provided. The tool holder is formed of a length of flexible material configured into discrete sections along which are positioned pockets and straps for securing tools associated with a specific tool, such as a socket wrench, including, for example, socket wrench handles, interchangeable sockets, socket adapters, etc. The flexible material and the discrete sections are configured such that the tool holder may be expanded and compacted by folding the flexible material in predetermined configurations.

Abstract: Provided herein is a device for installation, maintenance, or removal of a catch basin trap; the device comprising a shank connecting a handle on one end and jaw-like arms on an opposite end, wherein the handle end of the shank further comprises a lever capable of actuating the jaw-like arms for snap-action installation of a catch basin trap. Also, provided herein are methods and kits comprising the trap installation device.

Abstract: The solar energy and solar farms are used to generate energy and reduce dependence on oil (or for environmental purposes). The maintenance, operation, optimization, and repairs in big farms become very difficult, expensive, and inefficient, using human technicians. Thus, here, we teach using the robots with various functions and components, in various settings, for various purposes, to improve operations in big (or hard-to-access) farms, to automate, save money, reduce human mistakes, increase efficiency, or scale the solutions to very large scales or areas.

Abstract: A wearable robotic system assists a wearer in performing manual tasks. One or more robotic arms are mounted to a wearer, and an sensor monitors the orientation(s) (e.g., position and movement) of the wearer's upper body and one or both arms. A controller detects a task being performed by the wearer based on the orientation(s) as indicated by the orientation sensors. In response, the controller causes the robotic arm to perform an action independent of the orientation(s) of the wearer's arms and complementary to the task, thereby aiding the wearer to accomplish the detected task.

Abstract: A method for programming an industrial robot includes moving a manipulator arm of the industrial robot manually (hand guided) into at least one pose in which at least one control variable, which is to be entered in a robot program, is recorded by a control device of the industrial robot and is saved as a parameter of an associated program instruction in the robot program. In another aspect, an industrial robot includes a robot control unit which is designed and/or configured to carry out such a method.

Abstract: A robot assembly for transporting a substrate is presented. The robot assembly having a first arm and a second arm supported by a column, the first arm further having a first limb, the first limb having a first set of revolute joint/line pairs configured to provide translation and rotation of the distal most link of the first limb in the horizontal plane. The assembly further having a second arm further having a second limb, the second limb comprising a second set of revolute joint/link pairs configured to provide translation and rotation of a distalmost link of the second limb in the horizontal plane. The first limb and second limb further having proximal revolute joints having a common vertical axis of rotation and a proximal inner joint housed in a common housing.

Abstract: Provided is a robot capable of achieving more efficient and faster calculation for generating a gait. A target ZMP trajectory of a robot 1 is defined by a linear function of a target landing position that uses a time function as a coefficient. The time function is defined by a function that permits specified function transformation related to time, and a dynamics model is defined by the specified function transformation related to time. Thus, the problem of determining a target landing position is formulated as a problem accompanied by a linear constraint in which a first specified requirement (a target ZMP trajectory linearly approximated by the linear function of a target landing position falls within a permissible existence range) is satisfied.

Abstract: A robot, such as a bipedal robot, that includes three or more rigid links such as two legs and a pelvis. The robot includes joints pivotally connecting pairs of the rigid links and an actuator associated with each of the joints. The robot includes a universal balancing controller with an output feedback control module providing control signals to selectively drive the actuators to balance the robot on a support element which may be configured to provide a dynamic, unstable environment or to provide a static, stable environment. During use, the control signals are generated in response to processing of global robot data from sensors associated with the rigid links or the joints. The control signals are generated by the output feedback control module without any need for measurements of the support element or without any measurement of a dynamic environment.