Abstract: A modulation device for directing a mobile tracking device away from an asset is provided. The modulation device includes a continuous wave laser source whose output is directed at a seeker head of the mobile tracking device. The modulation device causes the generation of localized sources within the mobile tracking device and confuses the mobile tracking device as to the true location of the asset. A portable cutting device is disclosed. The portable cutting device may include a portable power supply and a laser source. The portable power supply and laser source of the portable cutting device may be positioned within a backpack and carried by a user. A handheld unit which is coupled to the laser source may be supported by the hands of the operator. The handheld unit provides power generated by the laser source to a barrier to be cut.

Abstract: The invention relates to a machine for material processing with a laser beam, in particular laser welding. It is comprised of a machine guided protective housing with an outlet opening surrounding the laser beam that is pointed at the material during processing. To create a machine for laser beam welding which ensures improved operator and personal safety without completely enclosing the machine, it is suggested that the protective housing contains at least one sensor which measures certain chemical or physical properties. The sensor is connected to the machines control unit which compares the current values with reference values for a measure and, depending on current/reference value comparison, interrupts the laser beam or prevents laser beam activation. In addition a method and arrangement for improved operator and personal safety for operation of such a machine is presented.

Abstract: Various laser marking compositions and related methods are described. The laser marking compositions include a molybdenum metal complex, a tungsten metal complex, or combinations thereof. Marks or other indicia formed on a substrate using the compositions and methods exhibit increased contrast and improved substrate bonding.

Abstract: The invention relates to a method for the laser welding of metal parts that comprises generating a CO2 laser beam, dispensing a protection gas jet made of said gas or gas mixture in the direction of the junction plane between the parts, melting and evaporating the metal of the metal parts with the laser beam in order to generate a metal vapor capillary with the simultaneous generation of a metal plasma that propagates outside the metal vapor capillary and thus forms a metal plasma plume above said junction plane. The protection gas jet is further directed towards the metal plasma plume forming above the junction plane. The gas jet is preferably directed so that the latter comes flush with the top of the metal plasma plume and impinges on the part(s) at a location where the metal of said parts has not been molten by the beam.

Abstract: The invention relates to a hybrid laser/arc-welding method using an electric arc and a laser beam that are combined together within a single welding melt to which molten metal is supplied by melting a filler wire, wherein the welding melt is provided on at least one steel part including an aluminum surface coating, and a protective gas is used, characterized in that the filler wire contains at least 3 wt % of one or more gammagenic elements, in particular the gammagenic elements selected from C, Mn, Ni and N, and the protective gas consists of helium and/or argon with the addition of at least 10 vol % of nitrogen or oxygen. The method of the invention is particularly suitable for welding end-welded flanks used in the field of manufacturing automobiles or for tube welding.

Abstract: The invention described herein generally pertains to a system and method for detecting a moisture with a flux used in a welding process. A sensor is employed with a flux source that supplies a welding operation or process in which the sensor detects a moisture level with a flux within the flux source. A monitor component is configured to receive or aggregate data from the sensor, wherein the data relates to the moisture level associated with a flux supply or a portion of flux.

Abstract: A clamping device (1) for internally centering pipes with respect to one another includes two clamping heads (5, 6), which can be placed into the mutually facing ends of the pipes. The clamping heads each have radially displaceable clamping shoes (7) which are evenly distributed over its external periphery and a drive mechanism (8) for causing the radial displacements of the clamping shoes. Adjusting piston/cylinder devices (10) are provided for adjusting the mutual positions of the clamping heads in the axial direction and a guide element (11) for guiding the clamping heads in the axial direction with respect to one another. Bearings (13) are provided on at least one (5) of the clamping heads and on the guide element (11). The guide element has several guide bodies (12) which are positioned in an eccentric manner in connection with the stability of the clamping heads.

Abstract: A fluidostatic tool with at least one rolling element uses a pressurized lubricant mist or aerosol to apply force against a metal workpiece surface that is flat, curved or cylindrical. The rolling element, such as a ball, is held within a tubular borehole of the tool and cushioned on the pressurized lubricant mist during machining of the metal surface. Viscosity of the lubricant mist increases and reduces friction between the ball and the metal surface as it exits the tool, thereby reducing or eliminating the need for other lubricants during the machining process. The pressure of the lubricant mist against the ball seals the borehole of the tool and prevents leakage of the pressurized lubricant mist when the tool is not engaged with a metal workpiece surface. The lubricant mist can be an oil-free lubricant or a mixture of oil-free lubricant and oil components.

Abstract: An air-cooling apparatus is provided which includes a securing mechanism for holding two or more separate electronics racks in fixed relation adjacent to each other, and a multi-rack door sized and configured to span the air inlet or air outlet sides of the racks. The securing mechanism holds the electronics racks in fixed relation with their air inlet sides facing a first direction, and air outlet sides facing a second direction. The door includes a door frame with an airflow opening. The airflow opening facilitates the ingress or egress of airflow through the electronics racks, and the door further includes an air-to-liquid heat exchanger supported by the door frame, and disposed so that air flowing through the airflow opening passes across the heat exchanger. In operation, the heat exchanger extracts heat from the air passing through the separate electronics racks.

Abstract: Designs of a tool for seating engine pistons and related methods are disclosed. For example, a tool may comprise a mount element, coupled to a support element, with at least one sleeve shaped to slide onto one or more studs on an EMD engine block. The tool may also comprise a locator element, coupled to the mount element, having a guiding ring positioned relative to the at least one sleeve. The tool may further comprise a cantilever beam pivotally coupled to the support element. The tool may additionally comprise a push rod inserted through the guiding ring and coupled to the cantilever beam, such that a pivoting motion of the cantilever beam causes a linear movement of the push rod through the guiding ring. An attachment element, located on one end of the push rod, may be adapted to attach to a piston of the EMD engine.

Abstract: A device for removing a set of springs from a mattress box spring including a mattress box spring support, a pushing block support frame secured to the mattress box spring support, a pushing block supported by the pushing block support frame adjacent to the mattress box spring support, a cylinder for extending the pushing block over a mattress box spring positioned on the mattress box spring support belt, wherein the cylinder is operable to extend the pushing block transversely over the mattress box spring to separate springs attached to a frame of the mattress box spring from the frame, and wherein a plurality of forks extend in front of the pushing block transversely to the mattress box spring support for helping to prevent the springs from folding underneath a bottom of the pushing block when the pushing block is extended over the mattress box spring to separate the springs from the frame.

Abstract: A test device and a test method for testing a drilling/rivet countersinking process carried out by a drilling/feed unit, a base body with at least one receiving groove and at least one turret mechanism with receiving openings being provided, the at least one turret mechanism being rotatably provided with respect to the base body in such a way that a predetermined receiving opening can be adjusted to align with the at least one receiving groove.

Abstract: A machine grinding system is provided for machine grinding the main bearing journals, pin bearing journals, the post surface, gear-fit wall surface, and the flywheel flange surfaces of a four cylinder crankshaft. The system includes three operating stations, each operating station only requiring one machine to maintain the desired production rate. The first operating station machine grinds the main bearing journals, post surface, and gear-fit wall surface; the second operating station machine grinds the pin journals; and the third operating station machine grinds the thrust bearing surfaces and the flywheel flange surfaces.

Abstract: The invention relates to a device for sanding a predetermined impression into a workpiece. The device has a pattern belt positioned inside the area formed by a sanding belt. A pad is positioned inside the area formed by the pattern belt. A raised pattern is formed on the outer surface of the pattern belt. In use, the pad contacts the pattern belt, urging the raised pattern of the pattern belt to contact the sanding belt. The portion of the sanding belt contacted by the pattern belt is urged toward the workpiece so that the predetermined impression is sanded into the workpiece.

Abstract: The subject is to provide a polymer material which enables to improve planarity and planarization efficiency of a polished surface and is useful as a polishing pad which generates only a few scratches. The said subject is solved by a polymer material having a tensile modulus at 50° C. after saturation swelling with 50° C. water of 130 to 800 MPa, a loss tangent at 50° C. of not more than 0.2, and a contact angle with water of not more than 80°.

Abstract: A head structure for a lapping assembly including a lapping control feature is disclosed. The lapping control feature includes a raised contact surface elevated from a front surface of the head structure of the lapping assembly. A relative position of the workpiece and raised contact surface are aligned to control workpiece thickness and other lapping parameters. In illustrated embodiments, the relative position of the workpiece and raised contact surface are aligned via an adjustment mechanism on the head structure. In illustrated embodiments, the adjustment mechanism is configured to adjust a position of the workpiece relative to the raised contact surface.

Abstract: A polishing head of a chemical mechanical polishing apparatus includes a housing moving up and down, a base assembly connected to a bottom of the housing to support the housing, a membrane on a bottom of the base assembly and a retainer ring surrounding the membrane and connected to the bottom of the base assembly, the membrane including a pressing portion to adsorb and press a substrate, a first partition on the pressing portion and extending from an edge of the pressing portion along a height direction, a first horizontal extending portion extending from an upper end portion of the first partition toward a center of the membrane, and a second horizontal extending portion from the upper end portion of the first partition toward the center of the membrane, the second horizontal extending portion being above the first horizontal extending portion and including a curved portion expanding by pneumatic pressure.

Abstract: The invention relates to a polishing machine for spectacle lenses, including a least one workpiece spindle protruding into a workspace for a rotary drive of the spectacle lens about a workpiece rotational axis. At least one feed device lowers and raises a polishing tool relative to the spectacle lens. An oscillation drive unit moves the feed device back and forth in an oscillation direction, which during the polishing runs substantially transversely to the workpiece rotational axis. A swivel drive unit swivels the feed device about a swivel-adjusting axis which runs substantially perpendicular to the workpiece rotational axis and substantially normal to the oscillation direction. A swivel mechanism is provided to swivel the feed device, the oscillation drive unit and the swivel drive unit relative to the workpiece.

Abstract: Systems and methods for shaping leads of electronic lapping guides to reduce calibration error are provided. One such system includes a device configured to generate predictable resistance for leads of an electronic lapping guide, the device including a lapping surface, and an ELG configured to provide information indicative of a degree of lapping performed on the lapping surface, the ELG including a first electrical lead, a second electrical lead spaced apart from the first electrical lead, and a resistive element between the first electrical lead and the second electrical lead, the resistive element including a right segment, a left segment, and a middle segment that abuts each of the right segment and the left segment, where the right segment is spaced apart from the left segment and the middle segment is adjacent to the lapping surface, where the first and second electrical leads are recessed from the middle segment.

Abstract: Provided is a descaling device for effectively removing scale formed on a surface of a hot-rolled steel strip (steel sheet). The descaling device, for example, may be configured to include: a device housing disposed in a feed path of a hot-rolled steel strip, a high-pressure fluid supply unit provided to supply a high-pressure fluid to the device housing, an abrasive input unit provided to introduce an abrasive to the device housing, and an abrasive slurry spraying unit provided in the device housing to spray an abrasive slurry of the high-pressure fluid and the abrasive mixed inside the device housing on the steel strip.

Abstract: An abrasive cut-off wheel with an abrasive cut-off ring (1), the abrasive body (10) of which comprises bound abrasive, wherein the abrasive cut-off ring (1) is fixed in the operating state by means of two circular clamping discs (2, 3) that can be clamped together in axial direction by means of central clamping flanges (4a, 4b) on the machine side, and at least one clamping disc (2) is connected in an anti-twist manner to the abrasive cut-off ring (1) by means of interacting projections (5, 6) and recesses (7, 8), and wherein the projections (5) and recesses (7) respectively arranged on the abrasive cut-off ring (1) are provided on a metal insert (9) of the abrasive cut-off ring (1), which projects beyond the abrasive body (10) in radial direction.

Abstract: A composite abrasive wheel comprises primary and secondary abrasive portions. The primary abrasive portion comprises shaped ceramic abrasive particles retained in a first organic binder. The secondary abrasive portion is bonded to the primary abrasive portion, and comprises secondary crushed abrasive particles retained in a second organic binder. The primary abrasive portion comprises a larger volume percentage of the shaped ceramic abrasive particles than the secondary abrasive portion. A central aperture extends through the composite abrasive wheel.

Abstract: Aggregate abrasive grains for use in the production of abrading or cutting tools are formed such that each grain includes an abrasive core particle and a plurality of abrasive peripheral particles disposed around the core particle. The abrasive particles intended as the core particles are provided with a coating containing a binder. These binder-coated core particles are then surrounded with those particles that are intended to become the peripheral particles of the aggregate grains. The binder-coated core particles surrounded with the peripheral particles are heated to a temperature at which the binder softens so that the peripheral particles attach to the core particles.

Abstract: The present invention pertains to an apparatus and method for holding an item to be worked on in, for example, a mechanical shop, garage or manufacturing facility. More particularly, the present invention relates to the field of mechanical vises that may be used to hold an item firm so that it may be worked on and may be for quick action holding and releasing that may be disabled. The present invention is directed generally to an apparatus and method for improved operation of a vise. The present invention may include a quick action mechanism that allows a vise jaws to be opened or closed quickly so that an operator can be more efficient or productive. The quick action mechanism may include a vise main nut and main nut holder. The vise may also include a lock for the quick action mechanism which may lock the vise main nut.

Abstract: The invention relates to A pliers (1) having two pliers limbs (2, 3) which are connected so as to be pivotable relative to one another in a box joint having a joint pin (4), a working region (7, 8) being formed on one pliers limb (2, 3) on the one side of the joint and a gripping region (9, 10) being formed on the other side of the joint, and a passed-through pliers limb (3) being formed with a push-through slot (11) which has a slot width (s) in the joint region and through which the other through-passing pliers limb (2) extends, the working regions of the pliers limbs (2, 3) moreover having, at least in part, a width (b) that is greater than the slot width (s), and the working regions (7, 8) designed in the form of jaws or cutting edges pivoting toward a shared central plane (E). In order to improve the pliers with regard to high performance while optimizing manufacturability, it is proposed that the joint pin (4) be laterally offset with respect to the central plane (E).

Abstract: A water meter wrench retainer that removably attaches to a water meter lid of a water meter can. The retainer has an elongated bar attached centrally to one end of a flexible member. An opposite end of the flexible member secures to a water meter wrench. When the retainer is attached to the lid, the bar is on top of the lid, the flexible member extends through an opening in the lid and the wrench hangs downward within the can. The bar is sized so that it can be inserted through the can opening as a way of securing the retainer to and removing it from the lid. One end of the bar is flattened to scrape mud and dirt from the meter. The flattened end aids a user in grasping the bar which allows the bar to serve as a handle to remove the lid from the can.

Abstract: A through-hole type power ratchet wrench includes a socket bracket, a swingable member, a ratchet socket, first and second pawls, and first and second resilient elements. The swingable member is disposed in the socket bracket and adjacent to an outer surface of the ratchet socket. The pawls are swingably fixed on the swingable member. The pawls, biased by the respective resilient elements, tend to engage with the outer surface of the ratchet socket. The wrench also includes a limiting member configured to isolate one of the first and second pawls from the ratchet socket. The limiting member is formed with an opening adapted for allowing one of the pawls to pass therethrough, and the limiting member is moveable about the ratchet socket between first and second positions. The opening of the limiting member faces towards the first pawl and second pawls when at the first and second positions, respectively.

Abstract: A power tool includes a housing, an electric motor, an end effector coupled to the motor, a control circuit configured to control electrical power delivery to the motor, and a switch for selectively providing electrical power to the control circuit. The switch includes an elongated outer casing having at least a portion exterior of the housing. The casing is linearly moveable in a first linear direction generally transverse to a longitudinal axis of the housing. A linkage is disposed inside of the housing and coupled to the casing such that linear movement of the casing in the first direction causes linear movement of the linkage in a second direction generally transverse to the first direction. An electrical switch is disposed inside the housing and coupled to the linkage such that linear movement of the linkage in the second direction causes activation of the electrical switch.

Abstract: An improved method is provided for operating a power tool. The method includes: monitoring rotational motion of the power tool about an axis using a rotational motion sensor disposed in the power tool; determining a direction of the rotational motion about the axis; and driving the output member in a direction defined by the detected rotational motion of the tool, where the output member is driven by a motor residing in the power tool. Thus, the output member is drive clockwise when the rotational motion of the tool is clockwise about the axis and the output member is drive counter-clockwise when the rotational motion of the tool is counter-clockwise about the axis.

Abstract: A wrench includes a first part having a first pivotal portion, a first recess and a first hole, a second part having a second pivotal portion, a second recess and a second hole, and a third part which is received in the first and second recesses. The third part has third, fourth and fifth holes, and a control slot. A control unit is connected to the third part and has four urging members, two first acting members and a second acting member. The urging members are located in the third and fourth holes, and engaged with the first and second holes to pivotably connect the first and third parts, and the second and third parts. The first acting members are located in the fifth hole. The second acting member is located in the control slot and controls the first acting members to contact and the urging members or not.

Abstract: A pole assembly includes a chuck, and the chuck includes a chuck body with opposed fastener openings extending therethrough, and a shank. The pole assembly includes a socket piece, and the socket piece includes a conduit fitting body and a socket piece body, and opposed fastener openings extending through the conduit fitting body, and a socketed body opening extending through the socket fitting body. The pole assembly includes a conduit which extends through a distal chuck body opening of the chuck and an unsocketed body opening of the conduit fitting body.

Abstract: In a pneumatic impact wrench there is an output shaft that is connectable in a removable manner to a screw coupling member; a torque sensor, which is mounted on the shaft, sends signals to a control unit that calculates the energy transferred through the output shaft and controls the wrench on the basis of a comparison between the calculated energy and a predefined threshold value.

Abstract: A spring tool having a first arm pivotably and slidably connected to a second arm. The lower ends of the both the first and second arms are adapted to selectively retain an end of a spring so that the tool may be used to install an energized spring onto a part. The first arm includes a lower end having a window that the lower end of the second arm may pass through. The upper ends of the arms may be manipulated to pivot about a pivot point moving the lower ends of the arms together energizing a spring connected to the arms. The ends of the spring may become overlapped as the lower end of the second arm passes through the window. One arm may be moved upwards with respect to the other arm to make it easier to connect the overlapping ends of the spring around a part.

Abstract: The present invention provides an apparatus and kit for tensioning a stud in a bolted joint to a desired preload, the apparatus comprising a locking means adapted for engagement with the stud, a removable bridge member arranged to at least partially enclose the locking means and to receive the stud therethrough, a removable actuator operable to actuate the locking means through the bridge member and removable tensioning means configured to apply tension to a load bearing surface of the bridge member so as to transfer tension to the stud, such that the actuator is operable to lock the locking means when the desired preload in the stud is achieved. The invention has application in many industries, including hydropower, wind, gas and steam turbines, nuclear, metal manufacturing, mining, shipbuilding and oil & petrochemical.

Abstract: In an electric driving tool of the invention, when moving a driver 21 having driven out a fastener upwardly from a bottom dead center position and making the driver 21 to stop at a wait position, a wait position when a decrease of a residual quantity of connected fasteners in the magazine 12 is detected is set to be lower than a wait position when the decrease of a residual quantity of connected fasteners in the magazine 12 is not detected.

Abstract: An impact tool comprises a motor, a swinging member that is driven by the motor and swings in an axial direction of the tool bit, a striking mechanism that is driven in the axial direction of the tool bit by the swinging motion of the swinging member, a connecting part that connects the swinging member and the striking mechanism, a housing member that houses at least the connecting part in an internal space, and a counter weight that is disposed within the internal space of the housing member and reduces vibration caused when the tool bit is driven.

Abstract: An impact comprising: a motor (20) defined as a brushless DC motor; a battery (130); a cooling fan (90); a driving current providing device (70) which provides current from the battery (130) to the motor (20); and a controller (60) which controls the driving current providing device (70). The motor (20), the controller (60) and the driving current providing device (70) are arranged adjacently to each other and are cooled by the cooling air generated by the cooling fan (90).

Abstract: The anchor bolt driver tool is a tool uniquely configured to attach between a chuck of a hammer drill and a socket such that said tool is able to drive an anchor bolt into concrete. The anchor bolt driver tool includes a first distal end that includes a square-drive socket that is configured to connect with a socket. A second distal end of the anchor bolt driver tool includes a hammer drill chuck member. The hammer drill chuck member includes a series of longitudinally oriented grooves that are provided in order to be gripped via a hammer drill chuck.

Abstract: A tool for infecting fluid into and mixing with cementitious material includes a V-shaped or triangularly shaped blade connected to a tubular handle, the blade having a central open area, a top edge and interior edges. The top and interior edges have a plurality of notched cut-outs that together with the edges of the blade form corners for engaging and mixing the cementitious material and fluid as the blade moves through it.

Abstract: A pallet-based support system for use in assembling a vehicle engine that includes an engine block is described herein. The pallet-based support system includes a first jig and a second jig configured to couple to the engine block. The system also includes a first support arm and a second support arm extending from the pallet and each of the support arms includes a cradle structure. The system also includes a first adapter structure coupled to the first jig. The first adapter structure is configured to be releasably coupled to one of the cradle structures by lowering the engine block towards the pallet. The first adapter structure engages the cradle structure and is configured to be positioned in at least three orientations with respect to the cradle structure.

Abstract: A legless portable worktable is provided for supporting a tray above the ground without the use of ground contacting legs. In some embodiments, the worktable may comprise: a tray having a tray surface; a conduit clamp coupled to the tray with the conduit clamp comprising a first arm movably coupled to a second arm; a first contact member coupled to the first arm of the conduit clamp; a second contact member and a third contact member coupled to the second arm of the conduit clamp. The first, second, and third contact members may be configured to make contact with and grip a conduit thereby supporting the weight of the tray above the ground.

Abstract: A sawhorse bracket comprising a U-channel and two rectangular tubes. The U-channel comprises two vertical plates joined together at their base by a first hollow square tube that is welded to the base of each of the first and second vertical plates at their front section and by a second hollow square tube that is welded to the base of each of the vertical plates at their rear section. The first and second square tubes are configured to create a gap between them at a base and in a center of the U-channel. The rectangular tubes are roughly centered on the outside surfaces of the vertical plates. The distal end of each of the rectangular tubes is open for receiving a piece of lumber. The long axis of the first and second rectangular tubes is oriented in the range of eight to fifteen degrees downward from a horizontal plane.

Abstract: A subframe holding device to remove a vehicle subframe comprising a frame, where the frame includes a first pair of rods and a second pair of rods, where the first pair of rods intersect the second pair of rods at four intersections; a set of connection sleeves through which the first pair of rods pass, where the set of connection sleeve attach the second pair of rods to the first pair of rods; a mount at each intersection, where the mount is fastened to the second pair of rods, and where the mount fastens against the vehicle subframe; and a support plate attached to the first pair of rods between the second pair of rods, where the support plate bolts to a jack, where the jack elevates the support plate thereby raising the frame to attach the mounts to the subframe.

Abstract: An electrical box layout tool includes a first pointed end, a first cylindrical section, a stopper, a second cylindrical section, and a second pointed end. The first cylindrical section and the second cylindrical section are concentrically connected with the stopper in such a way that the first cylindrical section and the second cylindrical section are oppositely positioned from each other. The first pointed end is concentrically connected with the first cylindrical section while the second pointed end is concentrically connected with the second cylindrical section. The electrical box layout tool is used to create an opening within a drywall or paneling so that the drywall or paneling is able to accommodate an electrical box that is mounted on a framing stud.

Abstract: A modular rotational electric actuator includes an output housing and internal drive components that include integrated control electronics, a torque sensor, and a portion of a joint assembly. The joint assembly includes a joint connector coupled to the internal drive components, including integrated control electronics, e.g., by a resilient member. The resilient member elastically couples the joint connector to a portion of the output housing, the joint connector including a portion that extends outward therefrom.

Abstract: Tracking and following technique embodiments are presented that are generally employed to track and follow a person using a mobile robotic device having a color video camera and a depth video camera. A computer associated with the mobile robotic device is used to perform various actions. Namely, in a tracking mode, a face detection method and the output from the color video camera is used to detect potential persons in an environment. In addition, a motion detection method and the output from the depth video camera is also used to detect potential persons in the environment. Detection results obtained using the face and motion detection methods are then fused and used to determine the location of one or more persons in the environment. Then, in a following mode, a mobile robotic device following method is used to follow a person whose location was determined in the tracking mode.

Abstract: A manipulator configuration according to the invention comprises at least one manipulator and at least one control device and features a mechanical energy storage device, which is configured for storing mechanical energy of at least one manipulator.

Abstract: A controller determines a set of solutions to an inverse kinematic relationship relating received three axes position and orientation requirements defining a tool control point (TCP) of a robotic manipulator, the robotic manipulator including at least seven revolute joints, to a respective angular position of each of the seven revolute joints. The set of solutions specifies, in terms of an angular position of a first revolute joint proximate to a proximal end of the robotic manipulator, at least one set of angular positions of the second, third, fourth, fifth, sixth and seventh revolute joints. The set of solutions results from solving only closed-form mathematical expressions.

Abstract: In one embodiment, planning a robot grasp of an object includes determining a grasp type that would be used by a human being to grasp the object, determining a position and orientation of the human being's thumb relative to the object, and planning the robot grasp based upon the determined grasp type and thumb position and orientation.

Abstract: The invention provides a method and a device capable of precisely and simply extracting data used for abnormality determination and life diagnosis of a drive system of an industrial robot while executing a normal action program. Regarding a torque signal Tf outputted from a motor driver for controlling a motor in accordance with a position command Xs generated based on an operation program of a robot to the motor, a highpass filter is applied after gravity compensating torque and interference torque due to other shafts of the robot are removed from the torque signal Tf, and an abnormality in a reducer is determined based on an extracted oscillating component of the reducer.