Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.

Abstract: A system and method for movement control includes a controller coupled to a computer-assisted surgical device having a first movable arm coupled to a manipulatable device having a working end and a second movable arm coupled to an image capturing device. The controller is configured to receive first configurations for the first movable arm; receive second configurations for the second movable arm; receive a plurality of images of the working end from the image capturing device; determine a position and an orientation of the working end; determine a first movable arm position and trajectory for the first movable arm; determine a second movable arm position and trajectory for the second movable arm; determine whether motion of the movable arms will result in an undesirable relationship between the movable arms; and send a movement command to the first or second movable arm to avoid the undesirable relationship.

Abstract: A medical robotic system has a robotic arm holding a medical device, and a control system for controlling movement of the arm according to operator manipulation of an input device. If the medical device is being commanded to a state exceeding a limitation by a threshold amount, then the control system disengages control of the medical device by the input device, servos the arm so that it remains in its current state, servos the input device so that it is set at a position such that a force being applied on the input device remains at its current level, requests the operator to lighten hold of the input device, sets a parameter associated with the input device upon detecting such lightened hold so that the medical device is commanded to a different state that does not exceed the limitation, and reengages control of the medical device by the input device.

Abstract: Modular components form a robotic assembly. the mod-components include modules and tools, each have a set of functions and capabilities, are rapidly configured-reconfigured to function cooperatively, creating a configurable robotic assemblage. Each mod-component incorporates a standardized connector mating with any other standardized connector in an interchangeable manner providing mechanical stability, power, and signals therebetween. Each mod-component incorporates a processor, data storage for mod-component identity, status, and programmable functionality, and for responding to commands. Storage is reprogrammed while the robot is operational, altering both commands and responses. After interconnection, inter-module power and communication are established and each modular component identifies itself and its functionality, thereby providing “plug and play” configuration.

Abstract: A method of determining a robot place location for a robot, the robot adapted to transport a substrate. The method comprises moving a calibration fixture past one or more edge sensors along a calibration path offset from and substantially parallel to a nominal transport path; determining robot locations when an edge of the calibration fixture changes a state of the one or more edge sensors; determining one or more sensor locations of the one or more edge sensors based on the robot locations; transporting the substrate along the nominal transport path past the one or more edge sensors to a target location; determining the robot place location based on the sensor locations; and placing the substrate at the target location with the robot located at the robot place location.

Abstract: A substrate transport apparatus including a frame, at least one arm link rotatably connected to the frame and a shaftless drive section. The shaftless drive section including stacked drive motors for rotating the at least one arm link relative to the frame through a shaftless interface, each of the stacked drive motors including a stator having stator coils disposed on a fixed post fixed relative to the frame and a rotor substantially peripherally surrounding the stator such that the rotor is connected to a respective one of the at least one arm link for rotating the one of the at least one arm link relative to the frame causing an extension or retraction of the one of the at least one arm link, where the stacked drive motors are disposed in the at least one arm link so that part of each stator is within a common arm link.

Abstract: A movement operation system for autonomous moving cleaning apparatus comprises a charging dock and an autonomous moving cleaning apparatus. The charging dock includes a charging module and an infrared ray emitter. The autonomous moving cleaning apparatus includes a battery, at least one servomotor, an infrared ray receiver and a microcontroller unit. The infrared ray receiver receives an encrypted infrared signal emitted by the infrared ray emitter and sends the encrypted infrared signal to the microcontroller unit for decoding. The microcontroller unit detects whether the present voltage of the battery is higher than a charge voltage of the charging module, and generates a control signal to control the servomotor to move the autonomous moving cleaning apparatus away from the charging dock or to the charging dock for charging the battery.

Abstract: A robot, which may accurately detect whether or not the robot is gripping an object, even without a tactile sensor, as a result of using a sorter that utilizes a torque generated from a joint of a hand and the shape of the hand as feature data, and a control method for the robot includes a state sensing unit to sense a state of the robot, a feature vector producing unit to extract feature data from the state sensing unit and to produce a feature vector using the feature data, and a learning-based data sorter to judge an operating state of the robot using the feature vector produced by the feature vector producing unit and to output the judged result.

Abstract: A robot and method of controlling the same are provided. The robot includes a hand and an arm, a grip sensor unit configured to enable the hand to sense an object, a grip control unit configured to determine whether the hand grips the object from gripping information obtained from the grip sensor unit, select an object-based coordinate to control the hand and the arm based on a motion of the object or an independent coordinate to independently control the hand and the arm according to a result of the determination, and control the hand and the arm based on the selected coordinate, and a coordinate transformation unit configured to calculate a position and a direction of a virtual object based on the object-based coordinate, and deliver information about the position and the direction of the virtual object calculated to the grip control unit.

Abstract: It comprises a supporting structure in which at least one arm is slidably attached. Each arm comprises first and second members hinged to each other. The first member is rotatably hinged to the supporting structure and it can be rotated about a longitudinal axis and the second member may receive a joint having at least two degrees of freedom for attaching a tool. The longitudinal axis of the first member is substantially perpendicular to an axis joining the first member and the second member to each other. A simplified architecture is obtained allowing for accurate and efficient spatial movement of the tool holding arm.

Abstract: Provided is a method of controlling a seven-axis articulated robot including seven joints sequentially arranged from a proximal end of the robot to a distal end of the robot, the seven joints including rotational axes each causing a next joint to turn and rotational axes each causing a next joint to pivot, such that the rotational axes causing turning and the rotational axes causing pivoting are arranged alternately, the seven-axis articulated robot being configured such that rotational axes of three proximal end side joints of the robot do not intersect with each other at one point. The method includes performing inverse transformation using, as a constraint condition, such a joint angle of a middle joint among the three joints as to cause an assumed elbow angle to be constant in a case where a rotational axis of the middle joint is assumed as a shoulder.

Abstract: Disclosed herein is a method of obtaining the intended manipulation torque of a user for a wearable robot. The method allows the wearable robot, the motion of each joint of which is operated by a motor and which is capable of measuring a variation in current in the motor of each joint and calculating a torque at each joint, to simply and rapidly extract the intended manipulation torque of the user using both an acceleration value (e.g., measured by an acceleration sensor installed on a gripper), and the current variation of the motor, in a state in which the wearable robot does not know the weight of a weight object to be lifted with the gripper. Accordingly, the wearable robot may be suitably controlled at a comparatively lower cost.

Abstract: (A) One or both of an object and a robot are measured by measuring units to acquire sensor information. (B) The internal state of one or both of the object and the robot is predicted and updated by a state estimation unit on the basis of the sensor information. (C) The internal state is stored by a data storage unit. (D) The robot is controlled by a robot control unit. At (B), the internal state is updated by the state estimation unit at an arbitrary timing that is independent of the control cycle of the robot. At (D), a prediction value necessary for controlling the robot is calculated by the robot control unit at a control cycle on the basis of the latest internal state stored in the data storage unit.

Abstract: Control programs for robotic systems are synchronized through the use of synchronization objects which control access to shared resources and allow for sequencing of events in separate program threads. Where necessary, partner objects generate between control programs and synchronization objects to assure uniform interaction between control program threads and synchronization objects. As all synchronization objects contain searchable partner lists, actual simulated and runtime deadlocks including any type of synchronization object can be detected, and the full system can be analyzed to identify potential deadlocks.

Abstract: A distal end of a manipulator having a redundancy is constrained so as to leave one degree of freedom, an attitude of the manipulator is changed into a plurality of attitudes that are allowed by the redundancy by outputting joint position command values from a controller to servomotors that drive links that constitute the manipulator of which the distal end is fixed, and calibration is performed by obtaining parameter deviations of a robot constant of the manipulator on the basis of the joint position command values and actual measured values from rotary encoders, which are respectively provided at the servomotors, after each attitude change.

Abstract: The invention relates to a singulator, constituted by a converger module (2), a diverger module (10) and a selector module (17) arranged sequentially. The loose articles (5) in inlet to the converger module (2) are converged towards a first central zone (7) by two adjacent roller planes. The articles resting on the central zone (7) are advanced towards a central zone (13) of a diverger module (10) and are then transported towards the outlet station (12) thereof; conversely, the articles arranged laterally with respect to the central zone (13) of the diverger module (10) are laterally distanced by means of two corresponding roller planes having rollers with inclined axes up to striking on two respective lateral walls (42, 43) suitable for moving the articles received restingly towards the outlet station (12).

Abstract: A robotic surgery system for supporting a patient and a robotic surgical manipulator. The robotic surgery system includes a base, a pillar coupled to the base at a first end and extending vertically upwardly to an opposing second end, and an attachment structure coupled to the second end of the pillar. A patient table is coupled to the attachment structure. A robot support arm has a first end coupled to the attachment structure. The robot support arm extends vertically upwardly from the first end to a second end. The robot support arm may further extend horizontally over the patient table to support a robotic surgical manipulator that will extend generally downward from the robot support arm toward a patient supported by the patient table to place an end effector of the robotic surgical manipulator adjacent a desired surgical site on the patient.

Abstract: A gripper apparatus and its control method are provided. The gripper apparatus includes at least one gripper unit, and each gripper unit is configured with a first connecting rod and a second connecting rod. In addition, there is an elastic part disposed at the joint of the first and the second connecting rods, an encoder and a controller. Thereby, the controller is enabled to control the gripper apparatus to move toward an object in a first mode so as to enable the gripper unit to engage the object and thus exert a force upon the object. Consequently, the elastic part is deformed and the deformation of the elastic part is measured and encoded by the encoder into a force information to be transmitted to the controller for enabling the controller to switch the control of the gripper apparatus into a second mode according to the force information.

Abstract: A method for estimating a connection order of modules in a robot including the modules each having a joint as a basic unit. Since a device and a program are connected by software and thus a joint and program are connected by software, it is possible for a user to control robot joints without being aware of the connection relationship between the devices and the joints in the modular robot in which the plurality of modules each including a movable joint as a basic unit is connected.

Abstract: Some embodiments provide a human and robot distributed operating system (HaRD-OS). The HaRD-OS efficiently and dynamically connects different human operators and algorithms to multiple remotely deployed robots based on the task(s) that the robots are to complete. Some embodiments facilitate an action/perception loop between the operators, algorithms and robots by routing tasks between human operators or algorithms based on various routing polices including operator familiarity, aptitude, access rights, end user preference, time zones, costs, efficiency, latency, privacy concerns, etc. In the event of a fault, some embodiments route to the best operator or algorithm that is able to handle the particular fault with the required privileges. Some embodiments secure task guarantees to be completed at particular times, priorities or costs.

Abstract: A manipulator and a method of generating the shortest path along which the manipulator moves to grip an object without collision with the object models a target object and a gripper into a spherical shape, measures a current position of the gripper and a position of the target object and a target position of the gripper, calculates an arc-shaped path in a two-dimensional plane along which the gripper needs to move by calculating an included angle of a triangle consisting of the position of the object and the current position and target position of the gripper, transforms the arc-shaped path in the two-dimensional plane into an arc-shaped path in a three-dimensional space using a transform matrix consisting of the position of the object and the current position and target position of the gripper, thereby automatically generating the shortest path of the manipulator.

Abstract: A controller for a substrate transport apparatus. The controller includes a first system and a second system for at least partially controlling a movement of a motor of the substrate transport apparatus. The first system is configured to control the movement of the motor based upon a signal from a position sensor. The position sensor outputs the signal based upon a position of a rotor of the motor relative to a stator of the motor. Torque output of the motor is at least partially controlled based upon the signal from the position sensor. The second system for at least partially controlling the movement of the motor is based upon expected disturbances during movement of an arm of the substrate transport apparatus by the motor, where the second system is configured to at least partially increase and/or decrease the torque output of the motor by first system.

Abstract: The present technology is directed to motion and video capture for tracking and evaluating robotic surgery. In one embodiment, the system includes at least one tracking device coupled to a remote surgical tool. The tracking device is configured to use one or more sensors to sense one or more physical variables such as movement and electrical contact. In some embodiments, the data from multiple individual sensors is synchronized, received, and stored by a digital information system. The digital information system is configured to analyze the data to objectively assess surgical skill.

Abstract: A surgical system performs a surgical procedure on a patient with manipulators and an endoscope. The surgical system has a display unit for simultaneously displaying a plurality of items of information including an endoscopic image captured by the endoscope, and a wireless image processor for transmitting information to the display unit and processing the plurality of items of information to be displayed by the display unit. The information about the endoscopic image is transmitted from the endoscope to the wireless image processor through a link including at least a portion based on wireless communications.

Abstract: A robot mechanism for controlling the position of a machine tool in a large-scale manufacturing assembly includes six rotary axes and one linear axis. Secondary feedback systems are included on at least several of the axes. A controller receives secondary feedback information and uses it to control the position of the machine tool within an accuracy of ±0.3 mm.

Abstract: End effectors with closing mechanisms, and related tools and methods to facilitate clamping, are provided. An example surgical tool comprises a first and second jaw movable between a closed grasped or clamped configuration and an open configuration. The tool further comprises a soft grip mode for grasping the tissue at a first force during which a separation parameter between the jaws is measured, and a therapeutic clamping mode in which the jaws clamp on the body tissue at a force greater than the grasping force. The methods comprise grasping the body tissue between jaw members, measuring the separation parameter between jaws, indicating on a user interface the separation parameter for comparison to a desired separation parameter, and then releasing the body tissue for repositioning or therapeutically clamping the body tissue in response to the separation parameter indication.

Abstract: Robotic payloads are abstracted to provide a plug-and-play system in which mission specific capabilities are easily configured on a wide variety of robotic platforms. A robotic payload architecture is presented in which robotic functionalities are bifurcated into intrinsic capabilities, managed by a core module, and mission specific capabilities, addressed by mission payload module(s). By doing so the core modules manages a particular robotic platform's intrinsic functionalities while mission specific tasks are left to mission payloads. A mission specific robotic configuration can be compiled by adding multiple mission payload modules to the same platform managed by the same core module. In each case the mission payload module communicates with the core module for information about the platform on which it is being associated.

Abstract: Methods, computer readable media, and apparatuses provide robotic explosive hazard detection. A robot intelligence kernel (RIK) includes a dynamic autonomy structure with two or more autonomy levels between operator intervention and robot initiative A mine sensor and processing module (ESPM) operating separately from the RIK perceives environmental variables indicative of a mine using subsurface perceptors. The ESPM processes mine information to determine a likelihood of a presence of a mine. A robot can autonomously modify behavior responsive to an indication of a detected mine. The behavior is modified between detection of mines, detailed scanning and characterization of the mine, developing mine indication parameters, and resuming detection. Real time messages are passed between the RIK and the ESPM. A combination of ESPM bound messages and RIK bound messages cause the robot platform to switch between modes including a calibration mode, the mine detection mode, and the mine characterization mode.

Abstract: A robot arm apparatus includes an arm mechanism including a base member and a link pivotally connected to the base member for pivotal motion in a horizontal plane through a rotational shaft. The link holds a regular circular transport object at its distal end. The apparatus also includes an edge detector, provided on the base member, that detects two edges of the regular circular transport object as the link pivotally rotates with respect to the base member, a pivotal angle detector that detects a pivotal angle of the link with respect to the base member, and a center position calculator that calculates a center position of the regular circular transport object with respect to the link. The calculation is based on two pivotal angles detected by the pivotal angle detector when the edge detector detects the two edges of the regular circular transport object.

Abstract: Disclosed is a mobile robot and a controlling method of the same. An entire movement region is divided into a plurality of regions, and a partial map is gradually made by using feature points of a plurality of images of the divided regions. Then, the map is compensated into a closed curved line, thereby making an entire map. Furthermore, when the mobile robot is positioned at a boundary of neighboring regions of the cleaning region, the boundary where a closed curved line is formed, the mobile robot compensates for its position based on a matching result between feature points included in the map, and feature points extracted from images captured during a cleaning process.

Abstract: A method for verifying completion of a task is provided. In various embodiments, the method includes obtaining location coordinates of at least one location sensor within a work cell. The at least one sensor is affixed to a tool used to operate on a feature of a structure to be assembled, fabricated or inspected. The method additionally includes, generating a virtual object locus based on the location coordinates of the at least one location sensor. The virtual object locus corresponds to a computerized schematic of the structure to be assembled and represents of all possible locations of an object end of the tool within the work cell. The method further includes, identifying one of a plurality of candidate features as the most likely to be the feature operated on by the tool. The identification is based on a probability calculation for each of the candidate features that each respective candidate feature is the feature operated on by the tool.

Abstract: A robotic surgical system includes a master controller with an input handle and robotic manipulator assemblies including a surgical end effector and an endoscopic camera. The input handle is translatable to provide a position and rotatable to provide an orientation. A control system couples the master controller to the first and second manipulator assemblies. The control system moves the surgical end effector in response to the position and orientation of the input handle. The control system moves the input handle to orient the input handle to correspond to an orientation of the surgical end effector from a viewpoint of the endoscopic camera during the repositioning of at least one of the input handle position, the end effector, or the endoscopic camera. The control system may move the surgical end effector only in a first mode and orients the input handle only in a second mode.

Abstract: In a 6-axis robot, as an example, an inter-axis offset can be measured and calibrated. A light emitting diode is installed on an end effector, and the end effector is located on a plurality of target positions of movement on the axis X (Xb) of a robot coordinate. Then, the position of the light emitting diode is measured by a three-dimensional gauge, and an inter-axis offset F is detected based on an error between the target positions of movement and actually moved positions. For the inter-axis offset F, DH parameters are calibrated.

Abstract: A latch mechanism selectively retains a first assembly to a second assembly. The first and second assemblies are configured for sliding engagement along an engagement axis. The latch mechanism includes a latch shaft mounted to the first assembly to rotate about a latch shaft axis, a torsion spring to bias the latch shaft relative to the first assembly, and a transverse latch member coupled with the second assembly. The latch mechanism is configured to automatically latch in response to the first assembly being pushed toward the second assembly. The transverse latch member interacts with the latch shaft to rotate the latch shaft in a first direction in response to movement of the first assembly toward the second assembly. Further motion of the first assembly toward the second assembly results in rotation of the latch shaft opposite to the first direction into a retention configuration that retains the transverse latch member.

Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.

Abstract: An articulated instrument is controllably movable between areas of different work space limits, such as when it is extendable out of and retractable into a guide tube. To avoid abrupt transitions in joint actuations as the joint moves between areas of different work space limits, a controller limits error feedback used to control its movement. To provide smooth joint control as the instrument moves between areas of different work space limits, the controller imposes barrier and ratcheting constraints on each directly actuatable joint of the instrument when the joint is commanded to cross between areas of different work space limits.

Abstract: A robot which is able to complete all or a part of desired operations and take a safety countermeasure in order to prevent an unexpected result from being obtained, even when a power source of a motor-based robot is unintentionally and suddenly cut off. A method of controlling a robot, which includes a main power source, a subsidiary power source and a motor to receive power from at least one of the main power source and the subsidiary power source, includes driving the motor using power supplied from the subsidiary power source if power supplied from the main power source is cut off, selecting at least one of a plurality of safety control modes to stably control the robot in consideration of a current state of the robot, and controlling the robot to operate in the selected safety control mode.

Abstract: Disclosed herein are a robot capable of recovering from a failure of one of a plurality of symmetrically structured modules, and a recovery method thereof. When a hardware or software failure occurs, the robot recovers by itself by replacing the failed module with another corresponding module. Accordingly, resources of the robot can be more efficiently utilized.

Abstract: Systems and methods are described for providing selective biasing of a platform in context of one or more modules. While moving in the Z-direction with respect to the modules, the platform travels in an unbiased manner. For example, one or more alignment features on the platform are engaged with one or more alignment features on the modules to allow the platform to substantially float within an X-Y region defined by the alignment features. When the platform reaches its desired Z-location, magnetic features bias the platform into a substantially locked and repeatable X-Y position (e.g., using permanent magnets and/or electromagnets). In some embodiments, the platform is locked into an accurate position to allow a robotic mechanism of a storage library to move around efficiently within the modules while still being able to perform operations that involve accurate positioning (e.g., pick and place operations on media cartridges).

Abstract: A system including a mobile telepresence robot, a telepresence computing device in wireless communication with the robot, and a host computing device in wireless communication with the robot and the telepresence computing device. The host computing device relays User Datagram Protocol traffic between the robot and the telepresence computing device through a firewall.

Abstract: A sensor suite for a vehicle, the sensor suite comprising a 3D imaging system, a video camera, and one or more environmental sensors. Data from the sensor suite is combined to detect and identify threats during a structure clearing or inspection operation. Additionally, a method for detecting and identifying threats during a structure clearing or inspection operation. The method comprises: gathering 3D image data including object range, volume, and geometry; gathering video data in the same physical geometry of the 3D image; gathering non-visual environmental characteristic data; and combining and analyzing the gathered data to detect and identify threats.

Abstract: It is possible to perform robot motor learning in a quick and stable manner using a reinforcement learning apparatus including: a first-type environment parameter obtaining unit that obtains a value of one or more first-type environment parameters; a control parameter value calculation unit that calculates a value of one or more control parameters maximizing a reward by using the value of the one or more first-type environment parameters; a control parameter value output unit that outputs the value of the one or more control parameters to the control object; a second-type environment parameter obtaining unit that obtains a value of one or more second-type environment parameters; a virtual external force calculation unit that calculates the virtual external force by using the value of the one or more second-type environment parameters; and a virtual external force output unit that outputs the virtual external force to the control object.

Abstract: A walking robot and a control method in which conversion between walking servo control methods is stably carried out. The walking robot includes a sensor unit to measure angles and torques of joints, and a control unit to calculate voltages applied in a Finite State Machine (FSM) control mode and a Zero Moment Point (ZMP) control mode according to the angles and torques of the joints to drive respective joint motors, to store last target joint angles in the FSM control mode during conversion from the FSM control mode to the ZMP control mode, and to perform a motion based on the FSM control mode by substituting the last target joint angles in the FSM control mode for target joint angles in the FSM control mode during conversion from the ZMP control mode to the FSM control mode, thereby performing stable conversion between walking servo control modes without joint sagging.

Abstract: A motion path search device which searches for a motion path of a movable part of a robot capable of being taught a motion by direct teaching in which the robot is directly moved by an operator includes: a first space identification unit which identifies a space swept through by the movable part of the robot in the direct teaching; a second space identification unit which identifies a space swept through by at least a portion of a body of the operator in the direct teaching; a space combining unit which calculates, as an accessible space, a union of the space identified by the first space identification unit and the space identified by the second space identification unit; and a path search unit which searches for a motion path of the movable part within the accessible space calculated by the space combining unit.

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.

Abstract: A process includes defining, in a memory, arm-occupied regions including robot arms and a workpiece and tool attached to a robot wrist, a virtual safety protection barrier with which the arms are not allowed to come into contact, and movable ranges of robot axes; estimating the coasting angle of each robot axis for which the axis will coast when the robot is stopped due to an emergency stop while moving to a next target position, from an actually measured amount of coasting and the like; determining a post-coasting predicted position of the robot by adding the estimated coasting angles to the next target position; checking whether or not the arm-occupied regions at the post-coasting predicted position will come into contact with the virtual safety protection barrier, or whether or not the robot axes are within the movable ranges; and performing control to stop the robot immediately upon detection of abnormality.

Abstract: This disclosure relates to enhanced control of user configurable devices, such as robots. One system may include a user-configurable device and an on-vehicle programmable controller coupled to the user-configurable device. This system may further include a wireless receiver coupled to the on-vehicle programmable controller via one signal wire, where a substantial portion of the receiver-controlled communications occur using the one signal wire. Another system may include (alternatively or in combination as appropriate) a user-configurable device including an on-vehicle programmable controller and a first tether port. The system may also include a remote control transmitter with at least one wireless output and a second tether port, where the transmitter is communicably coupled to the user-configurable remote control device.

Abstract: Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.

Abstract: A programmable robot system includes a robot provided with a number of individual arm sections, where adjacent sections are interconnected by a joint. The system furthermore includes a controllable drive mechanism provided in at least some of the joints and a control system for controlling the drive mechanism. The robot system is furthermore provided with user a interface mechanism including a mechanism for programming the robot system, the user interface mechanism being either provided externally to the robot, as an integral part of the robot or as a combination hereof, and a storage mechanism co-operating with the user interface mechanism and the control system for storing information related to the movement and further operations of the robot and optionally for storing information relating to the surroundings.