Abstract: An intelligent foot of a humanoid robot, which enables the robot to safely walk in balance even on the irregular ground, is disclosed. The walking robot's foot includes a backpart unit with a leg which is rotatably installed at the center thereof, and a forepart unit which is rotatably connected to the front of the backpart unit by a foot part connector, wherein 6-axis force/moment sensors are installed on the bottom of the backpart unit and the bottom of the forepart unit, respectively. Further, walking robot's foot includes a backpart unit with a leg which is rotatably installed at the center thereof, and at least two toes which are rotatably connected to the front of the backpart unit by foot part connectors, wherein a 6-axis force/moment sensor is installed on the bottom of the backpart unit, and short shaft sensors are installed on the bottom of the toes.

Abstract: A method and apparatus allowing a mobile robot to return to a designated location the method including: calculating a first direction angle of the mobile robot at a second location arrived at after the mobile robot travels a predetermined distance from the first location; determining whether the mobile robot approaches or moves away from the designated location, at a third location arrived at after the mobile robot rotates by the first direction angle and then travels a predetermined distance; and if the result of the determination indicates that the mobile robot approaches the docking station, controlling the mobile robot to travel according to the first direction angle, and if the result indicates the mobile robot moves away from the docking station, calculating a second direction angle of the mobile robot at the third location, and controlling the mobile robot to travel according to the second direction angle.

Abstract: A surface of a workpiece is traced when a machining tool is pressed onto the surface of the workpiece under force control so as to find the positional data of the surface shape. This positional data is corrected by an error caused by a bend of a robot. The positional data is compared with the target shape of the surface, from which the burr is removed. A shift of the surface shape in the normal line direction is found. The burr generation start position, the burr generation end position and the height of the burr are found by the shift start position, the shift end position and the shift size. A machining program is made which is composed of a pass connecting the burr end position with the burr start position and also composed of a cutting pass for removing the burr, and the thus made machining program is executed. As the burr position is found and the burr is removed when the machining tool is moved to the burr position, the burr can be effectively removed.

Abstract: The method is for interacting with a wearable interactive device. A pathway extends through an interactive device that is non-slidably attached to the pathway. The pathway has a first end and a second end. At least one end of the pathway is attached to a body of a user. The user accelerates the device in a first direction. A sensor senses the acceleration in the first direction. The sensor triggers a motor to move gears so that the device travels towards the first end of the pathway. The user accelerates the device in a second opposite direction. The sensor triggers the device to move towards the second end of the pathway.

Abstract: The system includes a sensor for detecting a state of a space; a robot for executing a handling job for an article; an article identifying part for identifying, when an article is handled by a movable body, the article in response to a detection result obtained by the sensor; and an article handling subject identifying part for identifying an article handling subject that handles the article. When the movable body that handles the article is the robot, the article handling subject identifying part identifies a subject having issued a job instruction to the robot as the article handling subject.

Abstract: A desired gait is generated so as to satisfy a dynamical equilibrium condition concerning the resultant force of gravity and an inertial force applied to a legged mobile robot 1 using a dynamics model which describes a relationship among at least a horizontal translation movement of a body 24 of the robot 1, a posture varying movement in which the posture of a predetermined part, such as the body 24, of the robot 1 is varied while keeping the center of gravity of the robot 1 substantially unchanged and floor reaction forces generated due to the movements and is defined on the assumption that a total floor reaction force generated due to a combined movement of the movements is represented as a linear coupling of the floor reaction forces associated with the movements. The dynamics model represents movements as a movement of a body material particle or the like and a rotational movement of a flywheel.

Abstract: A robot obstacle detection system including a robot housing which navigates with respect to a surface and a sensor subsystem aimed at the surface for detecting the surface. The sensor subsystem includes an emitter which emits a signal having a field of emission and a photon detector having a field of view which intersects the field of emission at a region. The subsystem detects the presence of an object proximate the mobile robot and determines a value of a signal corresponding to the object. It compares the value to a predetermined value, moves the mobile robot in response to the comparison, and updates the predetermined value upon the occurrence of ah event.

Abstract: In a legged mobile robot (1), each leg (2) has at least a first joint (16) and a second joint (18, 20) located below the first joint in the gravitational direction, and the actuator that drives the second joint (54, 56) is located at least one of a position same as that of the first joint and a position (28) above the first joint in the gravitational direction. With this, it becomes possible to lighten the weight of the ground-contacting ends of the legs and thereby provide a legged mobile robot enabling reduction of the inertial forces occurring in the legs during moving, particularly during high-speed moving.

Abstract: A robot cleaner is provided. The robot cleaner comprises a bumper to buffer a shock caused by a sudden collision with an unexpected obstacle and an unexpected obstacle detecting means and a controller to change a running direction of the robot cleaner to avoid the obstacle. Accordingly, when an unexpected obstacle appears in front of the cleaner and the cleaner collides with the obstacle, the bumper buffers and absorbs the shock, thereby preventing damage to a cleaner body and inner parts. Also, the robot cleaner can avoid the obstacle and, thus, complete a cleaning operation without stopping the cleaning operation.

Abstract: A device for finding a home position of a moveable member includes a magnet mounted on the moveable member and two switch-type Hall effect detectors, one on each side of the home position and equally spaced from the home position. The device includes a device for measuring movement of the moveable member and a microprocessor with a memory that receives information from the two Hall effect detectors and the device for measuring movement.

Abstract: Disclosed are a foot of a walking robot, which minimizes tilting of a sole of the foot and reduces a degree of freedom to easily control the walking of the robot, and a walking robot having the same. The foot includes a frame connected to a lower portion of a leg of the walking robot; and a plurality of impact absorbing plates having elasticity respectively connected to two sides of the frame such that the impact absorbing plates are separated from each other. Each of the impact absorbing plates includes a separation part connected to the frame and separated from a ground surface, a front ground part extended forward from the separation part and contacting the ground surface, and a rear ground part extended backward from the separation part and contacting the ground surface.

Abstract: A control apparatus (10) for a machining robot (1) adapted to machine a workpiece (20) by coming into contact with an effector (19) of a tool (18) attached to the machining robot with the workpiece comprises: detecting means (15) for detecting a force or moment acting between the effector of the tool and the workpiece; converting means (22) for converting the force or moment detected by the detecting means into a force or moment acting on the joint axis of the machining robot; deflection calculating means (25) for calculating a deflection occurring at the joint axis of the machining robot on the basis of the force or moment acting on the joint axis of the machining robot and obtained from the converting means; and correcting means (28) for correcting at least one of a position command or a speed command for the joint axis of the machining robot in such a manner as to compensate for the deflection calculated by the deflection calculating means.

Abstract: In a robotic assembly, a body adapted for mounting on an arm is provided. A connection is adapted to couple the body and an end effector to allow deflection of the end effector with respect to the body between an open position and a closed position. A conduit allows fluid flow between the body and the end effector. A seal is adapted to engage the conduit to provide a fluid seal when the end effector is in the closed position and allow fluid flow when the end effector is in the open position. Further, end effector deflection can be detected based on the fluid flow and utilized to regulate movement of the robotic assembly.

Abstract: A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.

Abstract: A legged mobile robot can calculate the movement amount between a portion of the robot apparatus that had been in contact with a floor up to now and a next portion of the robot apparatus in contact with the floor using kinematics and to switch transformation to a coordinate system serving as an observation reference as a result of the switching between the floor contact portions.

Abstract: A method for calibrating a controller of a robotic arm in a microelectronics manufacturing apparatus that includes storing a default position for an edge detector, moving a blade on the robotic arm based on the default position of the edge detector such that at least three edge points on the blade pass through and are detected by the edge detector, generating a plurality of arm position measurements from an arm position sensor by measuring a position with the arm position sensor of the robotic arm at each position of the robotic arm at which an edge point of the blade is detected by the edge detector, and determining at least one of an actual position of the edge detector and an offset for measurements of the arm position sensor based on the plurality of arm position measurements.

Abstract: Candidate character strings representing objects disposed in a work cell, models for robot operation instructions which has variable parts, and robot commands related to the objects are defined in advance. By inputting a query such as ‘Workpiece 1 ?’ by voice, the object concerned is indicated by a display color so that the work cell can be confirmed. Models for operation instructions and a program to be edited are displayed to allow an operator to select the portion to be edited. When an operation instruction is input by voice in the model pattern, candidate character strings are assigned to the variable parts of the model. A completed statement that matches the voice-recognized statement is found, the robot operation commands defined for the objects are displayed, and the robot operation is displayed on the screen. The operation commands are inserted at the desired location in the program.

Abstract: A mobile robot contains a movable robot body, arms provided on the movable robot body, each of the arms having a multiple joint structure including plural joints, an actuator for actuating each of the joints and shaft torque sensors incorporated in each of the joints to detect a torque from the actuator at an output shaft of each of the joints, and a controller provided in the robot body to determine whether each of the arms is in contact with or in collision with a peripheral obstacle or obstacles based on change of an output from the shaft torque sensors and control an operation of each of actuators of each arm.

Abstract: A computer in a transport system includes: a shooting part for shooting a first calibration tray by controlling a camera; a tray position computing part for computing a tray position of the first calibration tray within a captured image which the shooting part shot; a hand position acquisition part for acquiring a hand position indicative of a position of the hand robot of when the hand robot installs onto the first calibration tray a first transported article used for calibration; a calibration part for computing a calibration data based on the tray position and the hand position; and a transported article installing part which, when the mobile robot reached a predetermined arrival area, controls, based on the calibration data, the hand robot so as to install a second transported article onto a second tray, the second tray which the mobile robot being provided with.

Abstract: A robot system efficiently performing an operation of moving a robot to close to and/or separate from a target point, such as teaching operation. A camera of a visual sensor is mounted to the robot such that a distal end of an end effector is seen within the field of view of the camera, and the end effector's distal end and a target position on an object are specified on a monitor screen. When an approach key is depressed, a target position is detected on an image, and a difference from a position of the end effector's distal end is calculated. Whether the difference is within an allowable range is checked. Depending on the result, an amount of robot motion is calculated, and the robot is operated. The processing is repeated until the depressed approach key is released. When a retreat key is depressed, the robot moves away from the object. The robot may be caused to stop using a distance sensor.

Abstract: An object of the present invention is to provide a robot apparatus and a walking control method thereof capable of changing walking control modes in accordance with floor surfaces by discriminating states of the floor surfaces for walking without modifying a step-based walking schedule and capable of providing stable walking even if floor surface states change greatly. A robot apparatus comprises: an action control section 11 to output a walking start instruction; a floor surface discrimination section 12 to discriminate a category for a current floor surface; and a walking control section 13 to compute an adaptive operation amount. The walking control section 13 obtains sensor values of a foot sole sensor and the like from the current floor surface by means of an in-place stepping motion and the like. Based on the sensor value, the walking control section 13 computes the adaptive operation amount as a correction amount from a standard gait model.

Abstract: Realized is a robot controller capable of handling a large amount of data of images and so on necessary for advanced intelligence of control while securing a real-time performance with a simple structure. For this purpose, there are provided a motion control device for performing a calculation process for achieving motion control of an object to be controlled, a recognition and planning device for performing task and motion planning of the object to be controlled and recognition of outside world, an input/output interface for outputting a command to the object to be controlled and receiving as input, a state of the object to be controlled, and a route selecting device for controlling communications by switching connections among the motion control device the recognition and planning device, and the input/output interface.

Abstract: It is arranged such that displacement sensors (70) are installed at a position in or vicinity of elastic members (382), to generate outputs indicating a displacement of the floor contact end of a foot (22) relative to a second joint (18, 20), and a floor reaction force acting on the foot is calculated based on the outputs of the displacement sensors by using a model describing a relationship between the displacement and stress generated in the elastic members in response to the displacement, thereby enabling to achieve accurate calculation of the floor reaction force and more stable walking of a legged mobile robot (1). Further, a dual sensory system is constituted by combining different types of detectors, thereby enabling to enhance the detection accuracy. Furthermore, since it self-diagnoses whether abnormality or degradation occurs in the displacement sensors etc. and performs temperature compensation without using a temperature sensor, the detection accuracy can be further enhanced.

Abstract: A two-wheeled inverted robot of the present invention includes a body, two wheels coaxially arranged on the body, a drive device for driving each of the wheels, first state detection means for detecting at least one of an inclination angle and an inclination angular speed of the body, second state detection means for detecting at least one of a rotation angle and a rotational angular speed of the wheel, body constraint recognizing means for detecting whether or not body rotation is constrained, and control means for determining a command value to the drive device. Based on the detection result by the body constraint recognizing means, the control means determines the command value for changing a ratio of a torque contributing to the body rotation.

Abstract: Disclosed are an automatic charging apparatus of an autonomous mobile robot and an automatic charging method using the same in that a moving robot can automatically detect infrared signals emitted from a charging station and can automatically induce charging station so as to automatically charge a battery of the robot, whereby improving convenience thereof.

Abstract: An actuating drive (60), that can be fed by a battery (6), for an actuator (5) comprises a drive unit (61) for operating the actuator (5), and a control unit (62), capable of communicating with an external station (70) in a wireless fashion, for controlling the drive unit (61). The control unit (62) can be fed via a voltage regulator (64) connected to the battery (6), while the drive unit (61) is directly connected to the output voltage (UB) of the battery (6). The energy consumption of the actuating drive (60) can be optimized in order to achieve a long service life for the battery.

Abstract: Disclosed herein is a device for detecting lift of an autonomous mobile robot. The device comprises at least one detection unit to detect lift of the main body of the robot during driving of the robot and to generate and output the lift detection signal, and a controller to control driving of the robot, and to output the driving stop signal to a driving motor after generating a driving stop signal for stopping driving of the robot according to the lift detection signal transmitted from the detection unit. When the robot is lifted by a user, the device stops driving of the motor in response to the lift of the robot, thereby eliminating additional operation of the user to stop driving of the robot as well as protecting the user.

Abstract: A motion equation with a boundary condition regarding a future center-of-gravity horizontal trajectory of a robot is solved so that the moment around a horizontal axis at a point within a support polygon is zero when the robot is in contact with a floor or so that horizontal translational force is zero when the robot is not in contact with the floor and so that connection is made to a current horizontal position and speed of the center of gravity. In addition, a motion equation with a boundary condition regarding a future center-of-gravity vertical trajectory of the robot is solved so that vertical translational force acting upon the robot other than gravity is zero when the robot is not in contact with the floor and so that connection is made to a current vertical position and speed of the center of gravity.

Abstract: A wheeled moving robot including a main body; wheels provided at least at opposite sides of the main body and configured to move the main body; an actuator configured to generate torque which rotates the wheels; a detector configured to detect whether the main body moves when the wheels rotates by the actuator; and a compensation unit configured to perform an auxiliary movement which pushes an auxiliary wheel in front or rear of the main body toward a floor based as a detection result of the detector.

Abstract: There is provided a robot system which moves a laser beam in a processing path desired by a manipulator by moving a robot in an instructed path and controlling a driving shaft of a tool. In the robot system which includes a robot 1 having a plurality of driving shafts, a tool 3 having a plurality of driving shafts and fitted on an end portion of the robot 1, a robot control device controlling the driving shafts of the robot 1 and the tool 3, and a laser oscillator 5 connected to the tool 3, the robot 1 moves the tool 3 by means of the drive of the driving shafts of the robot, the tool 3 radiates a laser beam which is incident from the laser oscillator 5 to an object by means of the drive of the driving shafts of the tool, and a robot control device 2 controls the driving shafts of the robot 1 and the driving shafts of the tool 3 in synchronization with each other.

Abstract: A piezoelectric debris sensor and associated signal processor responsive to debris strikes enable an autonomous or non-autonomous cleaning device to detect the presence of debris and in response, to select a behavioral mode, operational condition or pattern of movement, such as spot coverage or the like. Multiple sensor channels (e.g., left and right) can be used to enable the detection or generation of differential left/right debris signals and thereby enable an autonomous device to steer in the direction of debris.

Abstract: A modular robot development kit includes an extensible mobile robot platform and a programmable development module that connects to the mobile robot platform. The mobile robot platform includes a controller that executes robot behaviors concurrently and performs robot actions in accordance with robot control signals received from the development module, as modified by the concurrently running robot behaviors, as a safeguard against performing potentially damaging robot actions. Also, the user can develop software that is executed on the development module and which transmits the robot control signals to the mobile robot platform over the data communication link using a robot interface protocol.

Abstract: A permissible range of a restriction object amount, which is a vertical component of a floor reaction force moment or a component of the floor reaction force moment in floor surface normal line direction, or a vertical component of an angular momentum changing rate of the robot or a component of the angular momentum changing rate in floor surface normal line direction, is set, and at least a provisional instantaneous value of a desired motion is input to a dynamic model so as to determine an instantaneous value of a model restriction object amount as an output of the dynamic model. An instantaneous value of a desired motion is determined by correcting the provisional instantaneous value of the desired motion such that at least the instantaneous value of the model restriction object amount falls within the permissible range.

Abstract: Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.

Abstract: The characteristics of actuators themselves and the characteristics of controllers for the actuators are dynamically or statically controlled to achieve stable and highly efficient movements. In a stage in which a leg in the flight state is uplifted such that the reactive force from the floor received by the foot sole of the leg is zero, the characteristics of the respective actuators for the knee joint pitch axis and the ankle pitch and roll axes of the leg in the flight state are set for decreasing the low range gain, increasing the quantity of phase lead and for decreasing the viscous resistance of the actuators, in order to impart mechanical passiveness and fast response characteristics. The followup control for the high frequency range may be achieved as the force of impact at the instant of touchdown is buffered.

Abstract: A robot apparatus which, by exploiting limited resources highly efficiently, is capable of making expressions matched to the motion or to complex variegated feeling or instinct states, representing the crucial information in achieving smooth communication with the human being, is disclosed. A method of expression by the robot apparatus is also disclosed. The robot apparatus expresses plural states, such as emotional states or the processing states of perceptual recognition, by a light radiating device loaded at a location of the head part of the humanoid robot apparatus walking on two legs. The light radiating device includes e.g. the color hue, saturation and patterns of light emission as expressive units represented independently of one another.

Abstract: A robot for marking an encoded surface is provided. The encoded surface has coded data identifying a plurality of locations thereon. The robot has an image sensor for sensing the coded data, and a processor for generating indicating data using the coded data sensed by the image sensor. The indicating data has data regarding a position of the robot on the encoded surface. The robot uses a communication means to transmit the indicating data to a computer system and receiving instructions from the computer system. A steerable drive system moves the robot over the encoded surface in response to movement instructions received from the computer system and a marking device selectively marks the encoded surface in response to marking instructions received from the computer system.

Abstract: An interactive personalized robotic system for a home environment includes a home network in communication with at least one electronic device. A robot is in communication with the home network and is capable of controlling the at least one electronic device. The robot further includes a plurality of modules for personally communicating with a user. The user can control the robot and the at least one electronic device by communicating with the robot.

Abstract: In an abnormality detection system of a mobile robot, it is configured such that it is self-diagnosed whether the quantity of state is an abnormal value, or whether at least one of the internal sensor, etc., is abnormal and when an abnormality is self-diagnosed, abnormality information affixed with a time on which the abnormality occurred is outputted to be stored in an internal memory and in an external memory. With this, it becomes possible to improve the reliability of abnormality detection of the mobile robot and by storing the information affixed with a time on which the abnormality occurred, it becomes possible to ascertain accurately the course of events leading up to the abnormality. It is further configured such that in addition to a time on which the abnormality occurred, the information is stored in an external memory together with a parameter indicative of the quantity of state.

Abstract: A load sensor that is inoperable even when applied with a large load, has a simple structure easily designed to be lightweight and compact and can detect a load with a high accuracy, and a legged robot apparatus including the load sensor in each of legs thereof. The robot apparatus includes the load sensors counting more than one and each of which detects, as an external force, a reaction applied when the leg abuts a ground surface. The load sensor includes a diaphragm, an activating member that is applied with an external force, a driving member forming along with the activating member a double structure and which presses the pressure-sensitive portion, and an elastic member.

Abstract: There are provided device for determining a desired trajectory of a translation floor reaction force's vertical component of a legged mobile robot 1, a vertical component of the total center-of-gravity acceleration or a body acceleration vertical component of the robot 1, device for determining a desired vertical position of the total center-of-gravity of the robot 1 or a body 24 thereof so as to satisfy the desired trajectory, and means for determining a desired vertical position of the total center-of-gravity of the robot 1 or the body 24 thereof based on a geometrical condition concerning a joint of a leg 2. Depending on the gait mode, such as walking or running, one of the desired vertical positions is selected, or the desired vertical positions are combined by taking the weighted average thereof or the like, thereby determining a final desired vertical position.

Abstract: Based on a detected or estimated value of an actual posture of a predetermined part, such as a body 3, of a robot 1 and a deviation the actual posture from a posture of a desired gait, a posture rotational deviation's variation is determined as the temporal variation of the deviation, and the position of the robot 1 (for example, the position where the robot comes into contact with a floor) is estimated on the assumption that the robot 1 rotates about a rotation center by the rotational deviation's variation. In addition, in accordance with the difference between the estimated position and the estimated position of the robot 1 determined by an inertial navigation method using an accelerometer or the like, the estimated position of the robot 1 determined by the inertial navigation method is corrected, thereby improving the precision of the estimated position.

Abstract: A wireless 3D auto-offset system for robot arms is provided. The wireless 3D auto-offset monitor sensor of the system includes an electronic leveling sensor, a Z-axis optical scale, and an XY-axes CCD monitor sensor for monitor and judgment of level states, offsets, and gaps, respectively.

Abstract: A legged mobile robot, a legged mobile robot controller and a legged mobile robot control method are provided to perform a loading operation to load a gripped object in parallel on a target place having a height where a stretchable range of arm portions of the legged mobile robot is enhanced with no operator's handling. The legged mobile robot includes the arm portions having links for gripping an object, and leg portions having links for moving, and the arm and the leg portions are joined to a body thereof. The legged mobile robot controller includes a data acquisition unit, a whole-body cooperative motion control unit and a loading detection unit, and controls motions of the legged mobile robot based on posture/position data regarding a posture/position of each link of the legged mobile robot and on an external force data regarding an external force affecting the arm portions.

Abstract: An operation control unit of a reception system includes a visitor ID information DB for storing therein visitor comparison information and visitor ID information including a phone number of a receiver of a visitor; an identifying unit for identifying the visitor when visitor information obtained by a camera or the like of the robot is identical to the visitor comparison information; a phone calling module for calling the phone number of a mobile terminal of the receiver via a phone network, when the visitor is identified; an informing content determining unit for determining an informing content to the receiver based on the visitor ID information, when the visitor is identified; and a speech generating part for converting the received information into a voice. The informing content is sent to the mobile terminal of the receiver via the phone network.

Abstract: The present invention provides haptic sensations for a haptic feedback device and especially for a rotational device such as a knob. Force effects such as a hill force effect and barrier force effect allow easier selection of menu items, menus, values, or other options by the user. Force models are also described to allow greater selection functionality, such as a scrolling list with detents and rate control borders, a jog shuttle, a push-turn model, a double-push model, and a cast control model.

Abstract: A bipedal robot of the present invention has a trunk consisting of an upper trunk and a lower trunk which are rotatable around a rotation axis relative to one another. The upper trunk has shoulders on the right and left sides. An arm is provided at each shoulder. A pair of right and left legs is attached to lower ends of the lower trunk. A storage battery is mounted to the back of the upper trunk, positioned within a shoulder width. The storage battery is positioned below the top of a head mounted on the upper trunk. When the robot walks a narrow passage or corridor having a width slightly larger than the width thereof, for example, this arrangement prevents the storage battery from interfering with the passage or the like.

Abstract: An external force estimation system for estimating an external force acting upon a robot apparatus which includes a machine body which in turn includes a plurality of movable joints is disclosed which includes a distribution type contacting state detection section, an actuator current state measurement section, a motion state measurement section, a motion equation setting section, a known term calculation section, and an external force estimation section.

Abstract: When braking of a motion of a part of a first robot is assumed to be started at points in time, a first stop position of the first robot part is estimated at each point in time. When braking of a motion of a part of a second robot is assumed to be started at the points in time, an estimated second stop position of the second robot part is obtained at each point in time. When it is determined that the first stop position of the first robot part at one of the points in time and either the actual position or the second stop position of the second robot part for each interval at the one of the points in time are contained in the shared workspace, the first robot part is braked.

Abstract: A wireless 3D auto-offset system for robot arms is provided. The wireless 3D auto-offset monitor sensor of the system includes an electronic leveling sensor, a Z-axis optical scale, and an XY-axes CCD monitor sensor for monitor and judgment of level states, offsets, and gaps, respectively.