Abstract: A thermoforming mold trimming system, apparatus, and method of use are disclosed. The thermoforming mold trimming apparatus includes a robot support structure with at least one robot secured to the robot support structure. The apparatus also includes a contact probe removably secured to the robot, the contact probe being configured to generate a trim path for a thermoformed molded part. The robot is programmed to follow the trim path generated by the contact probe. The robot then uses a blade to trim excess material of a finished molded part within the housing by following the trim path.

Abstract: A control device for a mobile body enabling a smooth transition operation between a first mode and a second mode is provided. A change amount of a center of gravity component at a prescribed time is expressed by using an inertial force-dependent manipulated variable component, which changes in accordance with an instantaneous value (d2Zb/dt2(t1) to d2Zb/dt2(t13)) of desired inertial force at the prescribed time (t1 to t13) in the time series of the desired inertial force (d2Zb/dt2(t)) defined by an up-and-down direction motion parameter, and a displacement-dependent manipulated variable component, which changes in accordance with an instantaneous value (Zb(t1) to Zb(t13)) of desired displacement at the prescribed time (t1 to t13) in the time series of the desired displacement (Zb(t)) defined by the up-and-down direction motion parameter.

Abstract: Various embodiments of the invention provide a control framework for robots such that a robot can use all joints simultaneously to track motion capture data and maintain balance. Embodiments of the invention provide a framework enabling complex reference movements to be automatically tracked, for example reference movements derived from a motion capture data system.

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.

Abstract: Methods, apparatus, and systems are provided for operating a motor control center. The invention includes determining a hardware configuration of functional modules within a motor control center; downloading the hardware configuration to a programmable logic controller; configuring a program to run on the programmable logic controller based on the hardware configuration; and executing the program. Numerous additional aspects are disclosed.

Abstract: A main control process is made common to all machine tools by describing in a NC program a tool trajectory including a change in posture in a coordinate system (30) fixed to a machining object (W), fixedly arranging a preparatory reference coordinate system (20) on a machine table (2), representing an installation position of the machining object (W) and a position of a spindle (91) on which a tool (11) is mounted in the preparatory reference coordinate system (20), and containing portions relating to a configuration of axes in a conversion function group of correlation between the position (q) of the spindle (91) and an axis coordinate (r). Thus, the processes of reading the NC program, correction of the tool trajectory and conversion into the trajectory of a spindle position based on the installation position of the machining object, the tool shape, and tool dimensions are made completely common.

Abstract: A robotic mower boundary coverage system includes a vehicle control unit on the robotic mower commanding a traction drive system to drive the robotic mower at a specified yaw angle with respect to a boundary wire, and a boundary sensor on the robotic mower signaling the distance between the boundary wire and the vehicle control unit. The vehicle control unit alternates commands to direct the traction drive system toward and away from the boundary wire based on the distance of the robotic mower to the boundary wire.

Abstract: There is provided a device for evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, comprising a computer including a simulation function for confirming a robot operation. The computer includes a load calculation section for calculating a load given to a motor for driving an operating portion of the robot by a simulation conducted by a computer; and an evaluation section for evaluating, by an evaluation function, whether or not the load exceeds a predetermined allowed value.

Abstract: A control method utilizing a PID controller includes detecting the position of an object and obtaining the position deviation by comparison with a predetermined position value, detecting the vibration of the object and obtaining a vibration value, adjusting the control parameters of the PID controller by analyzing the position deviation, the vibration value, and a predetermined performance of the PID controller, and the PID controller responding to the adjusted control parameters.

Abstract: Systems and methods are presented that use the rate of change of a legged robot's centroidal angular momentum ({dot over (H)}G) in order to maintain or improve the robot's balance. In one embodiment, a control system determines the current value of {dot over (H)}G, compares this value to a threshold value, and determines an instruction to send to the robot. Executing the instruction causes the robot to remain stable or become more stable. Systems and methods are also presented that use a value derived from {dot over (H)}G in order to maintain or improve the robot's balance. In one embodiment, a control system determines the location of the Zero Rate of change of Angular Momentum (ZRAM) point (A), determines the distance between A and the location of the center of pressure of the resultant ground force, compares this value to a threshold value, and determines an instruction to send to the robot.

Abstract: An autonomous inspector mobile platform robot that is used to inspect a pipe or network of pipes. The robot includes a locomotion device that enables the device to autonomously progress through the pipe and accurately track its pose and odometry during movement. At the same time, image data is autonomously captured to detail the interior portions of the pipe. Images are taken at periodic intervals using a wide angle lens, and additional video images may be captured at locations of interest. Either onboard or offboard the device, each captured image is unwarped (if necessary) and combined with images of adjacent pipe sections to create a complete image of the interior features of the inspected pipe. Optional features include additional sensors and measurement devices, various communications systems to communicate with an end node or the surface, and/or image compression software.

Abstract: In a control system of a legged mobile robot having a body and legs connected to the body and driven by a leg actuator, there is provided an operation controller which identifies a human being like visitor to be conducted in a company building and the like, and controls operation of the leg actuator to conduct the identified visitor to a destination such as a reception room in the company building space along a route determined based on a map stored in a map database, while keeping pace with the visitor, thereby enabling to establish better communication with the visitor.

Abstract: A taught point correcting device for correcting a taught point in an operation program of a robot. The device includes a judging section judging whether position data of any of a plurality of different taught points, previously taught and included in an operation program, has been corrected or not; and a data correcting section correcting, when the judging section judges that position data of a first taught point among the different taught points has been corrected, position data of a correlative taught point having a relative positional relationship with the first taught point, in accordance with a taught-point rule previously prescribing the relative positional relationship between the different taught points. The device may also include a storing section storing the taught-point rule. The taught-point rule may include a rule prescribing a distance between any two taught points among the different taught points.

Abstract: When the placement of the elements (mass points, links having inertia, etc.) of a model expressing a robot 1 is determined according to a first geometric restrictive condition from an instantaneous desired motion of the robot 1 that has been created using a dynamic model, this placement is defined as a first placement, and the placement determined according to a second geometric restrictive condition from a corrected instantaneous desired motion that has been obtained by correcting the instantaneous desired motion is defined as a second placement. The corrected instantaneous desired motion is determined such that the moment component calculated from the difference between the first and the second placements approximates a predetermined value. The instantaneous desired motion is created using a dynamic model of the robot.

Abstract: An externally configurable soft starter system comprises a motor controller including solid state switches for controlling application of power to a motor. A control circuit controls operation of the solid state switches. The control circuit comprises a programmed processor for commanding operation of the solid state switches and a memory connected to the programmed processor storing parameters relating to operation of the solid state switches. An interface circuit is operatively connected to the programmed processor. An external device includes a memory for storing parameters relating to operation of the solid state switches and an interface for communication with the motor controller. A configuration program is operatively implemented in the programmed processor and the external configuration device for transferring a configuration database file between the controller memory and the external device memory.

Abstract: A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for repeating, on each iteration through an event timing loop, the acts of defining an event horizon, detecting a range to obstacles around the robot, and testing for an event horizon intrusion. Defining the event horizon includes determining a distance from the robot that is proportional to a current velocity of the robot and testing for the event horizon intrusion includes determining if any range to the obstacles is within the event horizon. Finally, on each iteration through the event timing loop, the method includes reducing the current velocity of the robot in proportion to a loop period of the event timing loop if the event horizon intrusion occurs.

Abstract: A control device of a legged mobile robot, wherein a state amount error (for example, an error of a vertical position of a body 3), which is a difference between an actual state amount and a state amount of a desired gait related to a translational motion in a predetermined direction (for example, a translational motion in a vertical direction) of a legged mobile robot 1, is determined, and then a desired motion of the desired gait is determined such that the state amount error approaches zero. The desired motion is determined using a dynamic model by additionally inputting a virtual external force determined on the basis of the state amount error to the dynamic model for generating desired gaits. At the same time, a desired floor reaction force of the robot 1 is corrected on the basis of a state amount error of zero, and compliance control is carried out to make the motion and the floor reaction force of the robot 1 follow the desired motion and the desired floor reaction force of the desired gait.

Abstract: The safety in robotic operations is enhanced and the floor space in a factory or the like is effectively utilized. A virtual safety barrier 50 including the trajectory of movement of a work or tool 7 mounted on a wrist 5 of a robot 1 in operation is defined in a memory. At least two three-dimensional spatial regions S (S1 to S3) including a part of the robot including the work or tool are defined. Predicted positions of the defined three-dimensional spatial regions obtained by trajectory calculations are matched with the virtual safety barrier 50, and if the predicted position of any one of the defined three-dimensional spatial regions based on trajectory calculations is included in the virtual safety barrier 50, a control is effected to stop the movement of the robot arms 3 and 4.

Abstract: The occurrence of a slippage of a robot in operation, following a desired gait, is determined, and the permissible range of a restriction object amount, such as a floor reaction force horizontal component or a floor reaction force moment vertical component to be applied to the robot, is variably set according to a slippage determination result. A provisional motion of a desired gait is determined using a dynamic model, and if the restriction object amount defined by the provisional motion deviates from the permissible range, then the motion of a desired gait is determined by correcting the provisional motion by changing the changing rate of the angular momentum of the robot from the provisional motion so as to limit the restriction object amount to the permissible range, while satisfying a dynamic balance condition.

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: In a method for controlling the movement of a manipulator associated with an interpretation of a given point sequence of poses (positions and orientations) by splines, the motion components are separately parameterized. Thus, marked, subsequent changes to the orientation of robot axes have no undesired effects on the Cartesian movement path of the robot. Suitable algorithms are provided for orientation control by using quaternions or Euler angles.

Abstract: In the articulated robot, types of teaching a moving track of the robot can be optionally selected. The articulated robot comprises: a switch for manually selecting a moving axis to move an arm section along the selected axis; a manual pulse generator generating pulses; first controller for controlling motors to linearly move a front end of the arm section a prescribed distance, which corresponds to number of pulses; an operating board including a selecting switch, which is used to move the arm section along the selected axis; second controller for automatically controlling the motors so as to move the arm section while the selecting switch is turned on; third controller for stopping the motors to freely move the arm section while the arm section is manually moved; and a switch for selecting a type of teaching action.

Abstract: A method for machining workpieces by means of a multiaxial manipulator, such as an industrial robot, with a tool moved proportionally by a control unit of the manipulator and which can perform characteristic movements with several degrees of freedom is characterized in that the degrees of freedom of the tool are evaluated together with the degrees of freedom of axes of the manipulator in real time for moving a tool tip (TCP) in accordance with a predetermined, continuous machining path or a portionwise continuous machining geometry (step function) and for determining a movement of the manipulator. The invention also proposes a device suitable for performing the aforementioned method, in which the tool and a tool tip, during workpiece machining, are movement-controllable by the manipulator control unit. In this way it is possible to drastically reduce the overall machining time.

Abstract: A robot control unit for controlling a robot mechanism unit constantly detects the status of a robot and stores it as robot status data. An operation command input by voice from a head set is converted into character data by a voice/character data conversion device, and input to a control device. The control device searches a command corresponding to an operation command input in operation commands stored in management data. An executing program group is specified for link and storage with the corresponding operation command.

Abstract: A method and a system for use in connection with programming of an industrial robot. The programming includes teaching the robot a path having a number of waypoints located on or in the vicinity of an object to be processed by the robot. The system includes elements for obtaining information about the waypoints of the path in relation to the object, a storage unit for storing the obtained information, a simulation unit for simulating the robot path based on the obtained information about the waypoints and a model of the robot, a graphics generator for generating a graphical representation of the simulated robot path, and a display member for displaying a view comprising the object and the graphical representation of the robot path projected on the object.

Abstract: A robot controller for teaching a robot with high efficiency. The robot controller including command storage unit (21) where a movement command and a work command are stored, command identifying unit (24) for discriminating between the movement and work commands, unit (22) for making/editing a series of work programs or discrete work programs by a combination of the commands, work program storage units (23) where the work programs are stored so as to control the robot according to the stored program, further including a work section identifying unit (25) for identifying a work section of the work program by way of the command identification unit (24) and work section automatic stopping unit (27) for automatically stopping or suspending the execution of the work program at the work section in a standby state when the work section identifying unit (25) identifies the work section during the execution of the work program.

Abstract: System and method for allowing execution of control over robot hardware other than specific robot hardware by using control software that does not have features to be applied to the robot hardware other than the specific hardware designed for control. Control software makes an inquiry about the presence of robot function requested by control software through the use of interface recording and robot function searching. If it has been found that the robot function is present, there is a requests that robot motion be performed. If it has been found that the robot function is not present, the request is skipped, or the request is made to similar robot function.

Abstract: A programmable controller for controlling one or more outputs based on position indicated from a position transducer. The controller includes an interface that converts the transducer signals into a change in position, a transducer position counter that accumulates the change in transducer position, and a net forward position counter that accumulates the net forward position. The position counter updates when the transducer signals indicate a change of position. The net forward position counter updates when the value of the net forward position counter and the value of the transducer position counter are equal and the transducer interface indicates a forward movement. Each controller output has an independent comparator and width counter. The comparator examines the net forward position to determine when to change the output or begin a pulse. The width counter counts down to zero, which ends a pulse.

Abstract: An input data check control portion, which compares input data with a decimal point check target word (step 64, 65) and, issues a warning when the input data is the decimal point check target word and the numerical value data of the input data is not given a decimal point (step 66), is provided. This structure enables the prevention of input mistakes of coordinate data and the like, which are easily made at the time of manual programming of a machining program for an NC machine tool, and also enables said input mistakes to be easily found.

Abstract: An apparatus and method for interfacing the motion of a user-manipulable object with a computer system includes a user object physically contacted or grasped by a user. A 3-D spatial mechanism is coupled to the user object, such as a stylus or a medical instrument, and provides three degrees of freedom to the user object. Three grounded actuators provide forces in the three degrees of freedom. Two of the degrees of freedom are a planar workspace provided by a closed-loop linkage of members, and the third degree of freedom is rotation of the planar workspace provided by a rotatable carriage. Capstan drive mechanisms transmit forces between actuators and the user object and include drums coupled to the carriage, pulleys coupled to-grounded actuators, and flexible cables transmitting force between the pulleys and the drums. The flexibility of the cable allows the drums to rotate with the carriage while the pulleys and actuators remain fixed to ground.

Abstract: A switch is turned on by a learning control start command from a master control unit, and the positional deviation at respective cycles is read in. Correction data read out from a learning memory is added to the positional deviation, and the result is filtered by band limiting filter and then stored in the learning memory as correction data. The correction data read out from the memory is compensated for phase delay, fall in gain, and the like, by a dynamics compensating element, and is added to the positional deviation and input to a positional control section. When the command pattern for the same shape is completed, and a learning control end command is output, whereupon the switch is turned off and learning control terminates.

Abstract: Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.

Abstract: A control parameter automatic adjustment apparatus acquires a movable range of a drive shaft of a drive system, and automatically generates a test movement program to automatically adjust a control parameter to the drive system even though the movable range changes.

Abstract: An integrated robotic cell having robot and series of sensors is able to process a component as desired by an operator using an interactive interface display. The integrated robotic cell includes a robotic arm connected a central processor unit as well as a series of monitors and sensors that thoroughly supervise the operation of the robotic arm and component to verify that there are no errors. The central processing unit is connected to the interface display, which allows the operator to control the operation of the robotic cell. The interface display incorporates a series of threads, with each thread having of a series of sequential processes to be performed by the robotic cell. The operator is thereby able to view and easily control the simultaneous processes being performed in the robotic cell.

Abstract: A robot controller for teaching a robot with high efficiency. The robot controller including command storage unit (21) where a movement command and a work command are stored, command identifying unit (24) for discriminating between the movement and work commands, unit (22) for making/editing a series of work programs or discrete work programs by a combination of the commands, work program storage units (23) where the work programs are stored so as to control the robot according to the stored program, further including a work section identifying unit (25) for identifying a work section of the work program by way of the command identification unit (24) and work section automatic stopping unit (27) for automatically stopping or suspending the execution of the work program at the work section in a standby state when the work section identifying unit (25) identifies the work section during the execution of the work program.

Abstract: The invention relates to an actuator (22) for a seat, of the type comprising, on the one hand, a body (40) and a control element (38) displaceable relative to the body (40), under the control of an actuating motor (36), and, on the other hand, a transducer (42) disposed between the body (40) and the control element (38), said transducer (42) being suitable for providing a raw measurement value representative of the current position of the control element (38) relative to the body (40). It has a unit (46) for correcting said raw measurement value, said correction unit (46) being suitable for implementing a correction algorithm which is specific to said actuator and which is suitable for providing a corrected value for the current position of the actuator on the basis of said raw measurement value. Said correction unit (46) is specific to said actuator and is integrated therein.

Abstract: The invention relates to a method of connecting a mobile, electronic control and/or monitoring unit (9) to at least one machine or at least one machine component in a group or a plurality of machines (2) or machine components to be controlled and/or monitored. During a connection or log-on procedure between the control and/or monitoring unit (9) and a co-operating distant point on the respective machine (2), a clear link or log-on connection is set up either by means of interfaces (14, 15) to the selected, wireless direction-finder of the co-operating distant point or alternatively by means of transmitters and/or receivers (16, 17) tuned to a restricted, localized functional or operating range (21).

Abstract: A robot controller capable of minimizing an increase in the tact time during work, reducing changes in joint axes of the robot, thereby providing the structure with long mechanical life. The robot controller i) stores a plurality of movement data formed of amount and time for movement; ii) checks whether a movement of a robot has acceleration exceeding a predetermined level by calculation on the basis of the stored movement data; iii) increases the time for movement of the corresponding movement data, the preceding and following data to the movement data, if the calculation indicates over-acceleration; and iv) controls the robot according to the time-increased movement data.

Abstract: A swivel arm includes a fixing device for an instrument and at least one pivot, such that the swivel arm can be moved. At least one sensor on at least one pivot detects the position and/or movement of the at least one pivot. A controllable, passive actuator for the at least one pivot can brake and/or prevent a movement of the pivot. A control device guides the controllable, passive actuator on the basis of the position data and/or movement data transmitted from the at least one sensor and based on data of the target object. The passive actuator can be guided in such a way that an instrument connected to the swivel arm can perform only one or a number of predetermined movements.

Abstract: A robot for synchronizing with other robots without raising costs, a robot system, and a robot control method. The robot includes a storage portion (11) in which an operating program for the robot is stored, a main arithmetic portion (12) for analyzing the operating program stored in the storage portion, a sequencer portion (13) from which a signal from the main arithmetic portion is output, a driving portion (14) for driving the robot to which the signal from the main arithmetic portion (12) is input, and a communications portion (15) for communicating with apparatuses connected to a network. In the robot, a signal input from an apparatus connected to the sequencer portion (13) and a signal input to the communications portion (15) are input to the main arithmetic portion (12) so as to perform a calculation, and, based on the calculation, a signal is output from the main arithmetic portion (12) to the sequencer portion (13) or to the driving portion (14).

Abstract: An operation data display device for a robot allowing an operator to recognize operation data on a plurality of operations performed by the robot at a time. When an arc start command is read out from a taught operation program by the robot controller, a welding start command is issued to an arc welding power supply. The arc welding power supply starts supply of a welding current to a welding torch mounted on a robot. Values of the welding current in a welding operation is outputted to a robot controller and sampled at every predetermined period and recorded. When an arc end command is read out from the operation program, the arc welding power supply terminates the welding operation and output of the values of the welding current. The robot controller transfers a file containing the data of the actual welding current to a personal computer.

Abstract: A method and apparatus for control of pivoting machine members propelled by linear actuators so as to permit coordinated motion of the pivoting members with translating machine members. Position commands for the pivoting machine members are given in angular units. The propelling linear actuators are controlled by servomechanism control providing position and velocity control. Position measurements for the pivoting members measure linear displacement of the propelling actuator. Position commands for the pivoting members are compensated according to the non-linear relationship between displacement of the propelling actuator and the angular displacement of the pivoting member.

Abstract: A method and apparatus for NC machining management based on a measurement program, wherein a machining shape at an arbitrary machining stage is determined by an NC program, a geometric element or a geometric model is generated, and a measurement program is generated on the basis of the geometric model. The measurement program is executed when at least one of the steps of the NC program is completed, and the results of measurement are used as control information for machining measurement.

Abstract: A servo system controller which has a sequence controlling section 2 and a servo controlling section 3, employs not only a current position of a servo motor but also other servo control data or a sequencer device as comparison data, and executes a comparing process for compares whether or not respective comparison data are in respective detection ranges to then output respective comparison results, increase and variation of a response time can be prevented until the comparison results are output from the change of the comparison data. A comparing process table memory 14 is provided in the servo controlling section 3, and the comparing process is executed in synchronism with a calculation period of the servo controlling section 3, and a detection signal is output while the comparison data is within a detection range. In a machining apparatus utilizing the servo system controller, a tact time can be reduced without large increase of a cost.

Abstract: An off-line teaching apparatus includes an operation command-receiving device for receiving an operation command inputted via an input/output port from a key input device or a coordinate input device and successively storing the operation command in a buffer; an operation command-reading device for successively reading the operation command stored in the buffer; an operation command-counting device for counting a number of operation commands stored in the buffer; and a confirmation sound-generating device for generating confirmation sound upon receipt of the operation command by the operation command-receiving device when a counted value obtained by the operation command-counting device is not less than a predetermined number. Accordingly, the operator is informed, in real time, of the fact that the system responds to the input of the operation command from the operator. Thus, it is possible to improve the operability of the off-line teaching.

Abstract: A method of controlling a motor comprises providing a motion control system and causing the shaft of the motor to move from an initial state to a new state, such as from an initial position or velocity to a new position or velocity. Coefficients for each of a plurality of polynomial segments of a motion profile are determined. The plurality of polynomial segments and the corresponding coefficients for each respective segment characterize planned movement of the shaft through each respective segment. In a particularly preferred aspect, each segment is defined by a plurality of polynomials, which include a first polynomial that describes shaft position with respect to time, a second polynomial that describes shaft velocity with respect to time, and a third polynomial that describes shaft acceleration with respect to time.

Abstract: An industrial robot capable of preventing re-collision after colliding with an obstacle. Disturbing torque exerted on each servomotor for a robot axis is estimated by its associated disturbance estimating observer. When a hand attached to an end of a robot arm collides with an obstacle, an estimated value of disturbance given by a disturbance estimating observer exceeds a predetermined threshold, and the collision is detected. Then, each motor for driving a robot arm is drivingly controlled with a velocity command turned to “0”. Each motor for driving the robot hand is driven with torque having a predetermined magnitude (maximum magnitude) and the same sign as that of an estimated value of disturbing torque exerted on it, for a predetermined time, and then it is brought to an emergency stop. Thus, after colliding with an obstacle, the robot hand is driven in a direction such that it recedes from the obstacle.

Abstract: A method for preventing collisions between robots by causing a first robot to stop or pause so that a second robot may safely pass by or perform a specified operation. Once the second robot has completed its operation then the first robot is allowed to resume operation. Each robot automatically stops when it reaches a certain point in its job. The robots communicate with a central controller which allows the robots to resume operation when the central controller has determined that all of the robots have reached their respective correct positions. This prevents collisions between robots which are operating in the same area, especially those robots operating on the same workpiece. This method works with existing robot welders, does not require modifications to the robots, and does not require expensive spatial analysis computer programs, which may not even be available for the type of processor used in a particular robot.

Abstract: An active attenuation system for a DC motor which yields global vibration reduction of slot or other motor induced tonals at the plate on which the motor is mounted without modifying the construction of the motor. The system comprises one or more vibration sensors, a signal synchronized to the slot rate or other motor induced tonal rate, an electronic adaptive controller and the means to supply the control signal into the motor field and/or armature current.

Abstract: A method for the control of a multi-axis machine tool, in particular for the regulation of the position of the individual axes as a function of at least one other axis or external parameters. The method includes providing a coupling function for each axis so that the coupling function can be programmed by the operator of the machine tool and activating the coupling function only after all axes involved in the coupling have been referenced.