Abstract: A processing device with a processing head including a processing unit designed as a tool and/or applicator unit, in particular a printer unit, and a first positioning device for moving the processing head in order to position the processing unit with a first accuracy at a specified processing position. The processing head has a second positioning device and the processing device is adapted to position the processing unit at the specified processing position with a second accuracy using the second positioning device, the second accuracy being higher than the first accuracy, so that the lower accuracy of the first positioning device is compensated for by the positioning with the second positioning device.

Abstract: A correction value measurement method includes, measuring a position of a reference sphere, calculating a relative position of the reference sphere with respect to a sensing position from the position of the reference sphere, a length of the position measurement sensor, and a length of the reference tool. The method further includes acquiring a reference tool position as a distal end position of the reference tool using, calculating a length direction correction value of the position measurement sensor from the reference tool position, the position of the reference sphere, the relative position, and a length of the reference tool, and measuring the position of the reference sphere to calculate a radial direction correction value of the position measurement sensor.

Abstract: A 3D measurement model and the spatial calibration method based on a 1D displacement sensor are proposed. A 3D measurement system based on a fixed 1D displacement sensor is established; then a spatial measurement model based on the 1D displacement sensor is established; and then based on the high precision pose data of the measurement plane and sensor measurement data, spatial calibration constraint equation are established; a weighted iterative algorithms is employed to calculate the extrinsic parameters of the 1D sensor that meet the precision requirements, then the calibration process is completed. A high precision 3D measurement model is established; a 3D measurement model based on a 1D displacement sensor is established, and the calibration method of the measurement model is proposed, which will improve the precision of the 3D measurement model and solve the problem of inaccurate spatial measurement caused by the errors of the sensor extrinsic parameters.

Abstract: It is an object of the present invention to provide a measuring apparatus capable of easily restoring the tracking state when the tracking state of the target is interrupted. One aspect of the present invention is a measuring apparatus that emits a light beam toward a target, captures and tracks the target, and measures the three-dimensional coordinates of the target. The measuring apparatus includes: a light source for emitting light beam; an angle control unit for controlling the emission angle of the light beam emitted from the light source so as to track the moving target; an imaging unit for capturing the target or the vicinity of the target, and a recognition unit for recognizing the target or the specific portion including the target from an image captured by the imaging unit.

Abstract: A frame body is provided parallel to and proximate with a surface of a structure and extends substantially horizontally from a first side to a second side. A connecting portion is provided to be attached to a cable to provide for vertical movement of the frame body. A robotic arm is affixed proximate to a bottom of the frame body and is able to move horizontally during penetrative imaging of the surface. Moreover, the robotic arm extends to an end proximate with the surface, and a penetrative imaging portion is attached to the robotic arm near the end proximate with the surface. The robotic arm rotates, vertically moving the penetrative imaging portion during penetrative imaging of the surface. In addition, the penetrative imaging portion can be separately rotated about three orthogonal axes of rotation (yaw, pitch, roll) to achieve various angles of approach and orientation to the surface.

Abstract: A main reference point PM is provided to a base portion of a shape measuring apparatus including a rotary table. An origin-point relative-value registration includes measuring a main reference point with a probe to acquire a coordinate value of the main reference point and registering as a calibration-reference-point coordinate value Pp, registering a rotation center point of the rotary table as a calibration-rotation-center coordinate value Rp, and calculating a relative coordinate value of the calibration-rotation-center coordinate value Rp with respect to the calibration-reference-point coordinate value Pp and registering as a rotary-table origin-point relative coordinate value ?D1.

Abstract: A three-dimensional measuring device is a three-dimensional measuring device that performs three-dimensional measurement of an object using a laser beam. The three-dimensional measuring device includes a laser emitter disposed in a movable section of a robot and configured to irradiate a region including the object with the laser beam, a laser emission controller configured to control driving of the laser emitter, an image capturing device configured to image the object, on which the laser beam is irradiated, and acquire image data, and a point cloud generator configured to generate, based on the image data, three-dimensional point cloud of the region including the object. The laser emitter includes a laser beam source and a diffuser configured to diffuse the laser beam emitted from the laser beam source.

Abstract: A teleoperated system comprises a display, a master input device, and a control system. The control system is configured to determine an orientation of an end effector reference frame relative to a field of view reference frame, determine an orientation of a master input device reference frame relative to a display reference frame, establish an alignment relationship between the master input device reference frame and the display reference frame, and command, based on the alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device. The alignment relationship is independent of a position relationship between the master input device reference frame and the display reference frame. In one aspect, the teleoperated system is a telemedical system such as a telesurgical system.

Abstract: Systems and methods are provided for detecting an enclosure alignment anomaly. Pressure data of a set period can be obtained from one or more piezoelectric sensors. The one or more piezoelectric sensors are installed in between an enclosure and a fixture of an autonomous vehicle. The pressure data of the set period can be processed over a period of time. One or more trends can be identified based on the processed pressure data.

Abstract: A warm-up method for a machine system including a machine component and a machine sensor configured to sense temperature of the machine component is provided. The method comprises steps of; A) activating the machine component to execute a warm-up operation for warming up the machine component; B) determining whether the machine component is warmed up based on a target temperature corresponding to the machine component and a temperature of the machine component that is currently sensed by the machine sensor; and C) when it is determined that the machine component is warmed up, making the machine component not execute the warm-up operation.

Abstract: A method to derive and apply computer numerical control global offsets includes: measuring features of a machined part using a coordinate measuring machine (CMM); programming a first processor within the CMM to receive the dimensions of the features and to output computer numerical control (CNC) offsets; and forwarding the CNC offsets from the CMM to a CNC machining system to correct operation of the CNC machining system.

Abstract: A three-dimensional measuring device, comprising an arm having a free end provided with an interface body carrying a measuring member and a grip member enabling an operator to point the measuring member at a zone of the object that is to be measured. The measuring member includes a connector to be electrically connected to a corresponding connector of the interface body by a fastener mechanism that is controllable by a lever and that is arranged in such a manner that the lever controls the fastener mechanism to occupy selectively a snap-fastening state in which the measuring member is held on the interface body while the connectors are disengaged from each other, a locking state in which the measuring member is fastened to the interface body and the connectors are engaged with each other, or a release state in which the measuring member can be separated from the interface body.

Abstract: Techniques for localizing a portable articulated arm coordinate measuring machine (AACMM) are described. An example localization method includes in response to an AACMM base being placed at a first position, capturing a first set of images of a positioning element in a predetermined area. The method further includes determining first 3D coordinates of the positioning element using the first set of images. 3D coordinates corresponding to a position of a first measurement probe in the predetermined area are computed using the first 3D coordinates. Further, the method includes, in response to the base being moved to a second position, determining second 3D coordinates of the positioning element from the second position using a second set of images. Further, the localization method includes determining a translation matrix to convert the second 3D coordinates to the first 3D coordinates.

Abstract: An information processing apparatus includes: a determination unit configured to determine a plurality of measurement positions and/or orientations from which a 3D measurement sensor makes three-dimensional measurements; a controller configured to successively move the 3D measurement sensor to the plurality of measurement positions and/or orientations; a measurement unit configured to generate a plurality of 3D measurement data sets through three-dimensional measurement using the 3D measurement sensor at each of the plurality of measurement positions and/or orientations; and a data integration unit configured to integrate the plurality of 3D measurement data sets.

Abstract: A method of (measuring the waif thickness of an article comprising the steps of (a) providing an inspection machine having an inspection machine co-ordinate system associated therewith, the inspection machine comprising a thickness measuring probe; (b) providing an article in a first position relative to the inspection machine; (c) measuring a plurality of surface points on at least a portion of the surface of the article; (d) modelling the at least a portion of the surface of the article from the measured surface points to produce a surface model; (e) generating a probe path from the surface model in an article coordinate system fixed relative to the article; (f) transforming the probe path to the inspection machine co-ordinate system; and, (g) moving the thickness measuring probe along the probe path whilst making a plurality of spaced apart wall thickness measurements of the article.

Abstract: Methods, devices, and systems related to process control in manufacturing are described. In an example, a method can include receiving data from a first process control device affixed to a first manufacturing tool of a first type, identifying one or more attributes of the data via a second processing resource of a second process control device affixed to a second manufacturing tool of a second type different from the first type, determining one or more settings for the second manufacturing tool via the second processing resource in response to identifying the one or more attributes of the data, and sending a command including the one or more settings to the second manufacturing tool from the second process control device.

Abstract: To provide a design assistance system, a design assistance program, and a design assistance method which are capable of reducing or eliminating the burden on a designer of a structure when designing the structure. A design assistance system 10 includes an object recognizing unit 112 and an interference determining unit 113. The object recognizing unit 112 recognizes an object existence area which is an existence area of a different object A2 from the structure A1 on a three-dimensional coordinate system in accordance with information including the position of the object A2 on the three-dimensional coordinate system which has been specified through an input unit 12. The interference determining unit 113 determines the presence or absence of interference between each of plurality of members and the object A2 based on respective member existence areas of the plurality of members and the object existence area.

Abstract: A method for applying material to a bicycle frame includes determining, via a controller, at least one physical dimension of the bicycle frame. The method also includes determining, via the controller, a distance setting between at least two material applicators. In addition, the method includes determining, via the controller, a pattern size of material sprayed onto the bicycle frame by each of the at least two material applicators. Further, the method includes adjusting, via the controller, a position setting of the at least two material applicators based at least in part on the distance setting and pattern size. Moreover, the method includes applying, via the controller, material onto the bicycle frame through the at least two material applicators.

Abstract: A system and method for automating construction that includes collecting a multi-dimensional point cloud measurement of at least one construction structure that includes at least one surface; generating a construction plan from the multi-dimensional point cloud measurement, wherein the construction plan defines an assembly arrangement of a set of parts; from the construction plan, automatically generating a cut list for a subset of parts; communicating the cut list to a cutting device; and at the cutting device, cutting a set of materials according to the cut list.

Abstract: Misalignment of intersecting devices on a diagnostic instrument may be detected and remediated using a system comprising components such as an accelerometer, a plurality of strain gauges and a device comprising a processor and a memory (e.g., a computer). In such a system, the accelerometer may be adapted to detect movement of the diagnostic instrument. The device comprising the processor and the memory may be configured to, for each of the structural elements of the diagnostic instrument, determine whether an alignment change has taken place in that structural element based on analyzing measurements made by the plurality of strain gauges. The device comprising the processor and the memory may also be configured to, for each structural element where an alignment change is determined to have taken place, trigger a remediation for each device from a set of devices impacted by the alignment change of that structural element.

Abstract: A non-Cartesian coordinate positioning machine is provided that comprises an extendable leg assembly for positioning a component such as a measurement probe within a working volume of the machine, and a constraint member associated with the extendable leg assembly for providing a predetermined part of the extendable leg assembly with substantially a same orientation relative to gravity for a same position of the component within the working volume. In a preferred embodiment, the orientation relative to gravity is maintained substantially constant, so that a plane defined by the predetermined part is substantially aligned with gravity, as the component is moved around the working volume.

Abstract: A process for assembly of a brushless air core motor-generator includes assembling a rotor formed from two spaced apart rotor portions having magnetic poles that drive magnetic flux circumferentially through the rotor portions and back and forth across an armature airgap between the rotor portions. An air core armature is made by coating a nonmagnetic armature form with a tacky adhesive layer, and winding armature windings in a winding pattern onto the form with a winding head, using wire comprised of bundled multiple individually insulated conductor strands that are electrically connected in parallel but are electrically insulated from each other along their lengths where located inside the magnetic flux in the armature airgap.

Abstract: A 3D printed drilling template (20, 30a, 30b, 30c) including: a rigid framework able to be manipulated by an operator or an automaton, and a set of traversing (22, 32a, 32b, 32c, 33c) orifices in the framework and arranged to guide the drilling of holes into a structure on which the drilling template is mounted, wherein the drilling template (20, 30a, 30b, 30c) is designed or revised on an ad-hoc basis and manufactured by 3D printing and using a 3D printing material based on a polymer material mixed with powdered graphene.

Abstract: A method for the machining of workpieces that have an unknown workpiece geometry with a tooling machine, said method having the steps of clamping of the workpiece in a clamping device on the tooling machine, execution of a manually guided 3D line scan with a measurement sensor within the tooling machine to determine the workpiece geometry in a first dataset, processing of the first dataset to compensate for errors in the manually guided 3D line scan in order to obtain a second dataset, use of the second dataset for 3D CAD surface generation by the tooling machine for the generation of a rough component geometry, use of the rough component geometry for the generation of scan paths for an automatic 3D line scan, execution of an automatic 3D line scan of the workpiece with the measurement sensor within the tooling machine in order to obtain a third dataset, use of the third dataset for 3D CAD surface generation for the generation of a precise component geometry, and automated machining of the workpiece by the to

Abstract: A multi-mode coordinate measuring machine system can be configured to measure coordinates in a variety of ways with a certain set of components. For example, an articulated arm coordinate measuring machine can measure coordinates on an object using a contact probe or a non-contact measuring device mounted on the articulated arm. Then, a user can remove the non-contact measuring device from the articulated arm coordinate measuring machine, and take additional measurements of the object that can be aligned with measurements taken by the articulated arm and devices attached thereto.

Abstract: A method and system for measuring a turbine shape is provided in which an appropriate measurement accuracy can be achieved that is sufficient to prevent a failure to recognize features of shape of a measurement object, with extension of a measurement time suppressed. In a turbine including casings, recesses and protrusions on flange surfaces of the casings are measured at measurement intervals M set on the basis of the entire length L of flange portions in an axial direction, the number of bolts N joining the flange portions, and intervals between the bolts in the axial direction of the flange portions.

Abstract: A touch trigger probe interface for a machine tool is described that includes a probe communication portion for receiving probe event information from a touch trigger probe. A machine tool communication portion is also provided for outputting probe event information to a numerical controller of the machine tool. The machine tool communication portion outputs the probe event information as digital data packets, for example over a digital data bus. The digital data packets may include a time stamp and/or the touch trigger probe interface may receive timing information from the machine tool. A touch trigger probing system and a machine tool system including the probe interface are also described.

Abstract: A multi-axis robotic arm includes a pedestal, a plurality of knuckle module and at least one detachable arm module. One of the plurality of the knuckle modules is connected with the pedestal. Two knuckle modules are connected to a first connecting element and a second connecting element. The first connecting element has a first docking portion, and the second connecting element has a second docking portion. The first docking portion and the second docking portion are detachably docked with each other by a plurality of fasteners. The at least one arm module have a third docking portion and a fourth docking portion. The third docking portion is detachably docked with the first docking portion by the plurality of the fasteners. The fourth docking portion is detachably docked with the second docking portion by the plurality of the fasteners.

Abstract: A three-coordinate measuring system includes a three-coordinate measuring apparatus, and a type collector for a product to be measured; the apparatus is provided with a probe, and a control component which controls motion of the probe through a measuring program preset according to product type of the product to be measured, the control component is electrically connected to the probe; the type collector includes an optical collecting head capable of scanning a graphic identifier, the optical collecting head is electrically connected to the control component; the control component acquires the product type of the product to be measured according to the graphic identifier scanned by the optical collecting head, and call a corresponding measuring program to control the motion of the probe in order to measure the product to be measured and acquire measuring data, a method for three-coordinate measuring is also provided.

Abstract: A machine tool holding workpieces has measuring probes disposed on spindles. The spindles move in common relative to the workpieces until a termination criterion is reached for the common displacement movement. During the common displacement movement, a position of a measuring probe relative to a respective workpiece is detected where the measuring probe makes contact with the respective workpiece or loses contact with the respective workpiece, allowing geometric statements about the respective workpiece to be derived. The measuring probes are kept at a rest position relative to their respective spindle during the common displacement movement, as long as the respective measuring probe does not yet make contact with the respective workpiece. Following contact with the respective workpiece, a deflection from a rest position is detected. The termination criterion is satisfied as soon as the deflection of at least one of the measuring probes reaches a maximum deflection.

Abstract: A method of in-line automated inspection of a mechanical part comprising receiving a mechanical part datum, orienting the mechanical part datum within a representative inspection system, and examining each face of the plurality of faces of the mechanical part datum, wherein examining each face of the plurality of faces of the mechanical part datum comprises dividing the face into regions as a function of stylus tip data. The method comprises generating a fixture adapter model for the mechanical part datum as a function of a local region of the mechanical part datum, generating a measurement of at least a pair of part geometric data, wherein generating a measurement comprises selecting the at least a pair of part geometric data as a function of the at least an alignment datum and displaying the measurement of at least the pair of part geometric data. The method comprises producing the fixture adapter.

Abstract: A method is described for analysing probe data collected by a scanning probe carried by a machine tool. The probe data is collected as the machine tool moves or scans the scanning probe along a scan path relative to a workpiece. The method includes a step of identifying a property of the scan path used by the machine tool from a characteristic of the collected probe data. In this manner, the scan path can be identified from the probe data alone without having to receive any position data from the machine tool.

Abstract: An indoor switchgear or controlgear arrangement with unmanned operation and maintenance, for use in low, medium, or high voltage, includes: an arrangement of switching devices in an inner housing, which is furthermore provided with an outer housing; and a robot system, acting mainly in the inner housing. At least the switching devices other than maintenance critical parts are withdrawable. The switchgear or controlgear is provided with interlocks in order to prevent a wrong sequence of operation and prevent access to potentially hazardeous compartments. Metallic segregation is provided internally in the inner housing in order to achieve a needed service continuty level.

Abstract: The present invention provides an apparatus, system and method for providing robotically assisted surgery that involves the removal of bone or non-fibrous type tissues during a surgical procedure. The system utilizes a multi-axis robot having a reciprocating tool that is constructed and arranged to remove hard or non-fibrous tissues while leaving soft tissues unharmed. The multi-axis robot may be controlled via computer or telemanipulator, which allows the surgeon to complete a surgery from an area adjacent to the patient to thousands of miles away.

Abstract: A parallel link robot includes: a base portion; a movable portion; link portions coupling the base and movable portions; and actuators attached to the base portion and driving the respective link portions. Each of the link portions includes drive links swung around axes by the respective actuators, and two each of the passive links parallel to each other and swingably arranged between the drive link and the each of the movable portions. The robot includes a drive unit disposed parallel to the two passive links of at least one of the link portions and between the passive links and drives a mechanical unit attached to the movable portion. The drive unit is attached to the drive link with a joint, swingably coupling the drive unit to the drive link around at least mutually intersecting axes, on a straight-line coupling swinging center points of the passive links and the drive link.

Abstract: Systems and methods for instrument disturbance compensation include a computer-assisted device. The computer-assisted device includes an articulated arm having a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to detect a disturbance to the articulated arm caused by a release of one or more brakes of the plurality of joints and maintain a position of a point of interest associated with the articulated arm by compensating for the disturbance using one or more joints of the plurality of joints. In some embodiments, the point of interest is a tip of an end effector of the articulated arm. In some embodiments, the control unit is configured to determine a predicted motion for the point of interest based on the disturbance and send a drive command to move the point of interest in a direction opposite to the predicted motion.

Abstract: A jogbox for a coordinate measuring machine with a movable arm has a body forming an interior, and control hardware at least partially within the interior. The control hardware is configured to control the movable arm of the coordinate measuring machine. The jogbox also has an energizing port for energizing or charging the jogbox, and an auxiliary port formed by the body and operatively coupled with the controlling hardware within the interior. The auxiliary port is configured to directly physically connect with at least one hardware accessory that has a hardware interface port. In addition, the auxiliary port is configured to rigidly, removably, and directly couple with the hardware interface port of the at least one hardware accessory. Some embodiments include a counterweight interface configured to receive and retain a counterweight to counterbalance the weight of an accessory.

Abstract: Embodiments described herein provide a mobile CMM jogbox that includes one or more ergonomic apparatuses configured and disposed to allow a CMM operator to hold and operate the jogbox, while avoiding or mitigating the fatigue of an operator using the jogbox.

Abstract: A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient the tool. The robotic system further includes a positioning indicator. A processor operates the positioning indicator to direct a manual repositioning of the base relative to the floor surface while the processor is operating the powered joint to maintain the position and/or orientation of the tool during the manual repositioning.

Abstract: A three-dimensional coordinate measurement apparatus capable of reducing shaking of a Y carriage and improving measurement accuracy. The Y carriage is supported by two strut members which are across a surface plate and movable in a Y-axis direction. The two strut members include a first strut member having a driving mechanism and a second strut member which moves following the first strut member. A guide portion parallel to the Y-axis direction is formed in the surface plate on a first strut member side. Side surface support members support the first strut member on the surface plate by holding both opposed side surfaces of the guide portion. The driving mechanism includes a roller having an axis perpendicular to a surface plate surface, and the roller is brought into contact with one side surface of the guide portion and rolled to move the Y carriage relatively to the surface plate.

Abstract: There is provided a movement mechanism including a Z spindle the posture of which is hardly changed when the Z spindle is moved upward and downward, and having less measurement errors due to hysteresis. A movement mechanism includes a Z-axis movement mechanism and an X-axis movement mechanism that moves the Z-axis movement mechanism in the horizontal direction. The Z-axis movement mechanism includes a Z spindle having a length in the vertical direction and a Z-axis drive unit that moves the Z spindle in the vertical direction. The Z-axis drive unit includes an open belt having an upper end fixed near an upper end portion of the Z spindle, and a lower end fixed to near a lower end portion of the Z spindle, a drive pulley around which the open belt wounded and that feeds and drives the open belt upward and downward, an upper tension roller that pushes the open belt against the Z spindle, and a lower tension roller that pushes the open belt against the Z spindle.

Abstract: A coordinate measurement machine (CMM) includes a manually-positionable articulated arm having first and second ends. The articulated arm includes a plurality of arm segments and a plurality of rotary joints, and an electrical circuit including a main printed circuit board and a plurality of encoder printed circuit boards. The electrical circuit has at least some portions disposed within the plurality of arm segments. The first end includes a connector configured to connect to a measurement probe. The second end includes a base plate for mounting the CMM. The base plate has a cavity with a bottom opening. The main printed circuit board is disposed horizontally within the cavity.

Abstract: An articulated arm coordinate measuring machine (AACMM) includes one or more heater elements that cooperate with a processor to maintain one or more components in the AACMM within a predetermined temperature range.

Abstract: In a method for referencing a workpiece (2) arranged in a machine tool, an image of the workpiece (2) is first of all created using a camera device (5) of the machine tool and is then displayed on a display device (6). An X-Y display coordinate (9) is selected by a user using the displayed image. A Z reference coordinate is then determined in an automated manner. An X-Y-Z starting coordinate (7) can be calculated on the basis of the Z reference coordinate determined in an automated manner and the X-Y display coordinate (9) input by the user. A measuring probe (8) of the machine tool is then moved in an automated manner to the X-Y-Z starting coordinate (7) and the X-Y-Z reference coordinate of the workpiece (2) is determined on the basis of the position of the measuring probe (8), as predefined by the X-Y-Z starting coordinate (7), by means of a suitable determination method using the measuring probe (8).

Abstract: In a probe unit having a measuring probe, a signal processing circuit includes: a signal synthesizing portion configured to process an output of a detection element to output a composite signal obtained by synthesizing displacement components of a contact part in three directions perpendicular to one another; and a signal outputting portion configured to output a digital touch signal to the outside of the probe unit when the composite signal satisfies a predetermined threshold condition. The signal outputting portion includes three comparing portions each configured to compare a threshold condition with the composite signal. When the measuring probe measures the object to be measured, the signal outputting portion outputs the digital touch signal corresponding to outputs of the first and second comparing portions. Thus, there can be provided a probe unit and a measuring system that can stably make measurements with high accuracy while keeping high noise resistance.

Abstract: A robotic operating table according to one or more embodiments may include: a table on which to place a patient; a robotic arm including a plurality of joints, and including a first end supported on a base fixed to a floor, and a second end supporting the table; an operation device including: a move operation receiving unit that receives, from a user, a move operation to move the table, and a register operation receiving unit that receives, from a user, a register operation to register a position of a movement destination of the table and a movement-destination set operation; a memory; and a controller that causes the robotic arm to move the table based on the move operation received by the move operation receiving unit.

Abstract: A coordinate measurement device comprises an articulated arm having a first end, a second end, and a plurality of jointed arm segments therebetween. Each arm segment defines at least one axis of rotation. A laser scanner assembly is coupled to the second end of the arm and is rotatable about a last axis of rotation of the articulated arm. The laser scanner assembly comprises a laser and an image sensor. The laser is positioned on an opposite side of the last axis of rotation from the image sensor.

Abstract: A two-dimensional nanoindentation measurement apparatus includes a first actuator that imparts a first force in a first direction, and a second actuator that imparts a second force in a second direction orthogonal to the first direction. A first elongate member has a first end attached to the first actuator and a second end attached to an indenter tip that engages the surface of the sample. A second elongate member includes a first end attached to the second actuator and a second end connected to the second end of the first elongate member. The first elongate member is rigid in the first direction and compliant in the second direction, and the second elongate member is rigid in the second direction and compliant in the first direction. The first force is imparted to the indenter tip in the first direction through the first elongate member, and the second force is imparted to the indenter tip in the second direction through the second elongate member.

Abstract: Method for providing avoiding of excitations of oscillations of a measuring machine and/or for reducing or damping such oscillations by actively controlling a driving unit of the measuring machine or actively controlling an actuation of an additionally attached actuator. The method using information about an actual state of the measuring device, the actual state is derived based on a dynamic model and/or by use of a suitable sensor unit. A state controller, an actuator or a frequency-filtering element are used for counteracting or preventing oscillations.

Abstract: A control device comprising: a processor controls a robot having a robot arm and accept a command from an input unit which enables an input operation; and a storage that stores information about a driving of the robot, wherein the processor carries out first drive control to move a predetermined part of the robot arm or of an end effector connected to the robot arm from a first position toward a second position if the processor accepts a first command to move the predetermined part, and second drive control to move the predetermined part in such a way as to return along at least a part of a route which the predetermined part traces when moving from the first position toward the second position, based on the information stored in the storage, if the processor accepts a second command to retract the predetermined part after the first command.