Abstract: A path table operation is performed while updating the reference positions. When a read-out command in the path cycle table is read out, the reference positions are withdrawn and reset, and the respective axial positions at the time of the initiation of the path cycle command are stored. From the next period, the target positions are determined by adding the positions at the time of initiation to the respective axial positions corresponding to the reference positions stored in the path cycle table, and a path table operation is performed. A single path cycle table is sufficient for storing commands for portions to be repeatedly worked.

Abstract: A method for generating, by a direct process, a tool path for milling a region of a workpiece by a milling cutter is disclosed. The tool path consists of one or more passes. The method includes the steps of storing a maximum engagement of the milling cutter and defining each one of the one or more passes such that a value of the engagement, when traversing each one of the one or more passes, does not exceed the maximum value of engagement.

Abstract: Disclosed herein is a turret servo control device with an overriding function and control method thereof.

Abstract: A method of predicting kinematic data for a segment. The method comprises the steps of determining a modified acceleration using at least original kinematic data, estimating a joint load for a joint of the segment by using at least the modified acceleration, and predicting kinematic data for the segment based on one or more modified parameters. Therefore, various embodiments advantageously allow for prediction of novel motion.

Abstract: A method for generating, by a direct process, a tool path for milling a region of a workpiece by a milling cutter is disclosed. The tool path consists of one or more passes. The method includes the steps of storing a maximum engagement of the milling cutter and defining each one of the one or more passes such that a value of the engagement, when traversing each one of the one or more passes, does not exceed the maximum value of engagement.

Abstract: A method for generating a tool path for machining a pocket with a milling cutter is disclosed. The tool path includes a first portion, a second portion and a transition portion connecting together the first portion and the second portion. The method includes the steps of: determining a radius of a first arc; determining a radius of a second arc; situating the first arc so as to connect the first portion to the second portion in a tangent continuous manner; situating a third arc so as to be tangent continuous the first arc and intersecting the first arc; and situating a fourth arc, so as to be: (1) tangent continuous with the third arc, (2) tangent to the second arc and (3) tangent continuous with either the first portion or the second portion.

Abstract: Apparatus and methods are provided for estimating joint forces and moments in human beings. A forward dynamics module determines simulated kinematic data. An error correction controller forces tracking error between the simulated kinematic data and measured (or desired) kinematic data to approach zero. The error correction controller generates a modified acceleration for input into an inverse dynamics module. The estimated joint forces and moments track the measured (or desired) kinematics without the errors associated with computing higher order derivatives of noisy kinematic data.

Abstract: An end mill 10 is a tool for milling a metal block such as a metal mold and is placed in a machine tool such as a milling machine when in use. The end mill 10 is used to provide a rotary milling cutter and a milling method using the same, in which it is possible to perform orthogonal milling and pocket milling to efficiently form four corners with small radius, without repeatedly milling using a small-diameter end mill. The end mill 10 has two cutting edges 11a and 11b at its distal portion, and an edge angle D1 formed by the two cutting edges 11a and 11b is 70.53 degrees.

Abstract: Relative movements of a tool and a workpiece are controlled by moving a tool axis in all spatial dimensions for the material-removal machining of the workpiece to produce a desired target contour of the workpiece by a sequence of relative movements along a tool trajectory of the tool. The tool trajectory is subdivided into a multiplicity of target segments along which the tool is in engagement with the workpiece so that the orientation of the tool axis is consistent within a target segment, while the orientation of the tool axis is variable over the entire tool trajectory, and a respective and point of a target segment is connected by a linking pivot movement, during which the tool does not engage the workpiece and in which the orientation of the tool axis is altered, with a starting point of a further target segment.

Abstract: An internal pressure of a hydropneumatic drive actuator is measured by a pressure measurement device, a displacement amount of a movable mechanism is measured, a desired value and a measurement value of the displacement are inputted so that a position error is compensated by a position error compensation device, a desired value of a pressure difference of the actuator to which antagonistic driving is performed by the desired value is calculated by a desired pressure difference calculation device, outputs from the position error compensation device, the desired pressure difference calculation device, and the pressure measurement device are inputted, and a pressure difference error is compensated by pressure difference error compensation device.

Abstract: A milling method is for producing milled structural components of materials that are difficult to machine by chip-cutting. A milling tool with a tool radius is rotationally driven about an axis of the milling tool to ensure a central rotation thereof, whereby a reference point of the milling tool preferably lying on the axis is moved on several curved paths, whereby the paths preferably comprise different curvatures, and whereby the milling tool is moved on the paths with a radial miller feed relative to the material. The curvature at each path point of each path is determined in such a manner that an optimized or maximized circumferential contact of the milling tool is ensured for each path point.

Abstract: An internal pressure of a hydropneumatic drive actuator is measured by a pressure measurement device, a displacement amount of a movable mechanism is measured, a desired value and a measurement value of the displacement are inputted so that a position error is compensated by a position error compensation device, a desired value of a pressure difference of the actuator to which antagonistic driving is performed by the desired value is calculated by a desired pressure difference calculation device, outputs from the position error compensation device, the desired pressure difference calculation device, and the pressure measurement device are inputted, and a pressure difference error is compensated by pressure difference error compensation device.

Abstract: A method for generating a machining program includes inputting a coordinate value and a machining dimension of a portion to be machined with respect to the axis Z for forming a pair of restricting surfaces. The method includes determining the unit machining shape based on the inputted coordinate value and machining dimension and determining a tool in accordance with the determined unit machining shape. The method includes inputting data about cross-sectional shapes of the portion to be machined and a portion resulting from cutting; generating a machining path; and generating the machining program based on the generated machining path and the determined tool. Therefore, a machining program for forming a cut resulting portion eccentrically projecting is generated in an interactive manner.

Abstract: A method of machining a surface of a workpiece is accomplished by bringing a cutting tool into contact with the surface of the workpiece and for at least one cutting pass, i, causing relative movement between the cutting tool and the surface of the workpiece along a path in the surface of the workpiece. The path is in the nature of a mathematical function defined over a segment, C, of a coordinate system and characterized by a set of nonrandom, random or pseudorandom parameters selected from the group consisting of amplitude, phase and period or frequency.

Abstract: In one embodiment, a wafer-handling robot in a wafer processing system is automatically calibrated by determining an orientation of the robot relative to a chassis of the wafer processing system, determining hand-off coordinates of a load port in the wafer processing system, and determining hand-off coordinates of a load lock in the wafer processing system. Also disclosed is a calibration fixture for automatically calibrating the wafer-handling robot to the load port.

Abstract: An apparatus for aiding a machinist in preparing a machining program. A machining simulator simulates a basic machining program. Values of machining variables are obtained during the simulation and stored in a simulation result data memory. A spindle load determiner, a cutting speed determiner, and a rotating speed determiner analyze the machining variable values of a certain machining process to determine the machining efficiency of that process. A navigation information memory stores a plurality of messages for giving advice on how to change the cutting conditions. A message, which depends on the analysis of the machining variable values, is selected from the memory and is shown on a display. Accordingly, an operator can easily modify the basic machining program by following the message on the display, even if the operator does not have much knowledge or experience.

Abstract: A robot apparatus with a first barcode scanner to be used for collecting positional data perpendicular to its scan direction and a second barcode scanner to be used for collecting positional data perpendicular to its scan direction where the first and second barcode scanner are mounted substantially orthogonal to each other is, for example, a library storage system, is provided. The first barcode scanner scans the target while the robotic apparatus is moved in a direction perpendicular to the scan path of the first barcode scanner. The second barcode scanner scans a second target substantially orthogonal to the first target while the robot is moved substantially perpendicular to the scan path of the second barcode scanner. Positional data is collected in conjunction with the readability limits of the first and the second target.

Abstract: A system for determining a position error in a wafer handling device includes a control module, an image acquisition module, and an image analysis module. The control module moves a workpiece having one or more reference marks, and the image acquisition module captures an image of at least one reference mark. The image analysis module, which is coupled to the image acquisition module, compares the captured image to stored target information to determine a position error.

Abstract: A system for universal guidance and control of automated machines incorporates with an IMU (Initial Measuring Unit) installed at an end effector of a motion element of an automated machine, fast-response feedback control for both position and angle servo-loops (for the end effector) greatly decreases the operational time needed to complete a preplanned trajectory. In addition, the closed-control loop design provides stabilization and isolation of the end effector from external disturbances. This unique navigation solution is based upon the uses of a set of equations performing an open loop computation with the inertial data as its input. This formulation of equations requires a periodic update of the open loop solution in order to bind the growth of system errors. The source of this update is the automated machine position measurement derived from the mechanical sensors in the system.

Abstract: Method and system for a direct transmission of motion path data (310) from a generating system (204) to a control system (205) for use in controlling a servo-driven machine. For example, a machine tool for machining stock material, and the data generating system includes a computer-aided-design software package (301). Tool paths for directing the tool members of the machine tool can be extracted from a design file opened by the CAD software through the operation interface of the CAD software (302). Alternatively, the design file can be used to specify motion paths rather than end product geometry. The CAD interpreter application extracts the motion path data from the design file, eliminating the need to translate the data into another or intermediate form for controlling the machine tool.

Abstract: A numerically controlled system includes a tool path sample point setting unit for forming evaluation data by arranging, virtually, a tool on a given scheduled path locus to come precisely into contact with a processed surface of a processing object and by setting tool path sample points to evaluate a shape of the processed surface, a discontinuity portion extracting unit for extracting a discontinuity portion based on the evaluation data, and a tool position data forming unit including a command speed deciding portion for deciding a command speed at which the tool is moved based on the evaluation data and a tool position deciding portion for deciding the tool position based on the command speed and the shape of the worked surface such that the tool comes into contact with the worked surface, wherein setting of the tool path sample points, extraction of the discontinuity portion, and decision of the tool position are carried out in real time.

Abstract: A precision soft-touch gripping mechanism has a mounting plate attached to a robot arm. The plate supports a stepper motor. The output shaft of the stepper motor is connected through a spring to an elongated finger that slides in a central longitudinal slot of the plate and supports a first wafer gripping post, while on the end opposite to the first wafer gripping post the mounting plate pivotally supports two L-shaped fingers with a second and third wafer gripping posts on their respective ends. The mounting plate in combination with the first sliding finger and two pivotal fingers forms the end effector of the robot arm which is thin enough for insertion into a wafer-holding slot of a wafer cassette. The end effector is equipped with a mapping sensor for detecting the presence or absence of the preceding wafer, wafer position sensors for determining positions of the wafer with respect to the end effector, and force sensors for controlling the wafer gripping force.

Abstract: A robot calibration system for calibration of a workpiece handling robot relative to a station. The workpiece handling robot includes a sensor mounted on an end effector. The robot calibration system also includes a target, which in coordination with the sensor, allows a control system to determine a center of the target. The target is a wafer in the shape of a disk. A pattern is on at least one side of the workpiece, preferably on a bottom side of the target. The pattern comprises alternating black and white areas. The workpiece handling robot is placed in front of the station which includes a cassette mounted thereon. The cassette has a support surface which supports the target. Once the z-height of the end effector is established with the end effector being in close proximity to a lowermost support surface of the cassette, the end effector proceeds to move in a search pattern searching the pattern for transition points from black to white areas.

Abstract: A numerical control device for synchronously controlling the movement of a plurality of axes of a machine by repeatedly controlling a cyclic motion. An axis of the machine is designed to stop at a predetermined position upon the occurrence of an emergency stop. To achieve this stop position, an amount of retraction is set up to a position where a tool of machine does not interfere with a work piece or other obstacles. When an emergency stop signal is entered during a binary operation, because of an occurrence of an abnormality, a movement control amount for each period, corresponding to a set amount of retraction, is added to the movement control amount for each period of the binary operation and the axis is thereby driven by the resultant modified movement control amount. The binary operation is stopped upon the reaching of the stop position, and the tool can be held at this retracted position, by the set amount of retraction.

Abstract: A recording medium of a CNC machine tool is used for storing a program specifying the operations to be executed by the CNC machine tool. The program comprises a master program and a slave program which can be called by the master program. The master program has a plurality of control instructions and parameters for bringing about signals to control a series of operations to be performed by the CNC machine tool. The slave program is an assembly of a plurality of path describing instructions.

Abstract: A milling method is provided in which a finished part of any desired contour is milled from a blank of any desired contour by the milling tool being guided on a continuous, spiral guide path from the blank continuously to the finished part. In this case, material is continuously removed during the milling operation without ever lifting the tool or clamping the workpiece in place again. This results in a reduced machining time of the workpiece. The continuous, spiral guide path permits a harmonic change of form from the blank to the finished part with smooth guidance of the tool. The method can also be carried out with ceramic tools.

Abstract: A cutting machine control determines a required stock-removal amount from a work for each of sections into which a tool path is divided, and feeds the rotating cutting tool at a speed that is controlled according to the required stock-removal volume so that the rotating cutting tool removes a predetermined or target stock-removal volume of material for the component path section from a work per unit time.

Abstract: A method of making a tool path, capable of making a difference in level of a part of a surface being processed inconspicuous, and obtaining a smooth processed surface. According to this method, a shape to which an object surface is to be processed and processing conditions are inputted, and a processing region is designated on the surface to be processed. Reference lines are designated on the processing region, and a tool path on the processing region is calculated on the basis of the reference lines. When the number of the processing region is one, a tool escaping expansion region is added to a terminal end in the picking direction of the processing region, or a tool approaching expansion region is added to a starting end in the picking direction of the processing region.

Abstract: A system and method for precision operational control of automated machines includes a motion element, an IMU (Inital Measuring Unit) installed at an end effector of the motion element for sensing and providing a motion measurement of the motion element, a central control processor receiving output of the IMU and producing commands, and a motion actuator receiving the commands from the central control processor to control the movement of the end effector of the motion element, so as to enable autonomous/intelligent control of the automated machine's end effector by incorporating the IMU to permit direct servo-control of the end effector's acceleration, velocity, angular rate. and angle—this closed-loop system minimizes effects of such disturbances like mechanical flexing and bending due to loading and nonlinear torques due to hydraulic components.

Abstract: The present invention provides a processing machine having the function of sensitively detect collisions or other abnormalities to prevent the machine from being operated under abnormal conditions. Means 22 is provided for detecting a load on a drive source 1 for driving a movable member 2. Abnormality determining means 23 is provided for determining the load is abnormal if the lead as detected by the abnormality means 22 exceeds an abnormality determination level (Lb). The abnormality determining means 23 sets the abnormality determination level (Lb) on the basis of the load as measured during the preceding driving operation of the movable member 2 or the average of loads as measured during several past driving operations that are temporally close to the current one.

Abstract: A technique is provided for utilizing a computer system to generate tool paths for the computed aided machining (CAM) in at least four axis of a selected workpiece or part, particularly a complex part having hidden surfaces. The technique involves storing in the computer system both a surface point representation of a workpiece, which representation contains a unique code for each surface point, and a representation of the tool for which the paths are to be generated. The workpiece surface is viewed from a discrete number of orientations and a map of surface points visible from each of the orientations is generated. The map is then used to obtain selected most promising access directions for access to voxels in the delta volume to be removed or for access to surface points for a finishing operation. Such most promising access directions may for example be obtained by thinning an access cone for the voxel/point.

Abstract: The present invention is an apparatus and method for automatically realigning an end effector of an automated equipment after an undesired contact of the end effector to prevent a crash of the end effector. The present invention includes a plurality of contact detectors, and each of the contact detectors is disposed at a respective location with respect to the end effector. In addition, each of the contact detectors generates a respective signal for indicating direction of force on the end effector that results from the undesired contact. Furthermore, the present invention includes an end effector controller that is coupled to the plurality of contact detectors and to the end effector. The end effector controller causes the end effector to move to a reset position after the undesired contact when any of the respective signals from the plurality of contact detectors is greater than a predetermined level.

Abstract: A pipeline inspection and defect mapping system includes a pig having an inertial measurement unit and a pipeline inspection unit for recording pig location and defect detection events, each record time-stamped by a highly precise onboard clock. The system also includes several magloggers at precisely known locations along the pipeline, each containing a fluxgate magnetometer for detecting the passage of the pig along the pipeline and further containing a highly precise clock synchronized with the clock in the pig. The locations of the various magloggers are known in a north/east/down coordinate system through a differential global positioning satellite process. Finally, a postprocessing off-line computer system receives downloaded maglogger, inertial measurement, and odometer data and through the use of several Kalman filters, derives the location of the detected defects in the north/east/down coordinate frame. Consequently, a task of identifying sites for repair activity is much simplified.

Abstract: A system for adapting existing conventional screw machines to be capable of computer numerical control operation. The system incorporates the use of a VersaCam device which replaces the turret cam of a single spindle screw machine. The VersaCam system monitors the motion of the screw machine camshaft and actuates the turret slide in synchronization with the camshaft. The VersaCam system also provides a means of specifying the desired turret slide trajectory for any given job.