Abstract: A robot includes: a base having a plurality of wheels; a motor system mechanically coupled to one or more of the wheels; a body having a bottom portion coupled above the base, and a top portion above the bottom portion; a support at the top portion, wherein the support is configured to withstand a temperature that is above 135° F.; and a processing unit configured to operate the robot.

Abstract: Robotic systems, methods of operation of robotic systems, and storage media including processor-executable instructions are disclosed herein. The system may include a robot, at least one processor in communication with the robot, and an operator interface in communication with the robot and the at least one processor. The method may include executing a first set of autonomous robot control instructions which causes a robot to autonomously perform the at least one task in an autonomous mode, and generating a second set of autonomous robot control instructions from the first set of autonomous robot control instructions and a first set of environmental sensor data received from a sensor. Execution of the second set of autonomous robot control instructions causes the robot to autonomously perform the at least one task. The method may include producing at least one signal that represents the second set of autonomous robot control instructions.

Abstract: Disclosed herein is an operating system for operating a plurality of mobile platforms. The operating system includes: an operating terminal configured to allocate a bandwidth to a channel of each of the mobile platforms according to a mission of each of the mobile platforms to perform, the channel being used for the operating terminal to perform communications with each of the mobile platforms; and the plurality of mobile platforms each of which is configured to receive the mission from the operating terminal, and send a request to adjust and reallocate the bandwidth to the channel based on performance information about the mobile platforms. It is possible to operate the plurality of mobile platforms efficiently by using a limited frequency band.

Abstract: In one embodiment, a user indicates one or more virtual zones on an area map on a user device for a particular robot. The zones are then transferred to the robot. The robot determines an optimum order for multiple zones and a path for navigating to the different zones.

Abstract: A mobile robot includes a communication unit that communicates with another mobile robot, a sensing unit for sensing the other mobile robot existing in a detection area encompassing a predetermined projected angle with respect to the front of a main body of the mobile robot, and a control unit configured for rotating the main body so that the other mobile robot is sensed in the detection area. The communication unit transmits a control signal configured to cause the other mobile robot to travel in a linear direction by a predetermined distance, to the other mobile robot when the other mobile robot is present in the detection area.

Abstract: A control method of a vehicle, comprising: estimating an environment model relating to a search region, based on environment information acquired by an environment sensor, wherein the environment sensor acquires the environment information representing an environment around a local vehicle among one or more vehicles; estimating an effective range based on the estimated environment model, when the local vehicle, and each vehicle among the one or more vehicles move to each candidate destination; and configuring a plurality of sets being configurable by the candidate destinations of all the vehicles, determining, based on the estimated effective range, a certain set, among the plurality of sets, by which an entire size demarcated by the effective range in one set among the plurality of sets becomes maximum.

Abstract: A mechanism-parametric-calibration method for a robotic arm system is provided, including: controlling the robotic arm to perform a plurality of actions so that one end of the robotic arm moves toward corresponding predictive positioning-points; determining a predictive relative-displacement between each two of the predictive positioning-points; after each of the actions is performed, sensing three-dimensional positioning information of the end of the robotic arm; determining, according to the three-dimensional positioning information, a measured relative-displacement moved by the end of the robotic arm when each two of the actions are performed; deriving an equation corresponding to the robotic arm from the predictive relative-displacements and the measured relative-displacements; and utilizing a feasible algorithm to find the solution of the equation.

Abstract: A facility server manages battery charge of a plurality of robots in an environment where a charging device is shared by the plurality of robots. A waiting information acquisition unit acquires waiting information related to whether there is a robot which cannot use the charging device and is waiting, because another robot is charging a battery using the charging device. A charge suspension control unit controls, when there is a robot which cannot use the charging device and is waiting, control the other robot to suspend charging a battery.

Abstract: A method for generating a control signal to a conveyor system, the conveyor system configured to serve at least a plurality of robots, includes receiving, in a control entity, a service call for a first robot, the service call being associated with a priority of the first robot; determining, by the control entity, the priority of the first robot; and generating, by the control entity, a control signal to the conveyor system to serve the service call for the first robot in accordance with the determined priority of the first robot. A control entity, a robot and a system are also provided.

Abstract: A system determines one or more constraint locations that are present in an environment. A constraint location is a location in the environment through which a user, pet, or moving device is deemed likely to pass due to one or more physical constraints such as walls, furniture, and so forth. For example, a constraint location may be located at a midpoint of a doorway, or where a corridor narrows. Movement of an autonomous mobile device in an environment takes these constraint locations into consideration. In one implementation the autonomous mobile device is prevented from stopping within a threshold distance of a constraint location to avoid blocking movement of others.

Abstract: The present invention relates to a non-contact obstacle-avoiding autonomous lawn mower, including a housing, a moving module, a drive module, and a control module. An ultrasonic sensor assembly is disposed on the housing. The ultrasonic sensor assembly includes at least two ultrasonic sensors, including a first ultrasonic sensor and a second ultrasonic sensor. When a distance between an obstacle detected by the ultrasonic sensor assembly and the autonomous lawn mower is less than a preset distance, the control module controls the autonomous lawn mower to execute a preset obstacle-avoidance measure. Compared with the prior art, the present invention uses an ultrasonic sensor to detect an obstacle and sets a preset distance to prevent the autonomous lawn mower from colliding with the obstacle, thereby implementing non-contact obstacle avoidance of the autonomous lawn mower.

Abstract: A method for positioning an intelligent terminal apparatus comprises: acquiring data points scanned by a position detection device in the intelligent terminal apparatus at the current position of the intelligent terminal apparatus; converting valid data points into segment features to obtain a first set of segment features; and converting point features in an established map of the intelligent terminal apparatus into segment features to obtain a second set of segment features; selecting, from the first and second set of segment features, segments having the same position relationship respectively to form a first and a second candidate subset of the first and the second set of segment features respectively; and determining a transformation matrix that matches the first candidate subset to the second candidate subset, and identifying the current position and the orientation angle of the intelligent terminal apparatus in the established map based on the transformation matrix.

Abstract: The present disclosure relates to a plurality of autonomous mobile robots. A plurality of autonomous mobile robots comprise a first mobile robot including an antenna configured to transmit and receive signals, and a second mobile robot including a first antenna and a second antenna disposed on a front area of a main body thereof to transmit and receive signals to and from the antenna of the first mobile robot. The second mobile robot comprises a control unit configured to determine a relative position of the first mobile robot using the signal received by the first antenna and the second antenna.

Abstract: A substrate gripping mechanism, for gripping a substrate between a fixed clamp portion to be engaged with an edge portion of a substrate and a movable clamp portion configured to reciprocate with respect to the fixed clamp portion by a reciprocating driving unit, includes an interlocking member configured to move together with the movable clamp portion, and a first sensor and a second sensor, each having a detection region and configured to detect whether or not the interlocking member exists in the detection region. The interlocking member has a first to a fourth portion connected in a reciprocating direction of the movable clamp portion. The first to the fourth portion have shapes to make detection results thereof by the first sensor and the second sensor different from each other.

Abstract: A robot control device includes a camera configured to be attached to a display device carried by or put on an operator and capture an environment surrounding the operator to generate an image of the environment; and a processor configured to slow down or stop motion of a predetermined robot included in the environment when the predetermined robot is not displayed on the display device, when only a portion of the predetermined robot is displayed, or when a ratio of a region representing the predetermined robot to a display area of the display device is equal to or lower than a predetermined threshold.

Abstract: A system, medium, and method including obtaining a plurality of positions for multiple components defined by a plan; obtaining a set of constraints that express limitations for the multiple components at the plurality of positions, the constraints being applicable to a plan where the multiple components synchronously change their positions with time to traverse a prescribed sequence of the plurality of positions, at least one of the multiple components being further constrained to change its position over time by staying within a predefined tolerance to a predefined smooth function of position over time between different positions; determining a trajectory of position and a minimum duration in which the multiple components completely synchronously traverse the prescribed sequence of positions while satisfying the constraints for the multiple components; and generating a record of the determined trajectory of position and the minimum duration for the plurality of components.

Abstract: Provided is a method for evaluating muscle strength characteristics of a limb based on a muscle group model including a first pair of antagonistic one-joint muscles, a second pair of antagonistic one-joint muscles, and a pair of antagonistic two-joint muscles, where the limb has a first rod having a proximal end supported by a first joint and a second rod supported on a free end of the first rod through a second joint. The method includes: measuring a maximum output of a free end of the second rod in at least one predetermined direction; measuring orbiting outputs of the free end of the second rod in all directions in the plane; and creating a hexagonal maximum output distribution corresponding to a contribution amount of each muscle of the muscle group model based on the maximum output in the predetermined direction and the orbiting outputs.

Abstract: System for guiding an instrument within a vascular network of a patient are disclosed. In some embodiments, the system receives a medical image from a medical imaging device and identifies a distal tip and a direction the instrument in the image. The system may then determine a waypoint for the distal tip of the instrument based at least in part on the position and direction of the distal tip of the instrument. The system may then generate a trajectory command for moving the instrument through the vascular network from the current position to the waypoint. The system may operate in a closed loop. The system may provide the trajectory command to a robotic medical system configured to move the instrument according to the command.

Abstract: Methods and apparatus to facilitate autonomous navigation of robotic devices. An example autonomous robot includes a region model analyzer to: analyze a first image of an environment based on a first neural network model, the first image captured by an image sensor of the robot when the robot is in a first region of the environment; and analyze a second image of the environment based on a second neural network model, the second image captured by the image sensor when the robot is in a second region of the environment, the second neural network associated with the second region. The example robot further includes a movement controller to: autonomously control movement of the robot within the first region toward the second region based on the analysis of the first image; and autonomously control movement of the robot within the second region based on the analysis of the second image.

Abstract: System, methods, and other embodiments described herein relate to tracking dynamic objects in a surrounding environment of a vehicle. In one embodiment, a method includes, in response to acquiring sensor data from at least one sensor, generating a current occupancy map that indicates locations of occupied grid cells as identified by the sensor data. The method includes updating a difference map according to the current occupancy map. The difference map encodes temporal changes in relation to prior states of occupancy of the grid cells to track dynamic objects in the surrounding environment over a defined temporal horizon. The method includes computing dynamics of the dynamic objects according to the difference map. The method includes providing the dynamics to at least one vehicle system within the vehicle.

Abstract: Disclosed is a flexible surgical instrument system, comprising a distal structural body comprising at least one distal structural segment each comprising a distal spacing disk, a fixing disk and structural backbones; a proximal structural body comprises at least one proximal structural segment each comprising a proximal spacing disk, a proximal fixing disk and structural backbones; a plurality of cable transmission mechanisms each comprising a gear set and a pulley-cable part, the gear set being operable to transfer a rotational motion to the pulley-cable part; and a driving unit comprising a motion transmission part comprising a plurality of proximal segment turning transmission chains to convert a rotational output into mutually reversed rotational motions, and transfer one of the mutually reversed rotational motions to one of the gear sets.

Abstract: A robot system includes a robot, a first movable object on which the robot is mounted and which is configured to move with the robot, a camera mounted on the first movable object to take, while the first movable object is moving, a plurality of images of a reference object that relates to a position of a workpiece, and circuitry configured to control the robot to operate on the workpiece based on the plurality of images while the first movable object is moving.

Abstract: A data processing method for a care-giving robot and an apparatus comprises receiving data from a target object comprising a capability parameter of the target object, generating a growing model capability parameter matrix of the target object that includes the capability parameter, a capability parameter adjustment value, and a comprehensive capability parameter that is calculated based on the capability parameter; adjusting the capability parameter adjustment value in the growing model capability parameter matrix, to determine an adjusted capability parameter adjustment value; determining whether the adjusted capability parameter adjustment value exceeds a preset threshold; and sending the adjusted capability parameter adjustment value to a machine learning engine when the adjusted capability parameter adjustment value is within a range of the preset threshold.

Abstract: Provided is an autonomous moving body configured to move along a planned movement path to execute a given task, including: an external sensor configured to recognize another autonomous moving body given another task and an operation state of the another autonomous moving body; an overtaking determination unit configured to determine, when it is recognized by the external sensor that the another autonomous moving body moves along the movement path, whether to overtake the another autonomous moving body; and a movement control unit configured to control a moving unit based on the determination of the overtaking determination unit.

Abstract: In robot teaching programming, a robot teaching programming method, apparatus and system, and a computer-readable medium, can realize the programming of a robot simply, and are not restricted in terms of robot types. A robot teaching programming system includes a movable apparatus for imitating movement of an end effector of a robot in a working space of the robot; a robot teaching programming apparatus for recording first movement information of the movable apparatus in a first coordinate system and converting the same to second movement information in a second coordinate system of the robot, and then programming the robot according to the second movement information. Using a movable apparatus to simulate an end effector of a robot has the advantages of ease of operation, and no restrictions in terms of robot types. Teaching programming is accomplished through simple coordinate transformation, and there is no need for advanced programming skills.

Abstract: Methods, apparatus, systems and articles of manufacture are disclosed Systems, apparatus, and methods to propagate a robot swarm using virtual partitions are disclosed. An example apparatus includes a transceiver to broadcast the availability of the apparatus to host one or more bots from a swarm of bots and to receive a copy request from a bot in the swarm of bots. The example apparatus also includes an evaluator to evaluate instructions from the bot and determine if the apparatus is equipped to propagate the bot. In addition, the example apparatus includes a virtual partition to provide an interface for executing a copy of the bot.

Abstract: A robotic surgical system configured to control movement of a first instrument and a second instrument, each of which is on a robotic manipulator. In described modes of operation, movement of the first instrument is surgeon controlled based on surgeon input to the robotic system. Movement of the second instrument is also surgeon controlled, but its motion is defined by the chosen mode of operation which sets the amplitude and direction of the second instrument's motion relative to the actual or instructed motion of the first instrument. In this way, two instruments are simultaneously moved based on input from a single surgeon input device.

Abstract: A slave combining with a master in a robot tool changing system is disclosed. The slave includes a combination groove into which a protrusion of the master is inserted, at least one plate displacement measuring module arranged at a circumferential edge of a hole of the combination groove, and a slave communicator for communicating with the master. Accordingly, a robot tool changing system including an artificial intelligence (AI) function and performing 5G communications may be provided.

Abstract: A method of manipulating boxes includes receiving a minimum box size for a plurality of boxes varying in size located in a walled container. The method also includes dividing a grip area of a gripper into a plurality of zones. The method further includes locating a set of candidate boxes based on an image from a visual sensor. For each zone, the method additionally includes, determining an overlap of a respective zone with one or more neighboring boxes to the set of candidate boxes. The method also includes determining a grasp pose for a target candidate box that avoids one or more walls of the walled container. The method further includes executing the grasp pose to lift the target candidate box by the gripper where the gripper activates each zone of the plurality of zones that does not overlap a respective neighboring box to the target candidate box.

Abstract: Provided is a master console for a surgical robot. The master console includes: a base unit including a first base and a second base, the first and second bases being provided parallel to each other; and a foot pedal unit between the first base and the second base, wherein the foot pedal unit includes at least one foot pedal switch capable of being manipulated by a foot of an operator, a foot panel configured to support the at least one foot pedal switch, and a footrest extending outward from the foot panel.

Abstract: Customized navigation maps of an area are generated for autonomous vehicles based on a baseline map of the area, transportation systems within the area, and attributes of the autonomous vehicles. The customized navigation maps include a plurality of paths, and two or more of the paths may form an optimal route for performing a task by an autonomous vehicle. Customized navigation maps may be generated for outdoor spaces or indoor spaces, and include specific infrastructure or features on which a specific autonomous vehicle may be configured for travel. Routes may be determined based on access points at destinations such as buildings, and the access points may be manually selected by a user or automatically selected on any basis. The autonomous vehicles may be guided by GPS systems when traveling outdoors, and by imaging devices or other systems when traveling indoors.

Abstract: An example implementation for determining mechanically-timed footsteps may involve a robot having a first foot in contact with a ground surface and a second foot not in contact with the ground surface. The robot may determine a position of its center of mass and center of mass velocity, and based on these, determine a capture point for the robot. The robot may also determine a threshold position for the capture point, where the threshold position is based on a target trajectory for the capture point after the second foot contacts the ground surface. The robot may determine that the capture point has reached this threshold position and based on this determination, and cause the second foot to contact the ground surface.

Abstract: A collation device is configured to include a processor, and a storage unit that stores a predetermined determination condition in advance, under which a photographic image which is an image obtained by imaging a photograph of the subject is capable of being eliminated, the processor is configured to detect brightness distribution of a face image obtained by imaging an authenticated person with an imaging unit, determine whether or not the detected brightness distribution satisfies a determination condition, and perform face authentication using the face image satisfying the determination condition.

Abstract: A robotic system includes a communication system coupled to communicate with one or more external devices that include first user preferences. The robotic system also includes memory storing a database including second user preferences. A controller is coupled to the user interface, the communication system, and the memory, and the controller includes logic that when executed by the controller causes the robotic system to perform operations. Operations may include retrieving the first user preferences using the communication system; retrieving the second user preferences from the database; resolving conflicts between the first user preferences and the second user preferences to create a final set of user preferences; and configuring the robotic system with the revised set of user preferences.

Abstract: Methods and apparatuses for aligning a first hole in a first panel with a second hole in a second panel to define a through-hole. A wall that defines the second hole is gripped from within the through-hole to pull the second panel towards the first panel and thereby establish a clamp-up of the first panel and the second panel.

Abstract: A computer-assisted surgery system for guiding alterations to a bone, comprises a trackable member secured to the bone. The trackable member has a first inertial sensor unit producing orientation-based data. A positioning block is secured to the bone, and is adjustable once the positioning block is secured to the bone to be used to guide tools in altering the bone. The positioning block has a second inertial sensor unit producing orientation-based data. A processing system providing an orientation reference associating the bone to the trackable member comprises a signal interpreter for determining an orientation of the trackable member and of the positioning block. A parameter calculator calculates alteration parameters related to an actual orientation of the positioning block with respect to the bone.

Abstract: A device includes a camera, a microphone, a driving mechanism, and a memory. The processor determines whether or not a first person appears in a video acquired by the camera, or whether or not speech of the first person is included in a sound acquired by the microphone, when the driving mechanism is to start driving in accordance with predetermined content executed by the device. The first person being a subject person requiring predetermined attention when the device makes contact therewith. The processor determines whether or not the device is moving, when the first person appears in the video, or when the speech of the first person is included in the sound. The processor controls the driving mechanism to stop movement of the device, when the device is moving.

Abstract: A method for an image capturing device includes: acquiring a first image of a target object; extracting coordinate information of a first 2D key point corresponding to the target object; acquiring a second image of the target object; acquiring coordinate information of a second 2D key point in the second image according to the coordinate information of the first 2D key point, the first 2D key point and the second 2D key point being the same key point in the target object; acquiring coordinate information of a 3D key point corresponding to the target object, the 3D key point being a key point obtained after a triangulation operation; and determining camera posture information of the second image according to the coordinate information of the first 2D key point, the coordinate information of the second 2D key point, the coordinate information of the 3D key point, and a 3D-2D projection.

Abstract: A robot system includes a work apparatus, a robot, and control circuitry. The work apparatus is configured to move a work module relatively to the work apparatus. The work module is configured to perform work. The work apparatus is connected the robot. The control circuitry is configured to control the robot to move so as to reduce a force generated by moving the work module by the work apparatus.

Abstract: Disclosed are systems and methods that generate individual semantic layers for different object types within an environment. For each object type semantic layer and for an aerial vehicle, a semantic configuration space may be formed that indicates all valid aerial vehicle configurations in which the aerial vehicle does not collide with objects of the object type that exists in the environment. Finally, a combined configuration space may be formed by overlaying multiple semantic configuration spaces for object types known to be within the environment. The resulting combined configuration space indicates a common area in which the aerial vehicle can navigate according to the configuration of the common area and not collide with any objects of the object types represented by the combined semantic configuration spaces.

Abstract: An autonomous mobile cleaning robot can include a robot body, a bumper, and a coupling. The robot body can include a displacement sensor. The bumper can be moveably coupled to the body. The coupling can include a displacement limiter associated with the displacement sensor. The displacement limiter can inhibit or limit sensing by the displacement sensor of displacement of the bumper from the robot body caused by forces below a threshold horizontal force value.

Abstract: A system to determine position and/or heading may include a receiver including at least two antennas configured to be coupled to the vehicle and receive electromagnetic signals including at least one of microwaves or radio waves. The system may also include a navigation module configured to determine first and second locations associated with respective first and second transmitters that send respective first and second signals. The navigation module may also be configured to determine, based at least in part on the first signals, a first relative orientation of the receiver relative to the first transmitter, and determine, based at least in part on the second signals, a second relative orientation of the receiver relative to the second transmitter. The navigation module may also be configured to determine a position and/or heading of the vehicle based at least in part on the first and second relative orientations of the receiver.

Abstract: Systems, methods, and computer-readable media are disclosed for systems and methods to implement preferred pathways in mobile robots. Example methods may include obtaining, via at least one of a user interface and a corresponding Application Programming Interface API call, at least one preferred pathway for an autonomous mobile robot, transmitting the at least one preferred pathway to the autonomous mobile robot, generating a planned path for the autonomous mobile robot based at least in part on an influence function, the influence function being representative of an amount of bias towards the at least one preferred pathway on a motion planning decision of the autonomous mobile robot, the amount of bias being based at least in part on a metric associated with the at least one preferred pathway, and causing the autonomous mobile robot to move from a start point to an end point along the planned path.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing goal-based robot animation. One system includes a robot configured to receive a goal that specifies a goal state to be attained by the robot or one of the components. A collection of animation tracks is searched to identify one or more animation tracks that when executed by the robot cause the robot to perform one or more physical movements to satisfy the goal state. The identified one or more animation tracks are executed to perform the one or more physical movements to satisfy the received goal state.

Abstract: An object appearance detection system with posture detection and a control method thereof are provided. A controlling and computing device uses a first sensor and a second sensor to control a conveying production line, and controls a robotic arm to move an object to be detected to a posture detection position and a surface detection position. When the object to be detected is in the posture detection position, the controlling and computing device receives a posture detection image to perform posture detection on the object to be detected. When the object to be detected is in the surface detection position, the controlling and computing device controls the robotic arm to adjust the posture of the object to be detected according to the posture detection result and receives images from a remote imaging device and photographing devices to perform surface defect detection on the object to be detected.

Abstract: A substrate processing apparatus includes a plurality of placement parts on which a substrate container is placed, a driving part configured to move the plurality of placement parts, a transport mechanism configured to load the substrate container into one of the plurality of placement parts and to unload the substrate container from one of the plurality of placement parts, and a controller configured to control the driving part and the transport mechanism so that by raising or lowering the transport mechanism while keeping a support of the transport mechanism unmoved in an initial position, the substrate container is delivered from one of the plurality of placement parts to the support of the transport mechanism, and the substrate container is delivered from the support of the transport mechanism to one of the plurality of placement parts.

Abstract: A robot in a robot system including a plurality of robots each having a function of identifying a monitoring target and transmitting information related to the monitoring target to a remote site. The robot includes an acquiring unit that acquires sensing data related to the monitoring target, a communication unit that communicates with another nearby robot, and a control unit that controls the communication unit such that an alert mode transition request signal is transmitted to the other nearby robot if it is determined that a first monitoring target is in an abnormal state on a basis of the sensing data. The robot transitions to an alert mode in which a process according to the received alert mode transition request signal is performed if the alert mode transition request signal related to a second monitoring target is received.

Abstract: System for guiding an instrument within a vascular network of a patient are disclosed. In some embodiments, the system receives a medical image from a medical imaging device and identifies a distal tip and a direction the instrument in the image. The system may then determine a waypoint for the distal tip of the instrument based at least in part on the position and direction of the distal tip of the instrument. The system may then generate a trajectory command for moving the instrument through the vascular network from the current position to the waypoint. The system may operate in a closed loop. The system may provide the trajectory command to a robotic medical system configured to move the instrument according to the command.

Abstract: During movement control wherein a moving body tracks a user while in front of the user, a coordinate obtained from the torso of the user is used as the X coordinate of the position of the user, and among the position of the body of the user and the position of the feet of the user, the position which is closer to the moving body is used as the Y coordinate. Thus, the moving body is able to move to a target position in the left/right direction (the X coordinate) and the front/back direction (the Y coordinate) that is appropriate with respect to the user. Accordingly, the distance between the moving body and the user can be maintained appropriately, and movement control in front of the user and that is not an impediment to the user can be accomplished.

Abstract: A manipulator system configured to perform a work to a workpiece being moved by a moving device, includes a robotic arm, having one or more joints and to which a tool configured to perform the work to the workpiece is attached, an operating device configured to operate the robotic arm, a first imaging means configured to image the workpiece, while following the movement of the workpiece, a second imaging means fixedly provided in a work area to image a situation of the work to the workpiece, a displaying means configured to display an image imaged by the first imaging means and an image imaged by the second imaging means, and a control device configured to control the operation of the robotic arm based on an operating instruction of the operating device, while detecting a moving amount of the workpiece being moved by the moving device and carrying out a tracking control of the robotic arm according to the moving amount of the workpiece.