Abstract: A work apparatus sets a virtual target point on an image plane in an imaging apparatus, and obtains a plurality of coordinate values of a moving unit at which a work reference point of a work unit and the virtual target point are caused to match in an image captured by the imaging apparatus. Further, the work apparatus obtains, in the image, coordinate values of the moving unit at which a position of light projection by a distance information obtaining unit and the virtual target point are caused to match, and a plurality of pieces of distance information obtained from the distance information obtaining unit at those coordinate positions. Then, the work apparatus calculates, based on the plurality of coordinate values and the plurality of pieces of distance information obtained through the above processing, a calibration parameter for the moving unit and the distance information obtaining unit.

Abstract: A system of manipulators including several manipulators, namely robots and/or external axes, such as workstations or transport tracks, whereby each manipulator is controlled by a control system via communication means and is programmed to carry out a plurality of tasks. The system of manipulators is movable in a first coordinate system. A second coordinate system is defined for each manipulator, so that one part of the manipulator, e.g. its tool center point, stands still in the second coordinate system, which is movable relative to the first coordinate system.

Abstract: Disclosed herein are a robot generating a message using a robot hand, and a control method thereof. When a user types characters using a robot hand, a hand body part and a finger part of the robot hand output displacement signals and a command reading unit accordingly generates a message corresponding to the displacement signals. The message is transmitted to a robot controlling unit. In addition, the message is outputted by sound or displayed to be easily checked by the user.

Abstract: Disclosed is a teaching and playback method using a redundancy resolution parameter determined in conjunction with a joint structure, for a robot, and a method to apply analytic inverse kinematics to a robot having an elbow with an offset and a computer-readable medium of controlling the same. A reference plane variable with the joint structure is generated and an angle between the reference plane and an arm plane of the robot is used as the redundancy resolution parameter. The robot is taught and its operation is played back in differential inverse kinematics or analytic inverse kinematics using the resolution redundancy parameter.

Abstract: A predetermined robot path includes a plurality of path points defined by spatial coordinates. Spatial coordinates of the individual path points are converted in accordance with inverse robot kinematics into corresponding axis coordinates, the axis coordinates representing the position of the individual robot axes at respective path points. Axis-related controllers are actuated for individual robot axes in accordance with converted axis coordinates. Axis-related drive motors in individual robot axes are actuated by at least associated axis-related controllers. Path correction values are determined for individual path points on the robot path in accordance with a dynamic robot model, the path correction values taking account of the elasticity, friction, and/or inertia of the robot. Corrected axis coordinates are determined for the individual path points from uncorrected axis coordinates of individual path points and path correction values.

Abstract: A route planning device that is capable of comprehending, in advance, a route clearance at a pass-through point on a planned travel route, includes a global map acquisition unit arranged to generate a global map showing an obstacle area in which an obstacle exists, an extended area generation unit arranged to generate an extended obstacle area and three extended area by extending stepwise an outline of the obstacle area contained in the global map, an integrated map generation unit arranged to generate an integrated map by superposing for integration of the extended obstacle area with the three extended areas; a movable area extraction unit arranged to extract a movable area from the integrated map and thinning the same, and a route planning unit arranged to acquire a route clearance at a sub goal according to the extended areas on the integrated map to which the sub goal on the travel route belongs, upon planning the travel route from the thinned movable area.

Abstract: A desired joint torque output limiting unit limits operations of a desired joint torque output unit and a limit cancellation unit cancels the limitation by the output limiting unit. An actuator of a joint of a robot is controlled in accordance with modified desired joint torque outputted from the output limiting unit, so that the robot can be controlled even upon switching between dynamics parameters.

Abstract: A process for working a contour on at least one workpiece using a robot includes positioning the workpiece relative to the robot; acquiring an actual position of the workpiece; acquiring a real course of the contour on the workpiece at predefined points using at least one sensor; and actuating the robot according to individual vectors so as to correct a robot motion during the working of the contour.

Abstract: A device for sensing at least one environmental condition in a data center. The device includes a chassis, a propelling mechanism, a power supply, a steering mechanism, and a controller supported on the chassis. The chassis also supports at least one environmental condition sensor and is operable to travel through the data center and sense at least one environmental condition at various locations throughout the data center.

Abstract: A robot cleaner that cleans a cleaning region while traveling the cleaning region and a method to control the same are provided. The robot cleaner can uniformly clean a cleaning region based on a wall-following technique which allows the robot cleaner to travel along the outline of the cleaning region. The method selects, as a reference wall, a wall at a left or right side of the robot cleaner at a start position of the robot cleaner based on a left or right-based travel algorithm, which allows the robot cleaner to travel along a left or right wall, and controls the robot cleaner to travel the cleaning region in a zigzag travel pattern in which the robot cleaner moves a predetermined distance in a direction perpendicular to the reference wall at specific intervals along the selected reference wall while following the selected reference wall.

Abstract: The invention relates to a method of editing movements of a robot on the basis of computer equipment able to communicate with the robot, the method comprising steps in which: —a plurality of reference positions of the robot are generated; —at least one time sequence of positions is generated, the time sequence of positions comprising the plurality of reference positions, and transitional movements between two successive reference positions; and the robot is made interdependent with the displacement means included in the computer equipment and causing the displacement of the robot. The robot is a real robot and/or a virtual robot displayed on a screen of the computer equipment.

Abstract: An object handling method for determining the positions of the arm of a handling system with the aid of a location method which is based on a reference system predetermined by an associated location system. A handling system having a moveable arm. The arm is operational within a fixed reference system using a location system.

Abstract: Presently disclosed is a method and system for processing standard part description programs in real time into the tool position control data appropriate to a CNC machine's standard and high bandwidth mechanisms, respectively. The result is precise tool tip control that tracks the programmed path at all times while maintaining the appropriate feed rates and accelerations for each type of mechanism. In one exemplary embodiment, a hybrid mechanism employing a high bandwidth mechanism mounted on and moved by a standard mechanism is employed. The command vector for the high-bandwidth mechanism is computed by subtracting the tool tip vector filtered to comprise only the tool tip positions and trajectories realizable by the standard mechanism from an ideal tool tip trajectory vector that represents the complete programmed path. These calculations produce a synchronous set of movements for both standard and high bandwidth mechanisms.

Abstract: A system and method for ensuring that a large number of connectors, such as fiber-optic cable-connectors, which are plugged-into connector-receptacles arrayed across a connector-panel, are not intentionally disconnected by an un-authorized user with malicious intent, or accidentally unplugged by an authorized technician who may be trying to manually pull-out a specific connector for testing or other purposes but, inadvertently, could otherwise unplug a neighboring connector because of not being able to clearly see which plug is actually being removed due to the large number of cables that are connected to the panel. The connectors are locked in place by restraining arms which are controlled by solenoids or motors. Each restraining arm can be commanded to release its respective connector, but only when the correct command from a computer is received. The same system and method can be applied to connector-receptacles arrayed on one or both sides of the panel.

Abstract: Provided is a robot capable of appropriately adjusting a position and the like of a main body in view of executing a specified task involving an interaction with a target object. While the position and posture of the main body (10) are being controlled according to a second target path, the robot (1) moves from a first specified area to a second specified area and stands there. In this state, a second position deviation (=the deviation of the position of the main body from a second target path) and a second posture deviation (=the deviation of the posture of the main body from a second target posture) are determined. According to the determination result, the second target path is corrected so that the subsequent position deviation and the like may be smaller.

Abstract: A path planning apparatus and method of a robot, in which a path, along which the robot accesses an object to grasp the object, is planned. The path planning method includes judging whether or not a robot hand of a robot collides with an obstacle when the robot hand moves along one access path candidate selected from plural access path candidates along which the robot hand accesses an object to grasp the object, calculating an access score of the selected access path candidate when the robot hand does not collide with the obstacle, and determining an access path plan using the access score of the selected access path candidate.

Abstract: A robot is provided with a motion control unit that avoids collision between segments of the robot or between segments of the robot and other objects. The motion control unit of the robot comprises a distance computing module, a whole body control module, a collision avoidance module, and a blending control unit. The distance computing module calculates two closest points of different segments of the robot connected to each other via at least one joint or a segment of the robot and another object. The collision avoidance module is provided with the information about the two closest points. The blending control unit combines the weighted output control signals of the whole body control module and the collision avoidance control module. The weight of the whole body control output signal is higher when the risk of collision is lower. The weight of the collision avoidance control output signal is higher when the risk of collision is higher.

Abstract: A control device for a legged mobile robot has a unit which generates the time series of a future predicted value of a model external force manipulated variable as a feedback manipulated variable for reducing the deviation of the posture of the robot. A desired motion determining unit sequentially determines the instantaneous value of a desired motion such that the motion of the robot will reach or converge to a reaching target in the future in the case where it is assumed that the time series of an additional external force defined by the time series of a future predicted value of the model external force manipulated variable is additionally applied to the robot on a dynamic model.

Abstract: A control device for a legged mobile robot has a first motion determiner which sequentially determines the instantaneous value of a first motion of a robot by using a first dynamic model and a second motion determiner which sequentially determines the instantaneous value of a second motion of the robot by using a second dynamic model, and sequentially determines a desired motion of the robot by combining the first motion and the second motion. A low frequency component and a high frequency component of a feedback manipulated variable having a function for bringing a posture state amount error, which indicates the degree of the deviation of an actual posture of the robot from a desired posture, close to zero are fed back to the first motion determiner and the second motion determiner, respectively.

Abstract: Disclosed is a route creation method capable of creating a travel route which reduces the travel quantity of a robot and achieves the efficient travel of the robot. The route creation method and route creation device creates a plurality of candidate routes by using an intermediate point generated between the initial position and the final position set in advance, and thereafter evaluates the travel quantity of a traveling part of a robot with respect to each candidate route to select a candidate route, which achieves the most efficient travel, as a travel route.

Abstract: A system and method for motion control of a humanoid robot are provided. The system includes a remote controller for recognizing three-dimensional image information including two-dimensional information and distance information of a user, determining first and second reference points on the basis of the three-dimensional image information, calculating variation in angle of a joint on the basis of three-dimensional coordinates of the first and second reference points, and transmitting a joint control signal through a wired/wireless network. The system also includes a robot for checking joint control data from the joint control signal received from the remote controller and varying an angle of the joint to move according to the user's motion.

Abstract: A numerical controller for controlling a five-axis machining apparatus, in which a tool orientation command is corrected to thereby attain a smooth machined surface and a shortened machining time. The numerical controller includes command reading device that successively reads a tool orientation command, tool orientation command correcting device that corrects the tool orientation command so that a ratio between each rotary axis motion amount and a linear axis motion amount is constant in each block, interpolation device that determines respective axis positions at every interpolation period based on the tool orientation command corrected by the tool orientation command correcting device, a motion path command, and a relative motion velocity command such that a tool end point moves along a commanded motion path at a commanded relative motion velocity, and device that drives respective axis motors such that respective axis positions determined by the interpolation device are reached.

Abstract: The invention relates to an industrial robot (1) having a control apparatus (8), and to a method for controlling the movement of the industrial robot (1). For the purposes of the method, an instruction which is intended for controlling the industrial robot (1) is checked, an interpreted instruction is produced by interpretation of the checked instruction by means of an interpreter (13), and the interpreted instruction is stored in a temporary store (10). This process is repeated until a first keyword is detected. A data record (15) is then produced from the interpreted instructions stored in the temporary store (10), wherein the data record (15) has information relating to at least one path element of a path on which the industrial robot (1) is intended to be moved. The data record (15) is loaded into a buffer store (11), is checked by the buffer store (11) and is interpolated by means of an interpolator (14), in order to move the industrial robot (1) on the path element.

Abstract: A robotic system includes a humanoid robot with robotic joints each moveable using an actuator(s), and a distributed controller for controlling the movement of each of the robotic joints. The controller includes a visual perception module (VPM) for visually identifying and tracking an object in the field of view of the robot under threshold lighting conditions. The VPM includes optical devices for collecting an image of the object, a positional extraction device, and a host machine having an algorithm for processing the image and positional information. The algorithm visually identifies and tracks the object, and automatically adapts an exposure time of the optical devices to prevent feature data loss of the image under the threshold lighting conditions. A method of identifying and tracking the object includes collecting the image, extracting positional information of the object, and automatically adapting the exposure time to thereby prevent feature data loss of the image.

Abstract: A robot teach tool is provided that enables automatic teaching of pick and place positions for a robot. The automated robot teach tool obviates the need for manual operation of the robot during the teaching. The result is an automated process that is much faster, more accurate, more repeatable and less taxing on a robot operator.

Abstract: A method of controlling the position of an elongate robotic arm comprising articulated segments. An actuator is associated with each segment to control its position, and a control system operates the actuators. Data representing the position of the arm is gathered and compared to input data that represents a required new position of a part of the arm. Data representing the required new position of the arm is then calculated, attempting to keep the remainder of the arm as close as possible to its previous position. The actuators are operated to move the arm into the new position. In tip following, the data representing the new position may define a path, and the arm may be fitted to the path by matching the position and orientation of a point on each pair of adjacent segments to that of the path.

Abstract: An exemplary system for sensing the state and position of a robot is provided. The system measures the acceleration and angular velocity of the robot and calculates a velocity, and a displacement of the robot. The state of the robot according to the acceleration and the velocity vector, of the robot, is determined. The system includes an alarm that activates according to the state of the robot. The system also compensates for any inaccuracy of the measured displacements.

Abstract: A method of detecting an occurrence of an event of an event type during an animation, in which the animation comprises, for each of a plurality of object parts of an object, data defining the respective movement of that object part at each of a sequence of time-points for the animation, the method comprising: indicating the event type, wherein the event type specifies: one or more of the object parts; and a sequence of two or more event phases that occur during an event of that event type such that, for each event phase, the respective movements of the one or more specified object parts during that event phase are each constrained according to a constraint type associated with that event phase; and detecting an occurrence of an event of the event type by detecting a section of the animation during which the respective movements defined by the animation for the specified one or more object parts are constrained in accordance with the sequence of two or more event phases.

Abstract: A brick laying system where an operator such as a mason works proximate a moveable platform having a robotic arm assembly, a mortar applicator with a mortar transfer device, and a brick transfer device to build structures. The robotically assisted brick laying system may also contain a stabilizer having a disturbance sensing and a disturbance correcting component that provides compensation for disturbances caused by load shifting, movement of the platform, wind, operator movement, and the like. In addition, the robotically assisted brick laying system has a sensing and positioning component for controlling placement of the moveable platform and robotic arm assembly. The interoperability of the system with a mason or skilled operator removes much of the manual labor component of brick laying, allowing the mason more time to focus on craftsmanship and quality, thus improving the end product and the overall working conditions of the mason.

Abstract: A method is provided for teaching a transfer robot used in conjunction with a workpiece processing system including a pedestal assembly, a light sensor having an optical input fixedly coupled to the pedestal assembly, a transfer robot having an end effector, and a processing chamber containing the pedestal assembly and light sensor. The method includes the steps of producing light within the processing chamber, moving the end effector over the optical input such that amount of light reaching the light sensor varies in relation to the position of the end effector, and recording the signal gain as the end effector is moved over the optical input. The method also includes the step of establishing from the recorded signal gain a desired position of the end effector relative to the pedestal assembly.

Abstract: A path generating device 1 has a constraint mid-configuration generator 10. The constraint mid-configuration generator 10 defines a constraint surface in a joint angle space. The path generating device 1 probabilistically generates a mid-configuration in the joint angle space. The constraint mid-configuration generator 10 projects the probabilistically generated mid-configuration onto the constraint surface to generate a projected mid-configuration. Projected mid-configurations generated in this manner are joined to generate a path that does not interfere with any obstacle (environmental object) in a work space.

Abstract: A system and the like capable of maintaining the continuity or smoothness in the motion of a controlled object. According to a control system 1 and a robot R, which is a controlled object thereof, of the present invention, a desired position trajectory is generated by performing an interpolation process of generating a line segment represented by a linear combination of point sequences disposed in a model space with a basis function for spatial interpolation as a coupling coefficient. Therefore, a line segment, which continuously and smoothly connects the starting point and the end point, represented by a linear combination of a plurality of points (control points), instead of a broken line passing through the plurality of points disposed in the model space.

Abstract: The present disclosure includes a generalized kinematics library which may be used to control the motion of a machine tool system and to process data for other applications, such as simulation graphics. Methods are disclosed to interpolate the movement of various axes of a machine tool system through a machine singularity point.

Abstract: A robot system includes s a robot (1) which moves a tool (3) attached to an end of the robot (1) by driving a robot drive shaft. The tool (3) applies a laser beam inputted from a laser oscillator (5) by drive of the tool drive shaft to an object. A robot control device (2) controls the robot drive shaft and the tool drive shaft in synchronization.

Abstract: A method and system to provide improved accuracies in multi jointed robots through kinematic robot model parameters determination are disclosed. The present invention calibrates multi-jointed robots by using the chain rule for differentiation in the Jacobian derivation for variations in calculated poses of reference points of a reference object as a function of variations in robot model parameters. The present invention also uses two such reference objects and the known distance therebetween to establish a length scale, thus avoiding the need to know one link length of the robot. In addition, the present invention makes use of iterative methods to find the optimum solution for improved accuracy of the resultant model parameters. Furthermore, the present invention provides for determination of the end joint parameters of the robot, including parameters defining the tool attachment mechanism frame, which allows for interchange of tools without subsequent calibration.

Abstract: According to one embodiment, a robot off-line teaching method includes: setting a plurality of virtual teaching points; setting a posture of the virtual tool on a part of the virtual teaching points which include a start point and an end point; executing an interpolating operation between the part of the virtual teaching points; storing a position and a posture of the virtual tool in the execution of the interpolating operation as an interpolating operation point every predetermined interval; selecting any of the stored interpolating operation points which satisfies a predetermined selection criterion every other virtual teaching points; and reading posture data on the selected interpolating operation point and storing the read posture data as posture data on the other virtual teaching points every other virtual teaching points.

Abstract: An environment recognizing device and an environment recognizing method can draw an environment map for judging if it is possible to move a region where one or more than one steps are found above or below a floor, a route planning device and a route planning method that can appropriately plan a moving route, using such an environment map and a robot equipped with such an environment recognizing device and a route planning device.

Abstract: A control system and method generate joint variables for motion or posing of a target system in response to observations of a source system. Constraints and balance control may be provided for more accurate representation of the motion or posing as replicated by the target system.

Abstract: An apparatus and a method for optimizing robot performance includes a computer connected to the robot controller for receiving performance data of the robot as the controller executes a path program. The computer uses the performance data, user specified optimization objectives and constraints and a kinematic/dynamic simulator to generate a new set of control system parameters to replace the default set in the controller. The computer repeats the process until the new set of control system parameters is optimized.

Abstract: The invention relates to an industrial robot (1) having a control apparatus (8), and to a method for controlling the movement of the industrial robot (1). For the purposes of the method, an instruction which is intended for controlling the industrial robot (1) is checked, an interpreted instruction is produced by interpretation of the checked instruction by means of an interpreter (13), and the interpreted instruction is stored in a temporary store (10). This process is repeated until a first keyword is detected. A data record (15) is then produced from the interpreted instructions stored in the temporary store (10), wherein the data record (15) has information relating to at least one path element of a path on which the industrial robot (1) is intended to be moved. The data record (15) is loaded into a buffer store (11), is checked by the buffer store (11) and is interpolated by means of an interpolator (14), in order to move the industrial robot (1) on the path element.

Abstract: When a new desired gait of a robot is generated, it is determined, on the assumption that the trajectory of an acting force between the robot and an object at a predetermined time point in the future changes to a trajectory different from a desired trajectory, whether a predetermined dynamical restrictive condition can be satisfied when a desired gait after the predetermined time point is generated. If the condition cannot be satisfied, then a moving schedule for the object is corrected, the desired trajectory or the like of the acting force between the robot and the object is re-determined, and a new desired gait is generated using the re-determined desired trajectory. With this arrangement, the gait of the robot to cause the robot to perform an operation for moving the object is generated such that the stability of the posture of the robot can be secured even if an acting force between the robot and the object in the future deviates from a desired value.

Abstract: A process and a device are provided for determining the pose as the entirety of the position and the orientation of an image reception device. The process is characterized in that the pose of the image reception device is determined with the use of at least one measuring device that is part of a robot. The device is characterized by a robot with an integrated measuring device that is part of the robot for determining the pose of the image reception device.

Abstract: A robot controller capable of automatically preparing a job program for a workpiece configured of a plurality of job elements is disclosed. A plurality of teaching programs for teaching the job for each job element making up the workpiece are stored in advance. Each teaching program has registered therein attribute information including the item number (identification information) and the sequence of application of the teaching program to each workpiece. The robot controller retrieves teaching programs having registered therein, as attribute information, the same item number as the input item number of the workpiece and prepares a main program such that the retrieved teaching programs are called sequentially as subprograms in accordance with the application sequence specified by the attribute information. Further, commands for moving to the job starting position and the job end position are added before and after the main program thereby to complete the main program.

Abstract: A gait generator determines a desired motional trajectory and a desired object reaction force trajectory of an object 120 for a predetermined period after the current time by using an object dynamic model while supplying, to the object dynamic model, a model manipulated variable (estimated disturbance force) for bringing a behavior of the object 120 on the object dynamic model close to an actual behavior, and provisionally generates a gait of a robot 1 for a predetermined period by using the aforesaid determined trajectories. Based on the gait and an object desired motion trajectory, a geometric restrictive condition, such as interference between the robot 1 and the object 120, is checked, and a moving plan for the object 120 or a gait parameter (predicted landing position/posture or the like) of the robot 1 is corrected as appropriate according to a result of the check, so as to generate a gait of the robot 1.

Abstract: Disclosed is a route creation method capable of creating a travel route which reduces the travel quantity of a robot and achieves the efficient travel of the robot. The route creation method and route creation device creates a plurality of candidate routes by using an intermediate point generated between the initial position and the final position set in advance, and thereafter evaluates the travel quantity of a traveling part of a robot with respect to each candidate route to select a candidate route, which achieves the most efficient travel, as a travel route.

Abstract: An apparatus and a method of locating a moving robot are disclosed. The apparatus includes a storage unit storing information on straight lines of wall on a map, a state quantity detection unit detecting quantity of state of the robot running along the wall, and a control unit estimating an interior position of the robot by obtaining straight line information based on the detected state quantity and matching the obtained straight line information with the stored straight line information.

Abstract: A numerical model related to fluttering of an insect, when an equivalent model of actual structure of a wing of the insect is moved in the air in accordance with a model of fluttering motion of the wing of the insect is calculated by fluid-structure interactive analysis, in which behavior of the wing and behavior of the air are given as numerical values, including interaction therebetween. Thereafter, a method of controlling a fluttering robot, wing shape and the like are determined by modifying numerical models of fluttering of an insect prepared by fluid-structure interactive analysis, in accordance with sensitivity analysis. Accordingly, a method of preparing numerical models of wing and air considering the behavior of the wing of the insect in the air is provided and, in addition, a method of manufacturing a fluttering robot utilizing the numerical model prepared by this method of preparing numerical model can be provided.

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

Abstract: A hair transplantation method and apparatus utilizes a robot, which includes a robotic arm, having a hair follicle effector associated with the robotic arm.

Abstract: A hair transplantation method and apparatus utilizes a robot, which includes a robotic arm, having a hair follicle effector associated with the robotic arm.