Abstract: A method for cell alignment, identification and calibration of part of a robot tool, preferably a part of the robot tool, is positioned close to a detector, whereupon it is moved repeatedly past the limit of the area of detection of the detector. During the movement, the pose of the robot is registered each time the surface of said robot tool comes into tangential contact with the area of detection, and an over determined system of equations is formed, consisting of a correlation between the registered poses and unknown parameters regarding the detection area of the detector and the location of the robot part in space. An error vector is introduced into the system of equations, which is then solved while minimizing the error vector, preferably in the least square sense, in order to thus identify said unknown parameters and the error vector.

Abstract: A method of determining contact positions of a robot relative to a workpiece in a workspace of the robot. The method utilizes the contact positions to determine a location of the workpiece in the robot workspace. The method also monitors an integral operating parameter within the robot, such as motor torque, to determine the contact positions of the robot relative to the workpiece and to locate the workpiece.

Abstract: A robot system wherein the CPU 102 detects that the posture of the system main body has been shifted from the normal posture into an abnormal posture on the basis of the acceleration information obtained as detection output of the acceleration sensor 41. Then, the body restores the normal posture by a playback technique for controlling various drivers 3D through 7D, using route planning data stored in advance in the memory 101 or restoring the normal posture from a falling posture.

Abstract: Parameters of a robot is displayed on a display device of an operation terminal in a manner that parameters having been changed and parameters having not been changed of all the parameters are displayed in a distinguished manner such that the background color of the parameters having been changed differs from that of other data.

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

Abstract: A storage library includes a first robotic mechanism having an energy coupler and a second robotic mechanism having an energy coupler. The storage library further includes tracks disposed adjacent to media object storage cells for enabling access to each of the media object storage cells, and powered rails associated with the tracks for providing energy. The first robotic mechanism is movable toward the second robotic mechanism to enable the energy coupler of the first robotic mechanism to couple with the energy coupler of the second robotic mechanism to transfer energy from the first robotic mechanism to the second robotic mechanism. The energy couplers of the first and second robotic mechanisms couple together to transfer energy from the powered rails to the second robotic mechanism. The energy couplers of the first and second robotic mechanisms couple together to transfer energy between on-board energy sources.

Abstract: A system for calibrating a robot used for inspecting a workpiece to maintain the accuracy of the robot during inspection of workpieces on a production basis, the system including means for storing a mathematical model of the robot, means for measuring the position of a target and then calibrating the robot based upon input from the mathematical model and the position of the target.

Abstract: A legged mobile robot for accurately calculating the positional relationship between a leg and an obstacle to the walking of the robot has a base body and a plurality of legs operatively connected to the base body. A vision sensor mounted on the base body captures image data containing both an image of a portion of a foot of one of the legs and an image of an obstacle in the course of robot walking. The legged mobile robot calculates the positional relationship between the leg and the obstacle from the captured image data, and walks while recognizing the positional relationship as calculated between the obstacle and the foot.

Abstract: When a multiaxial robot with a mechanism having spring elements between electric motors of respective axes and robot arms is controlled, the path precision of a tool tip is increased without causing vibrations produced by mechanical interference between axes and high-frequency vibrations of electric motors. A model controller (1) is supplied with position commands Xref—L, Xref—U with respect to the electric motors and outputs model motor position commands &thgr;Mm—L, &thgr;Mm—U, model motor speed commands {dot over (&thgr;)}Mm—L, {dot over (&thgr;)}Mm—U, and model feed-forward commands UFF—L, UFF—U to feedback controllers (10L, 10U) which actuate and control the electric motors and the robot arms. The model controller (1) includes therein corrective quantity calculators (3L, 3U) for calculating corrective quantities (corrective torques) in view of interfering forces acting between the axes from the other axes to cancel the interfering forces.

Abstract: The posture inclination of the robot is detected, a moment of compensating total floor reaction force about a desired total floor reaction force central point is determined therefrom to be distributed to each foot such that the position/posture of the feet are rotated by predetermined amounts about the desired total floor reaction force central point and a desired foot floor reaction force central points respectively. And by parallel-translating the feet in phase, the force component of the actual total floor reaction force is also controlled. In addition, the internal force components (which do not influence on the actual total floor reaction force) generated by the actual foot floor reaction force are controlled independently.

Abstract: A method for teaching movements to a robot (12) is disclosed. The robot (12) includes a fixture (14) for cooperating with a workpiece (16), at least one sensor (18) for sensing a spatial relationship of the robot fixture (14) relative to the workpiece (16), at least one motor (20), and a microprocessor (22) for controlling motion of the robot (12) relative to the workpiece (16).

Abstract: A robot body (21) is carried into the water chamber (2A) of a condenser (1) and disposed on a tube sheet (4) through which a number of narrow tubes (3) open. Inner nozzles (23) are inserted into narrow tubes (3) from working devices (24) installed on the front ends of four combined-use arms (22A through 22D) to position and fix the robot body (21). And the arm turning motors (25) and arm extending and contracting cylinder devices (26) of the combined-use arms (22A through 22D) are driven to move the robot body (21). Further, a cleaning brush (12) and a flaw detection probe (13) are inserted into a narrow tube (3) from each working device (24) and moved along the narrow tube (3) by cleaning water, whereby cleaning and inspection are performed. With three of the combined-use arms (22A through 22D) fixed to the narrow tubes (3), the inner nozzle (23) is extracted from the narrow tube (3) and the working device is moved to the next narrow tube (3).

Abstract: A remote operation system for a robot for facilitating the restoring operation of the robot. In the system, when an abnormal operation or abnormal parameter on a user side is detected, the information of such an abnormality is displayed on the operation terminal of a service staff side and further operation instruction and comments relating to the restoring operation are applied from the service staff side to the operation terminal of the user side and displayed thereon.

Abstract: A method for automatically tracking the joint between a first component and a second component, or the edge of a component, a welding operation. A preliminary path is defined for the joint or edge (703), a welding torch (100) is moved along the preliminary path while an arc welding current is provided to the welding torch. The welding torch is moved slightly to a first side (705A) of the preliminary path and then to a second side (705B) of the preliminary path as the welding torch is being moved along the preliminary path. A first current measurement is obtained by measuring the arc welding current when the welding torch is to the first side, and a second current is obtained by measuring the arc welding current when the welding torch is to second side. The first current measurement and the second current measurement are compared and used to redefine the preliminary welding path by moving the welding torch slightly to the side having the preferred current measurement.

Abstract: A method of determining position information of a workpiece relative to a robot includes the ability to move the workpiece into a variety of orientations relative to the robot during the touch sensing location procedure. The position information is then used for performing a robot operation including coordinated motion. A coordinated reference frame is defined with respect to a moveable positioner that supports the workpiece. Known kinematic relationships between the positioner and the robot are used to control operation of the robot within the coordinated reference frame throughout the touch sensing location procedure. By moving the workpiece relative to the robot during the touch sensing location procedure, a greater variety of workpieces can be processed and relatively complicated workpiece configurations can be accurately determined. The robot operating parameters are modified according to the determined position information.

Abstract: In a legged mobile robot, in particular in a biped robot, the feet position and/or posture is determined in such a manner that compensating moment of total floor reaction force about a desired total floor reaction force central point is determined, based upon the detected posture inclination of the robot, and is distributed to each of the feet such that each foot rotates respectively by predetermined angles about the desired total foot floor reaction force central point and a desired foot floor reaction force central point, in order to control the actual total floor reaction force and the actual foot floor reaction force acting on the robot properly such that it walks on a floor having not only a slope extending over a relatively long distance, but also existing locally. With this, it becomes possible to control the floor reaction force acting on the robot easily and properly, without causing any interference to occur.

Abstract: A control method for controlling operation of an object used by a user in an environment includes the steps of: defining pseudo-emotions of the object for deciding output of the object, in relation to the user's state; formulating emotion generation algorithms to establish the relationship between the user's state and the pseudo-emotions; formulating behavior decision algorithms to establish the relationship between input, including the pseudo-emotions, and the behavior of the object; detecting the user's state; generating a pseudo-emotion of the object based on the user's state using the emotion generation algorithms; making the object behave based on the user's state and the pseudo-emotion using the behavior decision algorithms; evaluating reaction of the user in response to the behavior of the object; and if the reaction of the user does not match the pseudo-emotion of the object in the emotion generation algorithms, adjusting at least either of the emotion generation algorithms or the behavior decision al

Abstract: A method to generate recognition, auto-adaptation and self-organization in autonomous mechanisms and organisms. A number of sensing elements generate analog signals whose amplitudes are classified into different classes of perception intensity. The currently occurring elapse times between phase transitions are recorded and compared with prior recorded elapse times in order to find covariant time sequences and patterns. A motion actuating system can be coupled to the assembly, which is controlled by pulse sequences that have been modulated in accordance with the covariant time sequences. In this way the mechanism or organism in motion is prompted to emulate the found covariant time sequences, while being able to recognize its own motion course and adapting itself to changes of environment.

Abstract: A robot programming system is provided comprising a simulated work cell configuration, a tool position and orientation sensor assembly, and a programing computer. The simulated work cell configuration includes a tangible artificial tool and a tangible artificial workpiece, wherein the position and orientation of the artificial tool relative to the workpiece is variable. The sensor assembly is operative to sense the position and the orientation of the artificial tool. The programming computer is in communication with the sensor assembly and is programmed to (i) display a variable virtual robot configuration based upon the sensed position and orientation of the artificial tool, (ii) receive discrete artificial tool positions and orientations from the sensor assembly, and (iii) create a robot job data file including the discrete artificial tool positions and orientations.

Abstract: A system for controlling locomotion of a legged mobile robot walking in a working space. The system is provided with optical detects which are disposed in a line array at the both sides of a foot member of the robot. On the other hand, a landmark is provided in the working space. The landmark comprises of a line or an arc which divides the space into two regions with different attributes, i.e. different in brightness. The optical detectors generate different signals depending on the brightness. With the generated signals, a relative position of the robot to the landmark is detected. Moreover, when the landmark is an arc, its center is located in line with a work for the robot. a relative direction of the robot to the landmark or the work is detected. Based on the detection, locomotion of the robot is controlled in such a manner that the robot can stably ascend/descent stairs or spiral staircases.