Abstract: A surgical operation monitoring method applied to a surgical operation monitoring system comprises: acquiring a position of a surgical site of a surgical object at a first moment; under the condition that the position of the surgical site at the first moment exceeds a moving range of an actuating end of a mechanical arm, determining an allowable moving range of the surgical site at the first moment; and under the condition that the allowable moving range of the surgical site at the first moment and a moving range of the actuating end of the mechanical arm have an overlapping range, controlling a driver to drive a support body to move so that the support body drives the surgical site to move into the overlapping range.

Abstract: A system and method for performing automatic camera calibration is presented. The system communicates with a first camera and a second camera, wherein a transparent platform is disposed between the two cameras. When a 3D calibration pattern is disposed on the platform, the system receives a first set of calibration images from the first camera, and a second set of calibration images from the second camera. The system determines, based on the first set of calibration images, a first set of coordinates for corners of the polyhedron. The system further determines, based on the second set of calibration images, a second set of coordinates for the corners. The system determines, based on the coordinates, a spatial relationship between the first camera and the second camera. The system further uses a description of the spatial relationship to generate a 3D model of an object other than the 3D calibration pattern.

Abstract: Manufacturing of a shoe or a portion of a shoe is enhanced by executing various shoe-manufacturing processes in an automated fashion. For example, information describing a shoe part may be determined, such as an identification, an orientation, a color, a surface topography, an alignment, a size, etc. Based on the information describing the shoe part, automated shoe-manufacturing apparatuses may be instructed to apply various shoe-manufacturing processes to the shoe part, such as a pickup and placement of the shoe part with a pickup tool.

Abstract: Cable-actuated differential enabling N degrees of freedom provided by a plurality of pulleys and at least N+1 tensioning cables. The cable-actuated differential increases a dynamic force range by minimizing co-activation of the tensioning cables at any operating point. A cable-actuated differential having three cables provides motor based control of a 2 DOF joint that can be applied to robots or teleoperation. A cable-actuated mechanical differential having opposing bevel gears and a middle bevel gear meshed with the opposing gear allows an output connector to controllably and independently rotate about the x axis or y axis via three operational modes without backlash.

Abstract: Techniques for navigating semi-autonomous mobile robots are described. A semi-autonomous mobile robot moves within an environment to complete a task. A navigation server communicates with the robot and provides the robot information. The robot includes a navigation map of the environment, interaction information, and a security level. To complete the task, the robot transmits a route reservation request to the navigation server, the route reservation request including a priority for the task, a timeslot, and a route. The navigation server grants the route reservation if the task priority is higher than the task priorities of conflicting route reservation requests from other robots. As the robot moves within the environment, the robot detects an object and attempts to classify the detected object as belonging to an object category. The robot retrieves an interaction profile for the object, and interacts with the object according to the retrieved interaction profile.

Abstract: A delivery system includes an autonomously-moving-type delivery vehicle configured to deliver an article to a delivery destination thereof, and a transportation vehicle configured to carry and transport the delivery vehicle. A control unit configured to control an operation of the delivery vehicle acquires information about an acceleration of the transportation vehicle from the transportation vehicle, and controls the operation of the delivery vehicle based on the information about the acceleration so that a displacement that is predicted to occur in the delivery vehicle due to the acceleration of the transportation vehicle is reduced.

Abstract: An aspect of the present invention prevents a robot from being subjected to an excessive load even when operated by an inexperienced user. Provided is a human-cooperative robot system including a robot and a control device that controls the robot. The robot is provided with a sensor that detect an external force applied to the robot. The control device stops the operation of the robot when the detected external force is equal to or greater than a first threshold, and issues a warning when the detected external force is equal to or greater than a second threshold exceeding the first threshold.

Abstract: A method for determining a current estimated gyroscope bias of a gyroscope configured to output rotation rate data includes receiving first rotation rate data associated with a first time from the gyroscope, the first rotation rate data comprising a first rotation rate reading that indicates a rotation rate of the gyroscope about a first axis; calculating a rotation rate moving average and a rotation rate moving average associated with a second time earlier than the first time; calculating a moving standard deviation based on the first rotation rate data, and a moving standard deviation associated with the second time; determining if the moving standard deviation associated with the first time is less a threshold moving standard deviation; and in response the moving standard deviation being less than the threshold moving standard deviation, using the first rotation rate reading to update the current estimated gyroscope bias.

Abstract: Load information on a tool to be attached to a robot arm and collision sensitivity are input. Gravitational torque is calculated based on the input load information. A deflection amount of the robot arm is calculated based on the gravitational torque. A correction amount is calculated based on the collision sensitivity input. The deflection amount is corrected while the robot arm moves.

Abstract: A computing system and a method for calibration verification is presented. The computing system is configured to perform a first calibration operation, and to control a robot arm to move a verification symbol to a reference location. The robot control system further receives, from a camera, a reference image of the verification symbol, and determines a reference image coordinate for the verification symbol. The robot control system further controls the robot arm to move the verification symbol to the reference location again during an idle period, receives an additional image of the verification symbol, and determines a verification image coordinate. The robot control system determines a deviation parameter value based the reference image coordinate and the verification image coordinate, and whether the deviation parameter value exceeds a defined threshold, and performs a second calibration operation if the threshold is exceeded.

Abstract: A sequence of input samples that are measures of position or orientation of an input device being held by a user are received. A current output sample of a state of linear quadratic estimator, LQE, is computed that is an estimate of the position or orientation of the input device. The current output sample is computed based on i) a previously computed output sample, and ii) a velocity term. An updated output sample of the state of the LQE is computed, based on i) a previously computed output sample, and ii) a new input sample. Other embodiments are also described and claimed.

Abstract: A maintenance management apparatus manages maintenance of a gas spring provided in an arm of an articulated robot and includes a gas pressure measuring unit that measures a gas pressure inside the gas spring on a regular basis, a maintenance judgement unit that judges whether an abnormality is present in the gas spring based on an amount of decrease in the gas pressure per unit time or per unit operating distance, and a notifying unit that sends a notification based on a judgment result by the maintenance judgement unit to an operator.

Abstract: There is provided a transport apparatus including: an articulated arm including: a first arm in which a drive motor is installed; a second arm configured to be driven by the first arm; a transmission portion configured to convert a rotation of the drive motor into a rotation of the second arm via a joint; a first detector configured to detect a first sensor value corresponding to a rotation angle of an input shaft of the transmission portion; and a second detector configured to detect a second sensor value corresponding to a rotation angle of the second arm; and a controller configured to control the articulated arm, wherein the controller is further configured to control the second arm to a target rotation angle based on the first sensor value and the second sensor value.

Abstract: Implementations are provided for increasing realism of robot simulation by injecting noise into various aspects of the robot simulation. In various implementations, a three-dimensional (3D) environment may be simulated and may include a simulated robot controlled by an external robot controller. Joint command(s) issued by the robot controller and/or simulated sensor data passed to the robot controller may be intercepted. Noise may be injected into the joint command(s) to generate noisy commands. Additionally or alternatively, noise may be injected into the simulated sensor data to generate noisy sensor data. Joint(s) of the simulated robot may be operated in the simulated 3D environment based on the one or more noisy commands. Additionally or alternatively, the noisy sensor data may be provided to the robot controller to cause the robot controller to generate joint commands to control the simulated robot in the simulated 3D environment.

Abstract: A cross laser calibration device used to calibrate a tool center point is provided. The calibration device includes a coordinate orifice plate, a set of cross laser sensors and a rotational and translational movement mechanism. The coordinate orifice plate has an orifice center point. The set of cross laser sensors is arranged on the coordinate orifice plate to generate cross laser lines intersecting at the orifice center point. The set of cross laser sensors is driven by the second motor to rotate around the center point of the second motor, wherein the orifice center point has an off-axis setting relative to the center point of the second motor.

Abstract: An auto clean machine, comprising: a chassis; a first light source, configured to emit first light; a second light source, configured to emit second light; an optical sensor, configured to sense optical data generated according to reflected light of the second light or according to reflected light of the first light; and a control circuit, configured to analyze optical information of the optical data; wherein if the first light source is activated, the second light source is de-activated and the control circuit determines variation of the optical information is larger than a variation threshold, the control circuit changes the first light source to be non-activated and the second light source to be activated.

Abstract: A control apparatus includes an operation unit that teaches the robot a position, a posture changing instruction unit that instructs a position change when the robot passes through a singularity or its vicinity, a singularity passing motion request unit that instructs the robot to change its posture, a robot drive information request unit that acquires robot drive information, and a robot G-code generation unit that inserts a G-code from the robot drive information into a program. A robot includes a drive control unit that drives the robot, a singularity determination unit that determines passage through the singularity or its vicinity, a singularity passing pattern generation unit that generates a motion plan for passage through the singularity or its vicinity based on the changed posture, and a robot drive information output unit that transmits the robot drive information to the control apparatus.

Abstract: An operating device configured to operate in a work space, the operating device including: a robot arm, which includes a succession of arm elements mounted on one another in a rotatable way about respective axes of rotation and which carries an operating unit on its end; and at least one presence sensor prearranged for detecting the presence of an operator. The device includes a positioning system, including a support by which the at least one presence sensor is carried and which is mounted on an arm element of the robot arm, according to a pre-set orientation and in such a way as to be orientable with respect to the arm element, and wherein the positioning system further includes a positioning unit prearranged for rotating the support with respect to the arm element, as a result of a movement of the robot arm, so as to keep the pre-set orientation of the support unchanged.

Abstract: A software product and methods determine a field coverage method for a nonholonomic robot to process a field using parallel lanes. A cellular decomposition algorithm divides the field into a plurality of cells, each having a plurality of parallel lanes. Permutations of lane processing orders are determined for each cell, based upon a minimum turning radius of the robot. A cell graph is generated to determine a shortest path for single-time processing each lane in each cell without violating the minimum turning radius of the robot. A step list defining movement of the nonholonomic robot along each lane in each cell of the shortest path through the cell graph is generated, and transits between the lanes, and laps around the field and any obstacles are added. A path program to control the nonholonomic robot to process the field is generated based upon the step list.

Abstract: An automatic racket stringing system includes: two lens modules, respectively shooting a racket thread hole on a racket at a first preset position from different two angles, and the lens modules are based on the angles and determine a first relative coordinate of the racket line hole through a triangulation method; and a control unit controls a robotic arm to grab the racket from an initial position and move the racket to the first preset position; the control unit controls the robotic arm to a second preset position clamps a first end of a racket line, and when the first end of the racket line extends a preset length, it is cut by the robotic arm.

Abstract: A supplementary metrology position coordinates determination (SMPD) system is used with a robot. “Robot accuracy” (e.g., for controlling and sensing an end tool position of an end tool that is mounted proximate to a distal end of its movable arm configuration) is based on robot position sensors included in the robot. The SMPD system includes an imaging configuration and an XY scale and an alignment sensor for sensing alignment/misalignment therebetween, and an image triggering portion and processing portion. One of the XY scale or imaging configuration is coupled to the movable arm configuration and the other is coupled to a stationary element (e.g., a frame above the robot). The imaging configuration acquires an image of the XY scale with known alignment/misalignment, which is utilized to determine metrology position coordinates that are indicative of the end tool position, with an accuracy level that is better than the robot accuracy.

Abstract: An origin calibration method of a manipulator is provided. The origin calibration method includes steps of: (a) controlling the manipulator to move in accordance with a movement command, and acquiring the 3D coordinates of the reference anchor points reached by the manipulator; (b) controlling the manipulator to move in accordance with the movement command while an origin of the manipulator being offset, acquiring the 3D coordinates of the actual anchor points reached by the manipulator, and acquiring a Jacobian matrix accordingly; (c) acquiring a deviation of a rotation angle of the manipulator according to the Jacobian matrix, the 3D coordinates of the reference anchor points and the actual anchor points, and acquiring a compensation angle value according to the deviation; and (d) updating the rotation angle of the manipulator according to the compensation angle value so as to update the origin of the manipulator.

Abstract: A controller includes a parameter setting unit that invalidates first mechanism error parameters. The controller includes a measurement control unit that drives a robot with a plurality of orientations at a plurality of positions by using second mechanism error parameters other than the first mechanism error parameters and measures the actual measurement position of the robot by a three-dimensional measuring device. The controller includes a parameter calculation unit that calculates the first mechanism error parameter based on the actual measurement position of the robot and the rotation position of a robot drive motor. The controller includes a correction unit that changes the first mechanism error parameter invalidated by the parameter setting unit to the first mechanism error parameter calculated by the parameter calculation unit.

Abstract: A three-dimensional (3D) measurement system, a method of measuring 3D coordinates, and a method of generating dense 3D data is provided. The method of measuring 3D coordinates includes using a first 3D measurement device and a second 3D measurement device in a cooperative manner is provided. The method includes acquiring a first set of 3D coordinates with the first 3D measurement device. The first set of 3D coordinates are transferred to the second 3D measurement device. A second set of 3D coordinates is acquired with the second 3D measurement device. The second set of 3D coordinates are registered to the first set of 3D coordinates in real-time while the second 3D measurement device is acquiring the second set of 3D coordinates.

Abstract: Grasping of an object, by an end effector of a robot, based on a grasp strategy that is selected using one or more machine learning models. The grasp strategy utilized for a given grasp is one of a plurality of candidate grasp strategies. Each candidate grasp strategy defines a different group of one or more values that influence performance of a grasp attempt in a manner that is unique relative to the other grasp strategies. For example, value(s) of a grasp strategy can define a grasp direction for grasping the object (e.g., “top”, “side”), a grasp type for grasping the object (e.g., “pinch”, “power”), grasp force applied in grasping the object, pre-grasp manipulations to be performed on the object, and/or post-grasp manipulations to be performed on the object.

Abstract: A method of performing location teaching of a robotic arm includes maneuvering an end of arm tooling of a robotic arm to a predefined position of an interface object. The robotic arm is mounted within a mounting site of a mechanical mounting structure. The interface object is positioned on a sub-system of a medication dosing system that is mounted on the mechanical mounting structure. The interface object includes an alignment feature of a known size and shape. A sensor of the end of arm tooling is engaged with the interface object. An offset between the sensor and the interface object is determined based on an interaction between the sensor and the alignment feature. A position of the end of arm tooling is incremented with respect to the interface object along at least one axis. An actual position of the interface object is determined relative to the robotic arm.

Abstract: A method comprises moving a robotic structure to a first pose such that an end-effector of the robotic structure has an absolute position comprising an absolute location and absolute orientation. The method comprises providing a calibration artefact on the end-effector. The method comprises determining at least three planes coinciding with at least three respective surface planes of the calibration artefact, by measuring absolute locations of a plurality of points on the calibration artefact. The method comprises determining the absolute location and absolute orientation of the end-effector, when the robotic structure is in the position based on the determined at least three planes. The method also comprises calibrating the first pose of the robotic structure using the determined absolute location and absolute orientation of the end-effector.

Abstract: A method and computer program product for defining a PWM drive signal having a defined voltage potential. The PWM drive signal has a plurality of “on” portions and a plurality of “off” portions that define a first duty cycle for regulating, at least in part, a flow rate of a pump assembly. At least a portion of the “on” portions of the PWM drive signal are pulse width modulated to define a second duty cycle for the at least a portion of the “on” portions of the PWM drive signal. The second duty cycle regulates, at least in part, the percentage of the defined voltage potential applied to the pump assembly.

Abstract: The disclosure relates to a system for tracking the position of a target object. A marker arranged on the target object and an additional control marker are tracked by a tracking device secured to the robot arm. The control marker is arranged in a known specified three-dimensional positional relationship with the tracking device. During the tracking of the position of the target object, the specified three-dimensional positional relationship between the tracking device and the control marker is measured. In the event of a difference between the measured and the real specified three-dimensional positional relationship, a corresponding signal is generated depending on the difference.

Abstract: The invention relates to a method for dynamic load simulation, wherein loads are specified by target signals and applied to a test object by a parallel kinematic excitation unit via an end effector, including the following operations: measuring loads at a contact point (200), comparing the measured loads with the target signals (300), and determining target pressures (400) for individual actuators of the parallel kinematic excitation unit for applying the target signals by use of a control algorithm (Fq,ref). This provides a method for dynamic load simulation that reduces the time and cost expenditure compared to previously known methods and at the same time enables hardware-in-the-loop simulations to be used.

Abstract: An apparatus and method for calibrating or teaching a robot, the apparatus includes a reflective photoelectric sensor arranged on a gripper of the robot and a controller. The controller is configured to: cause the reflective photoelectric sensor to scan over a target object; monitor changes in an output signal from the reflective photoelectric sensor; for each detected change exceeding a threshold, determine a coordinate of a gripping component on the gripper in a robot coordinate system, to obtain a set of coordinates; determine a position of the target object in the robot coordinate system based on the set of coordinates and a predefined offset value (PO) between the reflective photoelectric sensor and the gripping component; and store the position of target object for future use in assembling objects.

Abstract: A flow sensor includes a fluid chamber configured to receive a fluid. A diaphragm assembly is configured to be displaced whenever the fluid within the fluid chamber is displaced. A transducer assembly is configured to monitor the displacement of the diaphragm assembly and generate a signal based, at least in part, upon the quantity of fluid displaced within the fluid chamber.

Abstract: Various aspects of the subject technology relate to a mobile support platform for vehicle sensor calibration. The mobile support platform includes a chassis, lift posts on the chassis configured to interface with one or more lift points on a vehicle and raise the vehicle, and a set of wheels mounted to the chassis configured to carry the vehicle through a calibration sequence.

Abstract: A model generator implements a data-driven approach to generating a robot model that describes one or more physical properties of a robot. The model generator generates a set of basis functions that generically describes a range of physical properties of a wide range of systems. The model generator then generates a set of coefficients corresponding to the set of basis functions based on one or more commands issued to the robot, one or more corresponding end effector positions implemented by the robot, and a sparsity constraint. The model generator generates the robot model by combining the set of basis functions with the set of coefficients. In doing so, the model generator disables specific basis functions that do not describe physical properties associated with the robot. The robot model can subsequently be used within a robot controller to generate commands for controlling the robot.

Abstract: A method, apparatus and a system are disclosed for robotic programming. In at least one embodiment of a method for robotic programming, the method includes receiving, from a controller of a robot, movement parameters reflecting movement of the robot manipulated by a user; making a first data model of a robot move, according to the movement parameters; calculating, upon the first data model touching a second data model of a virtual object, parameters of a first force to be fed back to the user for feeling touch by the robot on a physical object corresponding to the virtual object; and sending the parameters of the first force to the controller of the robot, to drive the robot to feed back the first force to the user.

Abstract: A surgical instrument includes a housing, a shaft extending from the housing, an end effector assembly extending from the shaft and configured to rotate and/or articulate relative to the housing, a motor disposed within the housing and operably coupled to the end effector assembly to rotate and/or articulate of the end effector assembly relative to the housing, and a sensing assembly configured to sense movement of the housing relative to a reference position and to drive the motor to rotate and/or articulate of the end effector assembly relative to the housing based upon the sensed movement. The sensing assembly is configured to operate in each of a standard mode, wherein movement of the housing effects rotation and/or articulation of the end effector assembly in a similar direction, and a reversed mode, wherein movement of the housing effects rotation and/or articulation of the end effector assembly in an opposite direction.

Abstract: A robot for making coffee and a method for controlling the same are provided to couple or decouple a portafilter to or from an espresso machine without damage to the espresso machine or the portafilter due to a collision between the espresso machine and the portafilter. The robot includes a robot arm to move with a predetermined degree of freedom, a gripper provided in the robot arm to grip a portafilter, a torque sensor provided in the robot arm to detect repulsive force (Fr) when the portafilter makes contact with a group head of an espresso machine, and a controller configured to set a virtual spring having a predetermined elastic modulus (C) based on the repulsive force (Fr) detected by the torque sensor, and to control driving torque (T) of the robot arm depending on the restoring force (Fe) of the virtual spring.

Abstract: The method includes the steps of: detecting a part, of a surface of a target, that is located on an inner circumferential side of a predetermined circle centered on a rotation axis and passing the target, by an object detection sensor, at plural rotation positions when at least one of a rotation position of the target about the rotation axis on a substrate placement portion and a rotation position of a detection area about a robot reference axis is changed; calculating a quantity correlated with an index length representing a distance from the robot reference axis to the target when the target is detected by the object detection sensor, for each rotation position; and calculating the positional relationship between the robot reference axis and the rotation axis on the basis of, among the rotation positions, the one at which the quantity correlated with the index length is maximized or minimized.

Abstract: Methods of performing a plurality of operations within a region of a part utilizing an end effector of a robot and robots that perform the methods are disclosed herein. The methods include collecting a spatial representation of the part and aligning a predetermined raster scan pattern for movement of the end effector relative to the part with the spatial representation of the part. The methods also include defining a plurality of normality vectors for the part at a plurality of predetermined operation locations for operation of the end effector. The methods further include moving the end effector relative to the part and along the predetermined raster scan pattern. The methods also include orienting the end effector such that an operation device of the end effector faces toward each operation location along a corresponding normality vector and executing a corresponding operation of the plurality of operations with the operation device.

Abstract: A method for object grasping, including: determining features of a scene; determining candidate grasp locations; determining a set of candidate grasp proposals for the candidate grasp locations; optionally modifying a candidate grasp proposal of the set; determining grasp scores associated with the candidate grasp proposals; selecting a set of final grasp proposals based on the grasp scores; and executing a grasp proposal from the set of final grasp proposals.

Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for modifying a process definition to ensure accuracy, timeliness, or both of workcell measurement. One of the methods includes receiving an initial process definition for a process to be performed by a robot, wherein the process definition defines a sequence of actions to be performed in a workcell, and wherein a first action in the sequence of actions has an associated measurement tolerance; computing a predicted accumulated measurement variance for each of one or more actions that occur before the first action in the sequence; determining that the predicted accumulated measurement variance for the one or more actions that occur before the first action in the sequence exceeds a threshold; and in response, generating a modified process definition that inserts a measurement action at a location in the sequence before the first action.

Abstract: A system and method for performing automatic camera calibration is provided. The system receives a calibration image, and determines a plurality of image coordinates for representing respective locations at which a plurality of pattern elements of a calibration pattern appear in a calibration image. The system determines, based on the plurality of image coordinates and defined pattern element coordinates, an estimate for a first lens distortion parameter of a set of lens distortion parameters, wherein the estimate for the first lens distortion parameter is determined while estimating a second lens distortion parameter of the set of lens distortion parameters to be zero, or is determined without estimating the second lens distortion parameter. The system determines, after the estimate of the first lens distortion parameter is determined, an estimate for the second lens distortion parameter based on the estimate for the first lens distortion parameter.

Abstract: A robot system includes: a robot including drive shafts; and a control device configured to control the robot, in which each of the drive shafts includes a drive unit configured to cause a second member to operate with respect to a first member, the drive unit includes a motor, a deceleration mechanism configured to decelerate rotation of the motor and supply the rotation to the first member and the second member, and an input-side detector configured to detect a rotation angle position of the motor, at least one drive unit includes an output-side detector configured to detect an operation position of the second member with respect to the first member, and the control device controls the motor such that each of the drive shafts with high responsiveness is caused to operate with priority, on the basis of the detected rotation angle position of the motor and the detected operation position.

Abstract: A robot including a motor is used to machine a workpiece. The robot further includes the following components: a controller configured to output a speed command and commanded-position information; an encoder; a position sensor configured to output, as a differential signal, the amount of displacement of the position of the workpiece W from a predetermined position; a servo driver configured to control the motor upon receiving the speed command, the output signal of the encoder, and the differential signal; and a safety unit configured to detect a fault in the encoder. When controlling the motor based on the speed command, the output signal, and the differential signal, the servo driver sends the differential signal to the controller. The controller sends the safety unit new commanded-position information, which is generated by adding a correction value based on the differential signal to the commanded-position information.

Abstract: The present invention provides a robot system including: a movable human-collaborative robot including a human-collaborative robot, and a moving device that moves the human-collaborative robot mounted thereon; a control unit that controls the movable human-collaborative robot; and an approach sensor that detects approach of a human to the movable human-collaborative robot. The human-collaborative robot includes a human detection sensor that detects approach or contact of a human to or with the movable human-collaborative robot. When the approach sensor has detected the approach of a human, the control unit restricts the operation of at least the moving device and, when the human detection sensor has detected the approach of or contact with a human, the control unit performs control so as to stop the movable human-collaborative robot or so as to avoid the approach of or contact with the human.

Abstract: According to one embodiments, a calibration detecting apparatus includes a generator, a setting unit, an acquisition unit, and a calculator. The generator generates location data indicating a group including a pair of two positions arranged respectively in two spaces. The setting unit sets an irradiation arrangement so that an irradiating device performs laser irradiation on a region including an end position of the end effector. The acquisition unit acquires observation data indicating whether or not the end effector is observed. The calculator calculates a change in an installed state of the irradiating device based on the observation data.

Abstract: A method for controlling movement sequences of a robot, the method including predicting values of at least one parameter related to the execution of alternative movement sequences by the robot, where each movement sequence includes at least one movement segment associated with a handling location; selecting a movement sequence based on the predicted values of the at least one parameter; and executing the selected movement sequence by the robot. A control system for controlling movement sequences of a robot is also provided.

Abstract: A sequence of tracking input samples that are measures of position or orientation of a user interface device, UID, being held by a user, are received. In a prediction phase, a current output sample of a state of linear quadratic estimator, LQE, is computed that is an estimate of the position or orientation of the UID. The current output sample is computed based on i) a previously computed output sample, and ii) a velocity term. In an update phase, an updated output sample of the state of the LQE is computed, based on i) a previously computed output sample from the prediction phase, and ii) a most recent tracking input sample. Other embodiments are also described and claimed.

Abstract: An actuator is provided which includes a parallel eccentric gear train, a prime mover having an assembly of piezoelectric elements which drives the gear train and which forms a mechanical amplifier, and a crankshaft which is driven by the parallel eccentric gear train.

Abstract: An aircrew automation system may comprise an actuation system and a computer system having a processor and one or more interfaces. The computer system can be communicatively coupled with a flight control system of an aircraft and configured to generate control commands based at least in part on flight situation data. The actuation system is operatively coupled with the computer system and comprises a robotic arm, a force sensor, and a controller. The robotic arm can be configured to engage a cockpit instrument among a plurality of cockpit instruments. The force sensor is operably coupled to the robotic arm and configured to measure a force when the robotic arm makes contact with the cockpit instrument. The controller is operably coupled with the robotic arm and the force sensor.