Abstract: A method for switching a control of a robot into a manual operating mode, wherein the robot is movable by a user manually applying at least one of a force or a torque upon the robot, includes detecting at least one of joint forces or joint torques of the robot, and triggering an error reaction in response to the switching and based on at least one of the detected joint forces and/or joint torques, target joint forces and/or target joint torques, or a pose of the robot.

Abstract: A telesurgery system having a surgical assembly with a motor and a surgical instrument. The surgical assembly has at least one drive mechanism driven by the motor. A sensor assembly is coupled to non-volatile memory, and is for recording position of the at least one rotatable mechanism to the non-volatile memory. A controller is communicatively coupled to the sensor assembly. The controller a processor configured to execute a method. In the method, rotational position of the a drive mechanism is recorded to the non-volatile memory during use of the surgical assembly. A mid-procedure shut-down of the surgical assembly is then initiated. A request is then received to initiate a mid-procedure restart of the surgical assembly. It is then determined whether a post-shutdown position of the drive mechanism is within an accepted tolerance with respect to a pre-shutdown position to allow the mid-procedure restart to complete.

Abstract: A robot control apparatus includes a stop command unit which stops a robot. A first external force judgement value smaller than a stop judgement value and a second external force judgement value smaller than the first external force judgement value are previously determined. The stop command unit inhibits a restart of execution of an operation program when, in a state where the execution of the operation program is temporarily stopped, an external force is continuously equal to or less than the first external force judgement value during a period of a first time length, and additionally, the external force continuously exceeds the second external force judgement value during a period of a second time length.

Abstract: A robot system of the present disclosure includes a robot and a controller configured to control motion of the robot, and the controller includes: a motion mode storage unit storing a plurality of motion modes for controlling the robot to switch a motion state of the robot from a normal motion state to a special motion state when a predetermined first condition is satisfied; and a motion mode switching unit configured to switch the motion mode of the robot to another motion mode when, while a particular motion mode stored in the motion mode storage unit is in execution, a predetermined second condition for the particular motion mode is satisfied with a first condition for the particular motion mode satisfied.

Abstract: An embodiment of the present invention discloses an apparatus for recyclable absorption of electric retardation energy from a multiple axis industrial robotics system, including a robot control unit and at least one drive unit, which generates the electrical retardation energy at retardation. By an apparatus according to the present invention, the electric retardation energy, which occurs when a drive unit is retarded and is transferred into generator mode, may be recycled by the brake unit of the apparatus, which accelerates a mechanical device connected to the brake unit. The electric retardation energy is thus transferred into kinetic energy that may be stored in mechanical devices. An embodiment of the present invention also refers to a corresponding method for recyclable absorption of electric retardation energy from a multiple axis industrial robotics system.

Abstract: A motor velocity control apparatus and method in which the velocity of a motor to drive a joint of a robot is controlled.

Abstract: The invention relates to a medical robot (R) and a method for meeting the performance requirements of a medical robot (R). The robot (R) comprises several axes (1-6) and a controller (17). A medical tool (21-24) is fixed to a fixing device (18) on the robot (R) and the working range (30) of the robot (R) is set by the controller (17) in particular with safe techniques such that the robot (R) meets the performance requirements of the medical tool (21-24).

Abstract: A handling apparatus having a belt conveyor (2) for conveying a work (10), a robot (4) for performing a predetermined operation for the work (10), a visual sensor (3) for photographing the work (10) being conveyed to produce work data indicating each work (10) in the photographed image, and a robot controller (5) for gathering the work data for each image thereby to produce a tracking data, and for storing the tracking data in a database, thereby to control the robot (4) with the database so that a predetermined operation is performed on the work (10) transferred to the position of the robot (4). The robot controller (5) performs a predetermined calculation on the work data read out from the database, detects the overlapped work data, and cancels the control of the actions of the robot (4) based on the overlapped work data. The robot controller (5) rearranges the sequences, in which the robot (4) performs the operation on each work (10).

Abstract: Disclosed is a method, apparatus, and medium for estimating a pose of a moving robot using a particle filter. A method for estimating a pose of a moving robot using a particle filter according to an embodiment of the invention includes a detecting a change in pose of the mobile robot and calculating a pose of the current particle by applying the detected change in pose to the previous particle, predicting the probability of the pose of the current particle and obtaining a weight of the current particle on the basis of range data obtained by a sensor and map information, resampling the current particle on the basis of the weight, and adjusting the weight in consideration of an error of the sensor.

Abstract: In a method for controlling a manipulator, in particular a robot, a reference path is stored and reference increments are automatically determined while following the path the reference increments are determined based on the dynamics of the manipulator while following the path.

Abstract: A robot (12) is used to pick parts from a bin (40 in FIG. 1). The robot has a compliant apparatus (42) and one or more tools are connected to the apparatus to perform the picking. The compliant apparatus has mechanisms for monitoring and/or controlling its compliance. The compliant apparatus can have various embodiments. Force sensing can be used during removal of grasped parts from the bin to determine the force exerted on the picking tool (s). The signal indicative of the exerted force can be used by the robot controller to determine the weight of the parts that may be held by the picking tool(s). The robot has one or more devices (FIG. 16, 17) which can be the picking tool to stir the parts in the bin.

Abstract: Methods, devices, and systems for controlling movement of a slave manipulator by an operator controlling a master manipulator in a way that the motion of that slave manipulator can be presented via a display to the operator such that the displayed position of the slave manipulator is intuitive to the operator, regardless of the actual position and orientation of the slave manipulator. Methods, devices, and systems relating to force feedback associated with medical robotic procedures.

Abstract: The present invention provides a robot system including a robot having a plurality of move axes and a safeguard apparatus provided independently of a control system of the robot and adapted for limiting a movable range of the robot. The safeguard apparatus includes at least two individual-axis-detection external sensors configured to be respectively turned ON/OFF in response to a rotational position or a transfer position of respective at least two move axes among the plurality of move axes of the robot, and an apparatus body configured to limit a move of the robot based on a combination of ON/OFF conditions of at least two output signals obtained from the at least two individual-axis-detection external sensors.

Abstract: An articulated arm robot includes a support part capable of extending and contracting upward and downward, a first arm part with one end joined to the support part through a first joint to be rotatable about a yaw axis and having a second joint rotatable about a roll axis between both ends, a second arm part with one end joined to the other end of the first arm part through a third joint to be rotatable about the yaw axis or a pitch axis, an end effector part joined to the other end of the second arm part through a fourth joint to be rotatable about the yaw axis or the pitch axis, and drivers that respectively cause the first to fourth joints to rotate and the support part to extend and contract, and a controller that performs drive control of the drivers of the first to fourth joints by switching the arm between a SCARA mode where the first, second and third arm parts rotate only in a horizontal plane and a perpendicular mode where the second and third arm parts rotate only in a vertical plane.

Abstract: An autonomous floor cleaning robot includes a transport drive and control system arranged for autonomous movement of the robot over a floor for performing cleaning operations. The robot chassis carries a first cleaning zone comprising cleaning elements arranged to suction loose particulates up from the cleaning surface and a second cleaning zone comprising cleaning elements arraigned to apply a cleaning fluid onto the surface and to thereafter collect the cleaning fluid up from the surface after it has been used to clean the surface. The robot chassis carries a supply of cleaning fluid and a waste container for storing waste materials collected up from the cleaning surface.

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: A robot program adjusting system (11) adjusting an operating program of a robot arm having a plurality of axes including an overload identifying means (12) for successively reading operational instructions from said operating program of said robot arm to run simulations and thereby identify an axis where overload is acting from said plurality of axes, an additional operation generating means (13) for generating an additional operation for an axis other than the axis identified by said overload identifying means (12) to lighten the load of said identified axis, and a program adjusting means (15) for adjusting the operating program of said robot arm based on the additional operation generated by said additional operation generating means (13), whereby the load acting on an axis with a large load can be lightened without trial and error.

Abstract: A sensing escape device of an automatic cleaner includes a control module, a motion module and an inclination limitation sensing module. The control module controls the motion module to drive the movement of the automatic cleaner in mode between a forward mode with head portion as a head and a backward mode with tail portion as a head. The inclination limitation sensing module coupled to the control module includes a critical inclination angle sensing unit outward disposed on a rear bottom of the main body. When the critical inclination angle sensing unit is externally contacted, the inclination limitation sensing module generates a signal and transfers the signal to the control module, to make the control module drive the motion module to switch into the backward mode. The automatic cleaner moves backward immediately when climbing a ramp, to avoid misjudging actions such as a suspension of the motor-driven wheel unit.

Abstract: A method and system for handling a swing metal panel using a robot's drive axis servo motor feedback to eliminate the need for the sensors and breakaway devices is provided. Using the servo motor feedback for this function reduces cost and improves reliability. The method also applies the servo motor feedback to hold a panel in position and exchange the panel between robots during the painting or coating process.

Abstract: There is provided a device for evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, comprising a computer including a simulation function for confirming a robot operation. The computer includes a load calculation section for calculating a load given to a motor for driving an operating portion of the robot by a simulation conducted by a computer; and an evaluation section for evaluating, by an evaluation function, whether or not the load exceeds a predetermined allowed value.

Abstract: A manipulator comprises a tube body including a bending portion, a bending wire for a bending drive of the bending portion, a motor including a rotary shaft which rotates in accordance with a drive command signal, a reduction gear unit connected to the rotary shaft and configured by a plurality of gears meshing with each other, a detection unit which detects an operation state of the motor, a storage unit which stores load variation values periodically caused by the meshing of the plurality of gears constituting the reduction gear unit as correction information, a load calculation section which calculates a load exerted on the tube body as a bending load estimated value, and a notifying unit which notifies a calculation result of the load calculation section.

Abstract: A surgical robot that includes at least one robotic arm having multiple joints and at least six degrees of freedom, the robotic arm also including: a magnetic resonance (MR) compatible structural material; multiple MR-compatible joint motors; and multiple MR-compatible joint encoders.

Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

Abstract: A robot includes a traveling rail supported by struts, and a robot body attached to a slider that slides on the traveling rail. A robot controller includes a speed calculation device for calculating moving speeds of the robot hand portion on the coordinate axes of a rectangular coordinate system set for the robot controller; a comparator device for comparing the moving speeds on the coordinate axes calculated by the speed calculation device with threshold values on the coordinate axes of the rectangular coordinate system, respectively; and a halting device for halting the robot in case at least any one of the moving speeds is higher than the corresponding threshold value.

Abstract: A system of self-organizing mobile robotic agents (MRAs) in a multi-robotic system (MRS) is disclosed. The MRAs use simulations to organize the behaviors of groups of robots in the MRS. The MRAs use software agents to model the MRS and the environment. By developing simulations of environmental change, the system provides methods for the MRS to interact with its environment to produce collective epigenetic behaviors.

Abstract: The present invention discloses a positioning control apparatus which receives a moving command and a feedback signal outputted from a controlled device, and controls the controlled device for moving and positioning. The positioning control apparatus includes a first control loop, a second control loop and an arbitration module with a dead point default value, wherein the first control loop is used to control the controlled device moving in response to the error of the moving command and the feedback signal, on the other hand, the second control loop is used to control the controlled device positioning. Furthermore, the arbitration module compares the default value of dead point with the moving command so as to enable either the first control loop or the second control loop.

Abstract: A method for controlling a multi-axis industrial robot or manipulator arranged with a robot control unit. The robot or the control unit includes at least one first computer running a servo controller. A motion limit is configured for at least one axis of the robot arm. A reference signal for a robot position is sent to a robot controller together with a measurement of a position of the robot arm. The reference position is processed and the measured position and the processed reference position are then compared in an evaluator for the purpose of limiting the motion of an arm of the robot.

Abstract: A robot system for use in surgical procedures has two movable arms each carried on a wheeled base with each arm having a six of degrees of freedom of movement and an end effector which can be rolled about its axis and an actuator which can slide along the axis for operating different tools adapted to be supported by the effector. Each end effector including optical force sensors for detecting forces applied to the tool by engagement with the part of the patient. A microscope is located at a position for viewing the part of the patient. The position of the tool tip can be digitized relative to fiducial markers visible in an MRI experiment. The workstation and control system has a pair of hand-controllers simultaneously manipulated by an operator to control movement of a respective one or both of the arms. The image from the microscope is displayed on a monitor in 2D and stereoscopically on a microscope viewer. A second MRI display shows an image of the part of the patient the real-time location of the tool.

Abstract: A manipulator comprises a tube body including a bending portion, a bending wire for bending drive of the bending portion, a motor including a rotary shaft which rotates in accordance with a drive command signal, a reduction gear unit connected to the rotary shaft and configured by a plurality of gears meshing with each other, a detection unit which detects an operation state of the motor, a storage unit which stores load variation values periodically caused by the meshing of the plurality of gears constituting the reduction gear unit as correction information, a load calculation section which calculates a load exerted on the tube body as a bending load estimated value, and a notifying unit which notifies a calculation result of the load calculation section.

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 method for controlling movement of movable object having a plurality of movable subcomponents comprises receiving an instruction configured to generate a defined movement of a selected subcomponent of the movable object between a first state and a second state. The method further comprises determining whether execution of the defined movement results in the selected subcomponent leaving a motion space associated with the selected subcomponent. The motion space is defined by a motion space boundary. The method further comprises producing a modified instruction configured to generate a modified movement of the selected subcomponent between the first state and the second state. Execution of the modified movement results in the selected subcomponent remaining within the motion space. At least a portion of the modified movement deviates from the defined movement.

Abstract: A method and system for handling a swing metal panel using a robot's drive axis servo motor feedback to eliminate the need for the sensors and breakaway devices is provided. Using the servo motor feedback for this function reduces cost and improves reliability. The method also applies the servo motor feedback to hold a panel in position and exchange the panel between robots during the painting or coating process.

Abstract: A robot program correcting apparatus, which displays three-dimensional models of a robot and a workpiece simultaneously on the screen of a display apparatus, and corrects an operation program for the robot, includes: a unit retrieving a robot operation program and a working position based on at least either a line or a surface computed from touchup points and on a touchup position or points representing a working position specified on the screen; a difference computing unit computing a difference between at least either the line or surface computed from the touchup points and at least either a line or a surface computed from the plurality of points as position information representing the retrieved working position; and a correcting unit correcting the robot operation program by computing the amount of correction based on the difference, thereby reducing the number of steps required when correcting the robot operation program.

Abstract: There is provided an industrial robot which comprises a manipulator having a tool at the tip end, a robot control unit for controlling the manipulator, and a primary teaching device and subsidiary teaching device for controlling the manipulator through the robot control unit, wherein operation capable of being conducted by the subsidiary teaching device is restricted as compared with operation capable of being conducted by the primary teaching device. By realizing the industrial robot, it is possible to prevent a production line worker from executing a function of the robot which is originally to be executed by a supervisor.

Abstract: An autonomous floor cleaning robot includes a transport drive and control system arranged for autonomous movement of the robot over a floor for performing cleaning operations. The robot chassis carries a first cleaning zone comprising cleaning elements arranged to suction loose particulates up from the cleaning surface and a second cleaning zone comprising cleaning elements arraigned to apply a cleaning fluid onto the surface and to thereafter collect the cleaning fluid up from the surface after it has been used to clean the surface. The robot chassis carries a supply of cleaning fluid and a waste container for storing waste materials collected up from the cleaning surface.

Abstract: A robot system can grasp and take out one of a plurality of workpieces placed in a basket-like container by a hand mounted at the forward end of a robot arm. The workpiece is detected by a visual sensor, and the robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference or the like occurs, information relating to the problem is stored in a robot control unit or a visual sensor control unit. Information relating to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of problem occurrence, a position which the robot has reached, the target position data, the content of the process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the time of problem occurrence by using simulation unit. The situation at the time of problem occurrence can also be reproduced by using the actual robot without using the simulation unit.

Abstract: A handling robot system, including a table having a placement surface for placing articles; an article dispersing mechanism for dispersing the articles placed on the placement surface of the table across the placement surface; a vision sensor for detecting each of the articles dispersed on the placement surface of the table; and a robot operating, based on article detection data from the vision sensor, to hold the articles one by one.

Abstract: A medical device system includes a manipulator including a plurality of joints, a parameter storing portion for storing joint parameters, including a largest available force, of each joint of the plurality of joints, a trajectory inputting portion for inputting, as a trajectory plan, trajectories for moving a distal end of the manipulator from a current position and attitude to a target position and attitude, a trajectory setting portion for setting a joint angle trajectory for each joint providing a largest available force from among joint angle trajectories which allow movement to the target position and attitude with a minimum number of driven joints based on a largest available force parameter for the each joint stored in the parameter storing portion and the trajectory plan.

Abstract: A robot program adjusting system (11) adjusting an operating program of a robot arm having a plurality of axes including an overload identifying means (12) for successively reading operational instructions from said operating program of said robot arm to run simulations and thereby identify an axis where overload is acting from said plurality of axes, an additional operation generating means (13) for generating an additional operation for an axis other than the axis identified by said overload identifying means (12) to lighten the load of said identified axis, and a program adjusting means (15) for adjusting the operating program of said robot arm based on the additional operation generated by said additional operation generating means (13), whereby the load acting on an axis with a large load can be lightened without trial and error.

Abstract: A method for controlling a robot during an interpolation of a trajectory or motion to any prescribed position, comprises the steps of a) ignoring at least one of the three originally prescribed or interpolated tool center point orientation values; b) finding new tool center point orientation values that place the wrist center point of the robot closest to its base while c) maintaining the originally prescribed or interpolated tool center point location values and d) maintaining the original prescribed or interpolated tool center point orientation values not ignored. Said method can preferably be used for carrying a load with a plurality of robots. Its main advantage is an increase of the available working volume.

Abstract: A predictive robot includes a prediction-related item storage to store terms related to prediction performance, a first communicator which transmits stored prediction-related terms and receives a search result of information search with regard to the prediction-related terms, a search controller to control information search of the prediction-related terms stored in the prediction-related item storage via the first communicator, a media converter to convert the search result into a notification medium, and a notification section to provide the search result by the notification medium. Preferably, predictive information is provided spontaneously.

Abstract: A workpiece regrasping system for a robot. The system includes a manipulator grippable a workpiece; a deck member having a deck surface on which a workpiece is placeable; a support mechanism rotatably supporting the deck member about an axis parallel to the deck surface; a workpiece-orientation control section for controlling the manipulator so as to grip a workpiece at a first point of the workpiece and to bring the workpiece into abutment with the deck surface of the deck member, and configured to displace the workpiece together with the deck member about the axis, while maintaining a mutually abutted condition, until the workpiece occupies a desired orientation, with at least a part of a weight of the workpiece being carried on the deck surface; and a regrasping control section for controlling the manipulator so as to temporarily release the workpiece placed on the deck surface in the desired orientation and to regrasp the workpiece at a second point different from the first point.

Abstract: In a device and method for programming an industrial robot using a simulation program, control commands are issued by a handheld programming device and these commands are visualized on an image surface as movement and/or processing operations by the robot on the basis of data of the robot. An object to be processed is also displayed on the image surface and a three-dimensional image of the robot and the object is presented.

Abstract: A portable device (1) with at least one optical output device (2) for displaying at least process data of a machine, a robot or a technical process, with at least one input device (3) for at least intervening in the operating functions of the device (1) and/or for operating the machine or robot or technical process, and having a safety switch device (12) for preventing the output of undesirable, unintended control commands for the machine, robot or technical process. The output devices (2) and input devices (3) are connected to a control device (14), which is accommodated in a housing (7) that is unbreakable as far as possible and at least one communication interface (17) is provided to an external control device disposed at a distance away. Several of the input and output devices (2, 3) are functionally combined by means of a touch-sensitive screen (4) in the form of a touch-screen (5) and the touch-sensitive screen (4) extends across substantial regions of the surface of the housing (7).

Abstract: An autonomous floor cleaning robot includes a transport drive and control system arranged for autonomous movement of the robot over a floor for performing cleaning operations. The robot chassis carries a first cleaning zone comprising cleaning elements arranged to suction loose particulates up from the cleaning surface and a second cleaning zone comprising cleaning elements arraigned to apply a cleaning fluid onto the surface and to thereafter collect the cleaning fluid up from the surface after it has been used to clean the surface. The robot chassis carries a supply of cleaning fluid and a waste container for storing waste materials collected up from the cleaning surface.

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

Abstract: A teaching device and a teaching modification device capable of easily attaining conformity between an operation program of a robot prepared by off-line programming and an actual operation of the robot. A layout of a robot system including three-dimensional models of the robot and peripheral objects thereof (table, a workpiece, etc.) are prepared by an off-line programming system and taught points are defined for the workpiece. The system layout and a model of the workpiece are displayed on a display device of a teaching pendant. An operator specifies a present position of the operator in the system layout and a taught point to be modified referring to the display device. A line-of-sight vector is automatically calculated and the model of the workpiece as viewed from a direction of the line-of-sight is displayed on the display device.

Abstract: A robot cleaner comprises a suction unit installed within a cleaner body, for sucking dirt on a floor; a driving unit for moving the cleaner body; a wheel installed at a bottom of the cleaner body to be contacted with the floor, and rotated by movement of the cleaner body; a detecting unit for detecting whether the wheel is rotated; and a control unit for controlling the driving unit in response to signal from the detecting unit. Accordingly, the robot cleaner can smoothly and continuously carry out a cleaning operation, even when the robot cleaner is abnormally stopped due to an obstacle which is not previously recognized in traveling.

Abstract: A system of self-organizing mobile robotic agents (MRAs) in a multi-robotic system (MRS) is disclosed. MRAs cooperate, learn and interact with the environment. The system uses various AI technologies including genetic algorithms, genetic programming and evolving artificial neural networks to develop emergent dynamic behaviors. The collective behaviors of autonomous intelligent robotic agents are applied to numerous applications. The system uses hybrid control architectures. The system also develops dynamic coalitions of groups of autonomous MRAs for formation and reformation in order to perform complex tasks.

Abstract: An offline programming device capable of automatically generating a measuring program by which the time and the workload for making an offline program may be greatly reduced.