Abstract: A mechanical system selectively imparts a prescribed motion to an output load using two or more actuators, including at least one having an active material element. The output load can be a locking member when the system is a vehicle transmission, a shuttle car of a linear system, or another device. A controller determines a total motive force required for imparting the prescribed motion, and selectively commands a combination of the actuators to provide the total motive force, apportioning the total motive force between the various actuators to optimize the performance of the system. An algorithm determines which combination of the actuators is the most suitable in moving the output load, and continuously modified this combination as needed as the output load is moved. The other actuator or actuators are then selectively energized as needed to provide the total motive force depending on this suitability determination.

Abstract: The invention provides systems and methods that integrate and/or control motion of a plurality of axes in a motion control environment. Grouped axes can be linked (e.g., via a tag) to provide desired multi-axis coordinated motion as well as provide control for corresponding aspects of motion such as acceleration, velocity, etc. Such axes can be integrated with other control functionality such as process and/or machine control to provide the user with a comprehensive control. The foregoing can provide simple mechanisms for moving devices in multiple axes of a coordinate system in a coordinated fashion. Such coordinated move functionality can provide a user-friendly interface for linear and circular moves in multi-dimensional space. The algorithm employed for path planning can provide fast execution and dynamic parameter changes (e.g., maximum velocity, acceleration and deceleration) along a desired path of motion.

Abstract: A system that enables controlling motion over a network comprises an interface that receives motion control data that includes a time stamp from the network. Additionally, the system includes a motion control component that utilizes the received motion control data to update properties associated with the motion control component based at least in part on the time stamp. The system can also include a clock that is synchronized with disparate clocks associated with disparate motion control components located on the network.

Abstract: According to one embodiment, a pattern forming system includes a patterning tool, a multi-axis robot, and a simulation tool that are coupled to a pattern forming tool that is executed on a suitable computing system. The pattern forming tool receives a contour measurement from the patterning tool and transmits the measured contour to the simulation tool to model the electrical characteristics of a conductive pattern or a dielectric pattern on the measured contour. Upon receipt of the modeled characteristics, the pattern forming system may adjust one or more dimensions of the pattern according to the model, and subsequently create, using the patterning tool, the corrected pattern on the surface.

Abstract: The claimed subject matter provides systems and/or methods that facilitate utilizing a motion control timing model to coordinate operations associated with controlling motion within an industrial automation environment. For example, a cycle timing component can implement timing set forth by a timing model (e.g., that can be selected, preset, . . . ). Pursuant to an illustration, the cycle timing component can utilize the timing model to coordinate transmitting data, receiving data, performing calculations associated with data (e.g., to generate command(s)), capturing data, applying received commands, and so forth.

Abstract: A member of a machine, such as a boom on construction equipment for example, is pivoted by a first actuator and has a length that is alterable by a second actuator. A control method allows an operator of the machine to command a point on the member to move along a straight line path. The operator command specifies velocities along two orthogonal axes and those velocities are transformed into an angular velocity and a length velocity for the member. The angular velocity and a length velocity then are converted into individual velocities for the first and second actuators. Each actuator is operated at its respective velocity to achieve the commanded movement of the member.

Abstract: For operating controlled machines, a slave motion of at least one movable machine element of the machine is controlled using a motion profile specific to that motion, and this motion profile of the motion of the machine element is subdivided into a plurality of profile segments. The profile segments are each assigned masters, and the masters depend on predetermined command variables, motion profile in the individual profile segments depends in each case on the respective masters, at least two masters are different from one another, and at least two masters of the motion profile depend on command variables that are different from one another.

Abstract: A computer numerical control (CNC) machine includes a case, a communication plug, a first switch, a number of second switches, and a control circuit. The control circuit includes a first switch control unit to receive a first switch signal from the first switch, a second switch control unit to receive second switch signals from the second switches, a control unit, a command signal converting unit, a pulse signal generating unit, and an operation signal output unit. The control unit receives the first and second switch signals, determines the work mode of the CNC machine according to the first switch signal, and convert the second switch signals to command signals. The command signal converting unit converts the command signals into operation signals. The pulse signal generating unit generates pulse signals. The operation signal output unit outputs the operation signals and the pulse signals to the CNC machine via the communication plug.

Abstract: The present invention features a system and method for estimating body states of a vehicle. The system includes at least two sensors mounted to the vehicle. The sensors generate measured vehicle state signals corresponding to the dynamics of the vehicle. A signal adjuster transforms the measured vehicle states from a sensor coordinate system to a body coordinate system associated with the vehicle. A filter receives the transformed measured vehicle states from the signal adjuster and processes the measured signals into state estimates of the vehicle, such as, for example, the lateral velocity, yaw rate, roll angle, and roll rate of the vehicle.

Abstract: The present invention relates to navigation of a path by a moving object, and, more particularly, to motion control systems for computer-controllable machine tools.

Abstract: The method and system for vehicular guidance comprises an imaging device for collecting color image data to facilitate distinguishing crop image data (e.g., crop rows) from background data. A definer defines a series of scan line segments generally perpendicular to a transverse axis of the vehicle or of the imaging device. An intensity evaluator determines scan line intensity data for each of the scan line segments. An alignment detector (e.g., search engine) identifies a preferential heading of the vehicle that is generally aligned with respect to a crop feature, associated with the crop image data, based on the determined scan line intensity meeting or exceeding a maximum value or minimum threshold value.

Abstract: A method for planning the trajectory of an apparatus, such as an articulating probe head, mounted on a coordinate positioning apparatus, such as a CMM. It is determined whether for a given trajectory, the angular velocity or acceleration of the apparatus about a rotational axis of the apparatus will exceed a predetermined threshold. If so, parameters are adjusted so that the angular velocity or acceleration do not exceed the threshold.

Abstract: Irrespective of operation mode of systems in which predetermined axes belong to, a multi-system numerical controller is provided that freely combines axes belonging to arbitrary systems, and then simultaneously operates axes belonging to a plurality of systems in a predetermined manual mode, or simultaneously operates a plurality of axes belonging to the same system in respective manual operation modes so as to safely take interpolation control in manual operation. The numerical control apparatus includes a plurality of manual operation controllers and independent of the systems; a manual-operation-mode selecting signal provided each for the manual operation controllers; an arbitrary-axis selection signal, provided each for the manual operation controllers or manual modes, for selecting axes from any of the systems; a manual-move-speed instructing signal provided each for the manual operation controller; a manual operation reset signal provided each for the manual operation controllers.

Abstract: A brain-based device (BBD) for moving in a real-world environment has sensors that provide data about the environment, actuators to move the BBD, and a hybrid controller which includes a neural controller having a simulated nervous system being a model of selected areas of the human brain and a non-neural controller based on a computational algorithmic network. The neural controller and non-neural controller interact with one another to control movement of the BBD.

Abstract: A control unit for a machine tool at least one vibration detection device attached to a main shaft portion of a machine tool or a movable body; a storage device for storing a vibration signal detected by the vibration detection device being related to operation information of the machine tool; a collision judgment device for judging that a collision has occurred; and an output device for outputting the vibration signal at the time of judging the occurring of the collision. By the above constitution, the control unit is capable of grasping a specific circumstance of collision and quickly determining a cause of collision.

Abstract: A programming interface for a control system comprises a display region that provides a representation of a plurality of output cam profiles. The representation provides information concerning latch/unlatch operations of a plurality of cam elements that control on/off states of a plurality of output devices and that form the plurality of output cam profiles.

Abstract: A method and system for controlling an industrial controller based on technology objects are disclosed. Technology object types may be loaded and instantiated into the run time system of a controller, thereby increasing the functionality and providing technological scaling of the controller. Technology object types may be loaded in the form of technology packages and a user may use the functionality of the invention directly in a user program.

Abstract: A data processing apparatus for processing data described in a welding operation program of an arc welding robot system.

Abstract: A motion controller including a computer comprising a primary processor or a central processing unit and an input/output communication bus. The primary processor is in communicative connection with the bus and is adapted to communicate with other devices in communicative connection with the bus via the bus. The motion controller also includes at least one secondary processor in communicative connection with the bus. The secondary processor is adapted to execute at least one control algorithm for one or more axes of motion associated therewith. The secondary processor is further adapted to communicate with other devices in communicative connection with the bus via the bus independently of the primary processor (that is, the secondary processor is can effect bus mastering). The operating system of the computer can, for example, be a general purpose operating system.

Abstract: The present invention relates to navigation of a path by a moving object, and, more particularly, to motion control systems for computer-controllable machine tools.

Abstract: When causing manual movement of a moving section of a machine tool, shape data of the moving section is made to move in a movement direction that has been input manually, and it is confirmed whether there is no interference with shape data of a surrounding interfering object. If interference occurs, a position returned a specified distance from the position where interference occurs is made a stop position, the moving section is moved to this stop position, and stopped at that position.

Abstract: An imaging device collects color image data to facilitate distinguishing crop image data from background data. A definer defines a series of scan line segments generally perpendicular to a transverse axis of the vehicle or of the imaging device. An intensity evaluator determines scan line intensity data for each of the scan line segments. An alignment detector identifies a preferential heading of the vehicle that is generally aligned with respect to a crop feature, associated with the crop image data, based on the determined scan line intensity meeting or exceeding a maximum value or minimum threshold value. A reliability estimator estimates a reliability of the vehicle heading based on compliance with an intensity level criteria associated with one or more crop rows.

Abstract: To facilitate an intuitive operation of an adjustable device of a medical apparatus, a system for the automatic setting of an operating configuration of the portable control module controlling the adjustable device is provided. Different operating configurations regarding the directional control of the movement of the movable device differ are based on the relative spatial position of the adjustable device with respect to the control module. The system includes at least one signal sender unit for sending a signal. The signal sender unit may be arranged on the control module. The system further includes at least two signal converter units for converting and retransmitting or for converting and reflecting the signal. The signal converter units may be arranged on different positions on the device. A signal receiver unit is used for receiving the converted signal, and the receiver unit may be arranged on the control module.

Abstract: A method and system for controlling an industrial controller based on technology objects are disclosed. Technology object types may be loaded and instantiated into the run time system of a controller, thereby increasing the functionality and providing technological scaling of the controller. Technology object types may be loaded in the form of technology packages and a user may use the functionality of the invention directly in a user program.

Abstract: In a robot arm controlling device, a mechanical impedance set value of the arm is set by an object property-concordant impedance setting device based on information of an object property database in which information associated with properties of an object being gripped by the arm is recorded, and a mechanical impedance value of the arm is controlled to the set mechanical impedance set value by an impedance controlling device.

Abstract: The present invention relates to a positioning apparatus. The positioning apparatus comprises at least one position sensor, at least one position controller and at least one position actuator, wherein the or each position sensor measures the position of a position-controlled device, wherein the or each position controller uses measurement signals provided by the or each position sensor as input signals, and wherein output signals generated by the or each position controller are used by the or each position actuator to control the position of said position-controlled device.

Abstract: A composite part program post-processor that produces a composite part program for use with a computer-numerical control (CNC) multihead composite material application machine. The post-processor includes a definition receiver, a route delineator, an approach and departure profiler, a machine axis solution computer, and an output file composer. The definition receiver receives material application path definitions, for example, from a composite part program generator. The route delineator delineates tool carriage and manufacturing tool routes. In addition, the approach and departure profiler adds approach and departure profiles to the paths, and the machine axis position computer computes machine axis positions to control the composite material application machine and guide the composite material application heads along the paths. The output file composer then composes a CNC composite part program.

Abstract: The invention provides systems and methods that integrate and/or control motion of a plurality of axes in a motion control environment. Grouped axes can be linked (e.g., via a tag) to provide desired multi-axis coordinated motion as well as provide control for corresponding aspects of motion such as acceleration, velocity, etc. Such axes can be integrated with other control functionality such as process and/or machine control to provide the user with a comprehensive control. The foregoing can provide simple mechanisms for moving devices in multiple axes of a coordinate system in a coordinated fashion. Such coordinated move functionality can provide a user-friendly interface for linear and circular moves in multi-dimensional space. The algorithm employed for path planning can provide fast execution and dynamic parameter changes (e.g., maximum velocity, acceleration and deceleration) along a desired path of motion.

Abstract: A light source emits light toward a semiconductor wafer, and a light receiving sensor detects light passing a peripheral edge of the semiconductor wafer. Each coordinates of the peripheral edge of the semiconductor wafer is obtained from a result of the detection. Further, a center of the semiconductor wafer is obtained from a group of the coordinates. Then, an illumination device emits light toward the peripheral edge of the semiconductor wafer and an optical camera detects light reflected from the peripheral edge of the semiconductor wafer. A position of a “V”-shaped notch formed on the peripheral edge of the semiconductor wafer is obtained from a result of the detection. A handling position of the semiconductor wafer is determined based on the center of the semiconductor wafer and the position of the “V”-shaped notch.

Abstract: A position of a motion control axis is monitored and an output device responsive to the position of the motion control axis is controlled. The controlling further includes latching an electronic cam element that controls the output device, and unlatching the cam element that controls the output device. The manner in which the latching is performed and the manner in which the unlatching is performed are configurable in a programming interface. The programming interface is capable of receiving a latch position for the cam element and an unlatch position for the cam element. The programming interface is further capable of receiving additional configuration information to configure the manner in which the latching is performed and different additional configuration information to separately configure the manner in which the unlatching is performed.

Abstract: Systems, methods and apparatus are provided through which movement of a medical imaging device is detected and the movement is assisted in magnitude by an external force.

Abstract: In cleaning using a self-propelled cleaning device, firstly the cleaning device moves alongside a wall surface and then a reference direction is set. Next, the cleaning device advances alongside the wall surface at a prescribed distance, makes a right-angle turn, and travels in the reference direction. When the cleaning device reaches the surface of an opposing wall, it moves in a spiraling manner. At that time, the orientation angle of the cleaning device, which is estimated using a gyro sensor, is checked and corrected. If an obstacle is encountered while traveling, the cleaning device travels on a path that avoids the obstacle or travels in a spiral manner in a region in front of the obstacle.

Abstract: A mechanism for determining the position of a point relative to a coordinate system defined by coordinate scales aligned along coordinate axes includes a coordinate reference plane and a coordinate read plane and a read mechanism associated with each coordinate scale. Each read mechanism is engaged with the coordinate read plane and the coordinate reference plane to be responsive to relative motion between the coordinate read plane and the coordinate reference plane to indicate a position of the point on the along the corresponding coordinate scale, and is coupled to the coordinate read plane and to the coordinate reference plane to allow relative transverse motion between the coordinate read plane and the corresponding coordinate axis. Each read mechanism includes a guide mechanism for retaining the read mechanism at a predetermined position along an axis transverse to the corresponding coordinate axis with transverse motion between the coordinate read plane and the coordinate reference plane.

Abstract: An evolvable synthetic neural system includes an evolvable neural interface operably coupled to at least one neural basis function. Each neural basis function includes an evolvable neural interface operably coupled to a heuristic neural system to perform high-level functions and an autonomic neural system to perform low-level functions. In some embodiments, the evolvable synthetic neural system is operably coupled to one or more evolvable synthetic neural systems in a hierarchy.

Abstract: The invention relates to the control of an orienting/positioning system comprising comprising at least a sensor and an actuator for controlling an orienting and/or positioning action adapted to change an input space of the sensor. A first step evaluates pre-action output information of the sensor in order to detect a pre-action position of a manipulating device in the input space of the sensor. A second step decides on a targeted post-action position of the manipulating device in the input space of the sensor. A third step defines a command for the actuator by mapping any deviation of the pre-action position and the targeted post-action position in the input space of the sensor to actuator control coordinates using a predefined mapping function. A fourth step orients/positions the manipulating device according to the defined command in order to carry out the orienting/positioning action. A fifth step detects a real post-action position of the manipulating device in the input space of the sensor.

Abstract: The present invention is directed towards a method and system of controlling movement of a body coupled to an actuation system that features translating movement of the body in a plane extending by imparting angular motion in the actuation system with respect to two spaced-apart axes. Specifically, rotational motion is generated in two spaced-apart planes, one of which extends parallel to the plane in which the body translates. This facilitates proper orientation of the body with respect to a surface spaced-apart therefrom.

Abstract: The present invention provides systems, devices and methods for controlling a desired output of an output device. These systems, devices and methods include connecting an electrical resistance element having a selected one of a plurality of resistance values with an electrical circuit portion having a plurality of electrical components, determining an electrical characteristic associated with the connected electrical circuit portion and the variable resistance element, and generating a control signal based on the electrical characteristic to control the desired output of the output device.

Abstract: An industrial robot system including a plurality of industrial robots. Each robot includes a manipulator, a control unit for automatically operating the manipulator, and a movable key device configured to store information about the identity of the robot to which the moveable key device belongs. A portable operating unit is configured to teach and program the robots. The portable operating unit is adapted for wireless communication with each control unit. The portable operating unit includes a member for receiving one of the moveable key devices, a reader for reading a robot identity from the received moveable device, and a communication establisher for establishing wireless communication between the operating unit and the control unit of the identified robot upon reading the robot identity from the moveable key device.

Abstract: A robot control apparatus capable of largely reducing a calculation amount to be capable of lowering a load of a CPU is provided.

Abstract: A method of controlling an input device is disclosed. A deadband is generated about a first position when the input device is at the first position. The input device is moved from the first position to one or more additional positions. The deadband width is varied based on the position of the input device.

Abstract: A motion control system and method that includes a central controller configured to generate first and second demand control signals to be used to define actuation motion of respective first and second actuators. The central controller is in communication with first and second nodes by way of a data network, each node including at least a respective actuator configured to implement at an actuator time a motion or force-related effort based upon the respective demand control signal. Each node also includes a memory configured to store at least one respective propagation delay parameter related to a signal propagation delay between the central controller and the node. A timing mechanism establishes timing at each node based on the respective propagation delay parameter so that the actuator time at the nodes occurs simultaneously. Strictly cyclic and/or full-duplex high-speed communication can be supported. The network can be wired in a ring or as a tree and with twisted pair cabling or fiber.

Abstract: A device for displaying a moving locus in which a moving body is supported at its both ends by a pair of feed axes of a tandem structure so as to move in a opposite direction of the pair of feed axes, and has a point where a position is to be controlled at an internally dividing point to divide a distance between the pair of feed axes into a predetermined ratio, and the moving locus of the point where the position is to be controlled is drawn, the device having a data storage portion for storing a first position data and second position data of the moving body detected on the pair of feed axes when the pair of feed axes are driven maintaining synchronization; a data calculating portion for calculating a third position data of the point where the position is to be controlled from the first position data and second position data on the pair of feed axes stored in the data storage portion; and a locus display portion for drawing the moving locus of a point where the position is to be controlled based on the thir

Abstract: A machine tool moves a driven member by use of a servomotor. A position control device controls the position of the driven member in accordance with full closed loop control. The position control device computes an integrated feedback value g in correspondence with a function F (VM, PM, Vm, Pm) in which four state amounts, motor speed VM, motor position PM, driven member speed Vm, and driven member position Pm are independent variables. The thrust instruction ?*, which is inputted to the servomotor, is compensated with the integrated feedback value g. The servomotor is thus optimally driven and controlled in accordance with full closed loop control.

Abstract: An indexing drive device for periodic stopping and starting of a rotating output is provided, which includes: (a) a driven cog, wherein the driven cog comprises: (i) a plurality of outer surfaces equally spaced around a periphery of the driven cog; and (ii) a plurality of driven lobes equally spaced around the driven cog; (b) a driving cog adapted to be cooperatively positioned to engage with the driven cog, wherein the driving cog comprises: (i) at least two driving lobes, whereby the driving lobes on the driving cog engage the driven lobes of the driven cog during a turning cycle of the driven cog; and (ii) a semi-circular disc that mates with one of the outer surfaces during a dwell cycle of the driven cog that holds the driven cog in a fixed position during the dwell cycle, wherein the disc has a blank section in the region of the driving lobes to allow the driven cog to turn during a turning cycle of the driven cog.

Abstract: A method for irrigating an irrigation region (30) with an irrigation unit (20) includes the steps of subdividing the irrigation region (30) into a plurality of subregions (34), establishing a sequence for irrigating the subregions (34) based on irrigation requirements for the irrigation region (30), and directing a fluid (19) to one or more of the subregions (30) using the irrigation unit (20) based on the sequence. The irrigation regions (30) can be rectangular, square, or hexagonal, and can each have non-overlapping rectangular, square or triangular, similarly-sized subregions (34). The irrigation requirements can include the color of the subregions (34), the elevation of one subregion (34) relative to another subregion (34) and/or other physical conditions. The sequence can be established entirely within a housing (200) of the irrigation unit (20).

Abstract: A position control device of a moving body, by which position control device a moving body can be driven in a translational manner with high precision where the moving body is not rotated in a yawing direction even if disturbance is input, a stage device using the position control device, and a position control method of a moving body, is provided.

Abstract: Controlling an orienting/positioning system having a sensor and actuator for controlling at least one of an orienting and positioning action of the sensor. The invention (1) evaluates pre-action output information of a sensor in order to detect the position of a pattern in the input space of the sensor, (2) determines a targeted post-action position of the pattern in the input space of the sensor, (3) defines an actuator command by mapping any deviation of the pre-action and post action position in the input space to actuator control coordinates using a predefined mapping function, (4) controls the actuators according to the defined command to execute the orienting/positioning action, (5) detects the real post-action position of the pattern in an input space of the sensor, (6) adapts the mapping function based on differences between the real post-action position and the targeted post-action position of the pattern in the input space.

Abstract: A method and device for controlling a movement of a movable machine element of a machine tool or production machine with at least two drive axles are disclosed. At least one mechanical characteristic frequency is determined for each drive axle of the machine, and the lowest mechanical characteristic frequency is selected from the determined mechanical characteristic frequencies. For each drive axle of the machine, desired values are supplied to a control unit associated with the drive axle, whereby the desired values of the drive axles having a mechanical characteristic frequency higher than the lowest mechanical characteristic frequency are time-delayed. The disclosed method and device modify a method referred to as “Input Shaping” so that geometrically linked drive axles can be operated simultaneously.

Abstract: A drive device for a load (18a) comprises a device for detecting accidental collisions with a motor (14a), a first, respectively a second position sensor (15a, 16a) disposed upstream, respectively downstream of a transmission assembly (12a) providing first and second values of position. A calculation unit (20) makes it possible to calculate an error signal (d) corresponding to the difference of these position values. Ways to discriminate are devised so as to analyze the successive error signals as a function of the path (xR) traversed by the load in a spatial reference frame (xR, d). Filters with rectangular spatial window or with exponential spatial window are particularly adapted for discriminating between errors due to an accidental collision and those due to other causes attributable to normal operation. One thus obtains particularly reliable and sensitive collision detection with a very low detection threshold.

Abstract: In a method for controlling an orienting/positioning system, the orienting system comprises at least one sensor means, an external motion detection device for detecting an externally-caused motion in the environment of the sensor means and actuator means for controlling an orienting and/or positioning action of the sensor means.