Abstract: A system includes a driver robot having a body with a pair of spaced apart flux conductors, and a follower robot having an articulated body with a pair of spaced apart magnets. The magnets are coupled to the flux conductors when the articulated body is in an engaged position. One of the magnets is decoupled from one of the flux conductors when the articulated body is in a flipping or stepping position.

Abstract: A robotic apparatus for machining tenons on turbine buckets of a steam turbine machine is disclosed. The robotic apparatus includes a machining device having a spindle head. A robotic arm is coupled to the machining device and a base member is coupled to the robotic arm. The base member is mounted independently of the machine element. A vision system is provided for locating the tenon on the turbine bucket. A control system is coupled to the vision system, the machining device and the robotic apparatus. The control system is configured to control movement of the robotic apparatus and the machining device based upon vision system data and spatial information about the tenon and the turbine bucket.

Abstract: A robotic device includes a first link portion, a second link portion that moves relative to the first link portion, a first contact load detecting portion that detects a contact load in a contact area of the first link portion, a second contact load detecting portion that detects a contact load in a contact area of the second link portion, and a first link portion control target setting portion that sets a control target for the first link portion. The first link portion control target setting portion sets the control target for the first link portion such that the difference between the detection value of the contact load of the first contact load detecting portion and the detection value of the contact load of the second contact load detecting portion decreases.

Abstract: A vessel hull robot navigation subsystem and method for a robot including a drive subsystem onboard the robot for driving the robot about the hull. A sensor subsystem onboard the robot outputs data combining robot and vessel motion. A memory onboard the robot includes data concerning the configuration of the hull and a desired path of travel for the robot. A fix subsystem communicates position fix data to the robot. A navigation processor onboard the robot is responsive to the memory data, the sensor subsystem, the position fix data, and the data concerning vessel motion. The navigation processor is configured to determine the position of the robot on the hull by canceling, form the sensor subsystem output data combining both robot and vessel motion, the determined vessel motion.

Abstract: An intelligent modular rotary multi-sensor sensor ring platform for such uses as in mobile robotics allows a few sensors to scan the local area and environment, provides a cost saving, volume and a power savings as well as reducing calibration and maintenance costs. The sensor ring platform has a large internal diameter allowing a maximum area for the chassis structural elements as well as other equipment located in the chassis. Local sensor signal processing is combined with time, rotation speed and position data stamps to allow processed data to be used locally as well as to be transferred to other systems or subsystems or for data logging purposes.

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 and apparatus may be present for inspecting an object. A plurality of locations associated with a plurality of operations performed by a tool on the object may be tracked. The plurality of locations is tracked while the plurality of operations is performed on the object. A path for the tool may be mapped using the plurality of locations to form a tool path. The tool path may be compared to a model of the object.

Abstract: A laser processing head mounted on a robot arm moves from with a constant speed in a direction from a welding point to a next welding point, while a reflection mirror continuously turns in order to maintain laser beams focused on the welding point until the welding at the welding point is completed, and the reflection mirror quickly turns to shift the focus of the laser beams onto the next welding point when the welding at the welding point is completed.

Abstract: A automation equipment control system comprises a general purpose computer with a general purpose operating system in electronic communication with a real-time computer subsystem. The general purpose computer includes a program execution module to selectively start and stop processing of a program of equipment instructions and to generate a plurality of move commands. The real-time computer subsystem includes a move command data buffer for storing the plurality of move commands, a move module linked to the data buffer for sequentially processing the moves and calculating a required position for a mechanical joint. The real-time computer subsystem also includes a dynamic control algorithm in software communication with the move module to repeatedly calculate a required actuator activation signal from a joint position feedback signal.

Abstract: A game system comprises a game board having a playing area and game pieces for playing a game on the game board. Each game piece comprises a mobile robot for sensing and decoding a position-coding pattern printed on the game board. Each game piece is in communication with a computer system. The computer system is configured to send instructions for moving each game piece relative to the playing area in response to position information corresponding to the game pieces.

Abstract: A method for conforming components may comprise measuring a first component using a conforming tool, and recording position data for the first component based on the measuring. A path for the conforming tool may be provided using the position data, and a second component may be modified by moving the same conforming tool based on the provided path.

Abstract: A method for joining together at least two sheets with a tool controlled by an industrial robot and including a first arm and a second arm that are mutually movable in relation to each other. An actual position of the sheets is detected by bringing one of the arms to sense the actual position of the sheets. The distance between an ideal position and the actual position is calculated and the actual position of the tool is moved the calculated distance, whereafter the sheets are joined together.

Abstract: In accordance with one embodiment, a system may include a high voltage coating applicator, a voltage sensor, and a coating system controller configured to automate a voltage measurement of the high voltage coating applicator by the voltage sensor. In another embodiment, a system may include a non-contact sensor and a controller coupled to the non-contact sensor, wherein the controller is configured to obtain a measurement indicative of voltage at a distance between an electrostatic spray device and the non-contact sensor. In the embodiment, the controller is also configured to adjust voltage, fluid flow, distance, or a combination thereof, of the electrostatic spray device in response to the measurement.

Abstract: The object of the present invention is equipment (1) and a method for the fully automated final inspection of components (2), in particular of their driven modules, further comprising a robot (3) fitted with a testing system (8) to carry out the final inspection comprising the stages: Self-driven alignment of the robot (3) and/or the testing system (8) relative to the component (2) being checked and/or its module by means of orientation data, reproducible implementation of individual checks by the testing system (8), the stages of self-driven alignment and reproducible implementation being repeated until a termination criterion has been met and/or the final inspection has been completed.

Abstract: An interactive system for interacting with a sentient being. The system includes a robotic companion of which the sentient being may be a user and an entity which employs the robot as a participant in an activity involving the user. The robotic companion responds to inputs from an environment that includes the user during the activity. The robotic companion is capable of social and affective behavior either under control of the entity or in response to the environment. The entity may provide an interface by which an operator may control the robotic companion. Example applications for the interactive system include as a system for communicating with patients that have difficulties communicating verbally, a system for teaching remotely-located students or students with communication difficulties, a system for facilitating social interaction between a remotely-located relative and a child, and systems in which the user and the robot interact with an entity such as a smart book.

Abstract: An external force estimation system for estimating an external force acting upon a robot apparatus which includes a machine body which in turn includes a plurality of movable joints is disclosed which includes a distribution type contacting state detection section, an actuator current state measurement section, a motion state measurement section, a motion equation setting section, a known term calculation section, and an external force estimation section.

Abstract: Methods for operating robotic devices (i.e., “robots”) that employ adaptive behavior relative to neighboring robots and external (e.g., environmental) conditions. Each robot is capable of receiving, processing, and acting on one or more multi-device primitive commands that describe a task the robot will perform in response to other robots and the external conditions. The commands facilitate a distributed command and control structure, relieving a central apparatus or operator from the need to monitor the progress of each robot. This virtually eliminates the corresponding constraint on the maximum number of robots that can be deployed to perform a task (e.g., data collection, mapping, searching). By increasing the number of robots, the efficiency in completing the task is also increased.

Abstract: Methods for operating robotic devices (i.e., “robots”) that employ adaptive behavior relative to neighboring robots and external (e.g., environmental) conditions. Each robot is capable of receiving, processing, and acting on one or more multi-device primitive commands that describe a task the robot will perform in response to other robots and the external conditions. The commands facilitate a distributed command and control structure, relieving a central apparatus or operator from the need to monitor the progress of each robot. This virtually eliminates the corresponding constraint on the maximum number of robots that can be deployed to perform a task (e.g., data collection, mapping, searching). By increasing the number of robots, the efficiency in completing the task is also increased.

Abstract: A robot (1) is provided which includes a situated behaviors layer (SBL) (58). This SBL (58) is formed in the form of a tree structure in which a plurality of schemata (behavior modules) is connected hierarchically in such a matter that the schemata are highly independent of each other for each of them to behave uniquely. A patent schema can define a pattern in which child schemata are connected, such as an OR type pattern in which the child schemata are caused to behave uniquely, AND type pattern in which the plurality of child schemata are caused to behave simultaneously or a SEQUENCE type pattern indicating a sequence in which the plurality of child schemata should behave, thereby permitting to select a behavior pattern of the robot (1). Also, a new child schema can additionally be included in the SBL (58) without having to rewrite the schemata connection in the tree structure, whereby a new behavior or function can be added to the robot (1).

Abstract: An authenticating pattern is disposed on a cover and an authenticating device is disposed in a robot apparatus for authenticating the cover on the basis of the authenticating pattern of the fitted cover. An information holding device for holding inherent information is disposed in the cover and a reading device for reading out the inherent information from the information holding device is disposed in the robot apparatus. A function of detecting an amount of influence due to the cover and changing manifesting patterns of motions as occasion demands on the basis of the detection result is disposed in the robot apparatus.

Abstract: A method for inspecting an aircraft fuselage using an inspection system including a movable detector, wherein the method includes coupling a collision avoidance system to the inspection system detector, monitoring the collision avoidance system during operation of the inspection system, and controlling operation of the inspection system with the collision avoidance system.

Abstract: Disclosed is a method of controlling a robot including a motor having a rotation shaft, an arm part having one end connected to the rotation shaft and interlocking with a rotation of the motor, a position controller controlling the motor, and a main controller generating a speed command profile for controlling the motor, based on the inputted motion command of the arm part and transmitting the profile to the position controller, comprising a step of generating the speed command profile controlling a speed of the motor so as to allow the arm part to have an acceleration profile in uniform speed. With this configuration, the slipping of a workpiece can be prevented and further increasing the motion speed while the arm part is traveling, by making the motion speed of the arm part constant.

Abstract: A system is presented that creates vision-based, three-dimensional control of a multiple-degree-of-freedom dexterous robot, without special calibration of the vision system, the robot, or any of the constituent parts of the system, and that allows high-level human supervision or direction of the robot. The human operator uses a graphical user interface (GUI) to point and click on an image of the surface of the object with which the robot is to interact. Directed at this surface is the stationary selection camera, which provides the image for the GUI, and at least one other camera. A laser pointer is panned and tilted so as to create, in each participating camera space, targets associated with surface junctures that the user has selected in the selection camera. Camera-space manipulation is used to control the internal degrees of freedom of the robot such that selected points on the robot end member move relative to selected surface points in a way that is consistent with the desired robot operation.

Abstract: An assembly for connecting a measuring tool to a measuring head moved by a measuring robot and having an output member rotating at least about one axis; the assembly having three supports located peripherally with respect to the axis and defining an isostatic constraint between the output member and a connecting portion for connecting the tool to the head; the assembly having releasable locking means interposed between the connecting portion of the tool and the output member; and the releasable locking means having engaging means located substantially along the axis, and a pneumatic actuating member cooperating with and for controlling release of the engaging means.

Abstract: This invention relates to a method for removing and transporting articles, such as ophthalmic lens mold sections, or packaging elements from a mold. The invention, in one embodiment includes first, second, and third assemblies; the first of which removes the articles from the molding station at a first location and transports them to a second location; the second assembly receives the articles from the first assembly and transports them to a third location, and the third assembly receives the articles from the second assembly and transports them to a fourth location. A second embodiment includes a flipper assembly disposed between the first and second assemblies, which flipper receives the articles from the first assembly and inverts them before depositing them onto the second assembly. This second embodiment is useful in conjunction with molded articles which are transported to the flipper assembly in an inverted position.

Abstract: In an automatic wiring connection apparatus, position detection marks 221; 231 are disposed on matrix boards 220; 230, respectively, as shown in FIG. 8. Position data of a desired crosspoint hole included in anyone of areas 227.sub.-- 1, . . . , 227.sub.-- 5; 237.sub.-- 1, . . . , 237.sub.-- 4 as assembly of crosspoint holes is corrected in accordance with a difference between design values of the position detection marks 221; 231 and measured values. A pin insertion and pulling out robot is operated in accordance with the corrected position data.

Abstract: A capacitive type proximity sensor having improved range and sensitivity between a surface of arbitrary shape and an intruding object in the vicinity of the surface having one or more outer conductors on the surface which serve as capacitive sensing elements shaped to conform to the underlying surface of a machine. Each sensing element is backed by a reflector driven at the same voltage and in phase with the corresponding capacitive sensing element. Each reflector, in turn, serves to reflect the electric field lines of the capacitive sensing element away from the surface of the machine on which the sensor is mounted so as to enhance the component constituted by the capacitance between the sensing element and an intruding object as a fraction of the total capacitance between the sensing element and ground.

Abstract: A contact sensor for a robot includes a plurality of electrically conductive shafts extending outward from a moving portion of the robot. Electrically conductive flexible feelers are disposed on the shafts. In one embodiment the feelers are disposed in fan-like arrangement similar to a peacock feather. Leakage current from a low voltage power source is used by a robot controller to sense contact with a conductive object. The robot controller immediately stops operation and movement of the robot before damage occurs.

Abstract: When a deburring tool encounters a large burr near point P'.sub.1 in the process in which the tip of the tool moves from point P.sub.1 to point P.sub.2 on a workpiece, the cutting resistance increases suddenly until it exceeds the present threshold Xth, the robot retracts the deburring tool in the direction in which the cutting resistance is reduced and brings the tool tip from point P'.sub.1 to point Q.sub.1. After that, the robot controls the movement of the tool so that the tool tip moves from point Q.sub.1 to point P.sub.2 (pattern I). When the cutting resistance exceeds the threshold Xth during the movement of the tool tip from point Q.sub.1 to point P.sub.2, a similar retraction movement is executed (pattern II, III). As long as the tool does not encounter such a large burr, the moving speed is controlled to a value corresponding to the cutting resistance.

Abstract: A control signal transmitting device is used for a control device, such as a position detecting device. The transmitting device includes a position detecting sensor, and a receiving device situated near the position detecting sensor. The position detecting sensor includes a sensing device, a radio wave transmitting device electrically connected to the sensing device, and a device for directing the radio wave in one direction. The radio wave transmitting device emits radio wave in a direction opposite the sensing device upon receiving a signal from the sensing device. The receiving device includes a radio wave receiving device disposed to face the radio wave transmitting device for receiving the radio wave transmitted from the transmitting device, and a shielding device for covering the receiving device to receive the radio wave from one direction.

Abstract: An improved wafer transfer and monitoring system is described which utilizes a robotic interface unit. The robotic interface unit includes at least one wafer storage location placed proximate to a wafer stepper unit. A robotic arm attached to the interface unit is moveable in three dimensions to move wafers between the wafer storage location and the wafer stepper unit. The robotic interface unit can be placed between a wafer stepper unit and a coater/developer unit to transfer wafers between each unit and to store and monitor wafers placed upon the units and/or upon the wafer storage location. Accordingly, the robotic interface unit can operate in a stand-alone configuration with the wafer stepper or can be integrated between a wafer stepper and a wafer coater/developer. By using a robotic arm, less contaminates are associated with the exposed and readily cleaned arm.

Abstract: A detecting portion outputs a contact state signal in accordance with a contact state with respect to an object to be manipulated. The contact state signal represents at least one of information of a sense of sliding of the detection portion with respect to the object and surface information such as surface roughness of the object. A signal processing section converts the contact state signal from the detecting portion into tactility information corresponding to at least one of the information of the sense of sliding and the surface information. A tactility providing portion is excited in accordance with the tactility information from the signal processing section to generate at least one of a traveling wave corresponding to the information of the sense of sliding and a standing wave corresponding to the surface information. A transmission portion transmits at least one of the traveling wave and the standing wave generated by the tactility providing portion to a finger of an operator.

Abstract: A probe used for programming a robot arm in order to perform a cutting operation on a work-piece. During the programming operation, the probe is attached to the robot arm and moved around the profile of a test-piece. An electric lamp is provided for indicating contact between the probe and the test piece. Additional circuitry including an electric lamp is provided for indicating when the body of the probe and a pin (4) having an end tip (8) which actually forms the contracting portion of the probe are misaligned.

Abstract: A robotic lead trimmer employing a sensor probe guided over a printed wiring board by a robot to determine the contour of a printed wiring board and a lead trimming element guided by the robot to automatically follow the determined contour of the board during lead trimming to achieve tight trimming tolerances. The sensor probe in conjunction with a fixed sensor is employed to determine an offset factor related to dimensional variations in the lead trimming element in order to impart additional accuracy to the lead trimming operation. An air ionizer and blower are utilized to neutralize static charge and remove debris. The robotic lead trimmer may be enclosed and utilized in conjunction with a tooling shuttle which receives a printed wiring board and transfers it to within the working envelope of the robot.

Abstract: A robot having a robot arm swingable from a position outside a car body conveying line to the line and movable in the directions of length, width and height of the car body is provided with a support frame carrying a jig for holding the window glass. The frame is tiltably mounting on the arm via a tilting shaft. A first detector is mounted on the frame for detecting a deviation the car-width direction of the jig with respect to the window portion. A pair of second detectors are provided on the frame at positions which are symmetrical with respect to the car width direction center line of the jig for detecting deviations in the plane of the window opening. First, deviation detected by the first detector is corrected by moving the jig in the car width direction. Then, deviation in tilt detected by the second detectors is corrected by tilting the jig. Finally, deviation in height detected jointly by the second detectors is corrected by raising or lowering the jig.

Abstract: In a position detector for detecting the position of an object to be detected by making a detecting needle contact with the object to be detected and for transmitting a detecting signal by radio wave, the detecting needle itself functions as a transmission antenna for transmitting the detecting signal to a receiving side apparatus located at a predetermined position. The specification of this application discloses, in addition to the above arrangement, the construction of a detecting head having both external and internal contacts, the fact for modulating the detecting signal by a double scale signal and then transmitting the same and the construction of auxiliary springs used to improve the accuracy with which the detecting needle is returned to its static position. The position detector of this invention is particularly suitable for detecting the position of a work set on a machining tool.

Abstract: Two or more robotic arms having end effectors rigidly attached to an object to be moved are disclosed. A hybrid position/force control system is provided for driving each of the robotic arms. The object to be moved is represented as having a total mass that consists of the actual mass of the object to be moved plus the mass of the moveable arms that are rigidly attached to the moveable object. The arms are driven in a positive way by the hybrid control system to assure that each arm shares in the position/force applied to the object. The burden of actuation is shared by each arm in a non-conflicting way as the arm independently control the position of, and force upon, a designated point on the object.

Abstract: A highly-viscous material coating apparatus for use, e.g. in an automobile coating process, to coat a joint of a workpiece, may be mounted on a robot. It provides improved operation where the workpiece provides a reference surface parallel to the joint, where the workpiece provides a reference surface displaced from the joint at varying distances along the length of the joint, and where the workpiece provides no reference surface. Where a reference surface is available, an extendable spring-biased guide pin of the apparatus moves along the reference surface, and any positional errors are compensated-for by action of the spring. If the distance between the reference surface and the joint varies, the varying distance may be compensated for by various disclosed practices. The apparatus also can be used where no reference surface is provided by retracting the guide pin with respect to the nozzle and by controlling the robot so as to direct the nozzle to the joint.

Abstract: Metrological apparatus, particularly for measuring form, has a turntable 4 and a transducer 14 and associated stylus 12 mounted so that the tip 12a of the stylus is displaceable radially and vertically relative to the turntable 4. The problem of obtaining both high resolution and large range of operation is solved by using a transducer/stylus 12,14 having a resolution of 12 nanometers and a range of only 0.4 mm and mounting the transducer 14 on an arm 10 which is driven radially and/or vertically by a computer 30 in response to the output from the transducer 14 to cause the stylus 12 to follow the workpiece surface. High resolution data defining the rotary position of the turntable 4 and the radial and vertical position of the transducer 14 is provided by a photodetector/optical grating arrangement 23, 21, 31; 27, 19, 43 and associated interpolators 42, 44, 46.

Abstract: A robot gripper control system is disclosed which uses PVDF piezoelectric sensors to actively damp exerted force. Instead of charge amplifying the output of the piezoelectric transducer, the output voltage is measured as the charge drains across a path of low resistance. Thus, the sensor output is proportional to the rate-of-force exerted by the gripper. The PVDF sensor and a strain gauge are arranged in a proportional and derivative (PD) control system for the control of force of a robot manipulator hand. Experimental results for the particular disclosed gripper indicate that as much as a 900% improvement in force step response rise time and a 300% reduction in overshoot are possible through the use of the PVDF sensor.

Abstract: A welding robot having a robot arm which is servo-controlled in a multiplicity of degrees of freedom. At least one servo-system for one of the degrees of freedom is capable of disengaging a part of its feedback network, this part being an integrating circuit, whereby the adjustment from PI-type passes to P-type. The arm then becomes sprung in a direction away for a set-point value with respect to this freedom of movement. When used for welding, the welding gun used and attached to the robot arm is provided with a holding-off or fender arrangement, such as wheels, and is drawn by the servo-system towards a set-point value which it is unable to attain because of the shape of the workpiece, whereupon the wheel is caused to press against the workpiece with spring force, and to follow the shape of a weld joint as it is made, irrespective of whether the joint is uneven or not.

Abstract: A method of interlockingly controlling a robot and a positioner which includes operating manually or automatically a teaching roller along a weld line of a workpiece fixed to a rotatable positioner, teaching the position of the weld line, storing the positional data thereby obtained, and performing a welding operation automatically on the basis of the stored data during playback, in which, during teaching, the positioner is rotated at any desired speed, the robot is moved manually or automatically while maintaining a welding torch in a proper welding position with respect to the weld line and positional data on each shaft of the robot and that on a rotating shaft of the positioner are stored each time the teaching roller advances by a predetermined distance, while during playback the welding speed is kept constant by controlling the moving speed of the robot and the rotating speed of the positioner simultaneously while controlling a relative positional relation between the positioner and the robot on the basi

Abstract: Apparatus and method for sensing the topography of a workpiece with an electrical arc by measuring a parameter of the electrical arc signal as an electrode is scanned across the surface of the workpiece by a tool manipulator such as a multi-axis robot arm, and processing the measured arc signal in order to derive the three-dimensional topography. The apparatus includes a digital microcomputer which samples the arc signal, stores a plurality of samples in computer memory, computes the average of a predetermined number of samples, and provides correction factors to the host computer of the robot manipulator so that the electrode or a tool carried by the robot can be adaptively positioned. The apparatus senses such features of the workpiece as holes, edges, and slopes of a given magnitude, and passes the location of these features to the host computer for appropriate corrective action.