Abstract: A delivery device that travels along rails and delivers a package is provided. The rails include at least first and second rails. The delivery device includes: a main body; a connector that is configured to be connected to the rails, with the main body hanging from the connector, and with the rails being spaced apart from a ground surface; at least one actuator that drives the connector; a lift motor that is capable of taking up a wire for unloading the package; and a control circuit. When the delivery device is slidably hung from the first rail, the control circuit: switches from the first rail to the second rail by controlling the actuator; and lets out the wire and lowers the package by controlling the lift motor.

Abstract: To provide a robot system that can easily generate a complete 3D point group for a measurement object. A robot system including: a robot including an arm; a 3D sensor provided to the arm; and a 3D point group generation unit for generating a 3D point group of a measurement object according to 3D data obtained by measurement of the measurement object with the 3D sensor, wherein the 3D point group generation unit generates the 3D point group of the measurement object by combining 3D data from measurement of the measurement object while repositioning the 3D sensor in response to the motion of the arm in any coordinate system in a working area of the robot.

Abstract: Systems, techniques, and devices for performing long range depth estimation are described. Multiple images of a scene are captured via at least three imaging sensors of a camera device. A first imaging sensor is separated from a second imaging sensor by a first baseline, and a third imaging sensor is separated from the first imaging sensor by a second baseline larger than the first baseline. A first point cloud is generated based on a first image and a second image captured by the first imaging sensor and the second imaging sensor, respectively. A second point cloud is generated based on the first image and a third image captured by the first imaging sensor and the third imaging sensor, respectively. Depth information of the scene is generated based on the first point cloud and the second point cloud.

Abstract: A robot integrated joint unit and a legged robot applying same are related to the technical field of robot joints. The robot integrated joint unit comprises a first electric motor and reducer assembly, a second electric motor assembly, a second reducer assembly, and a first output connecting rod. Two motors of two joints are disposed on a same side of the joints, thus preventing the need for electric motor power cables to run through the joints, effectively alleviating fatigue damage of the electric motor power cables, and extending the service life of the electric motor cables. The electric motor components and the joint connecting rod obviate the need to reserve dedicated cable through holes and a cable placement mechanism, thus allowing enhanced structural reliability; further increasing the degree of integration of a dual joint unit, reducing the axial size of the joint unit, and enhancing structural visual appeal.

Abstract: Provided is a method, device, and computer-readable medium for controlling a robot graphic user interface (“RGUI”) on a mobile device. The method can include determining a distance, a position, or both of the mobile device with respect to a first robot; and causing, by a processor, a first RGUI to be displayed on a display of the mobile device based on the determining.

Abstract: Provided is an imaging device for acquiring three-dimensional information of a workpiece surface and a two-dimensional image. An imaging device comprises a visual sensor for acquiring a two-dimensional image after acquiring three-dimensional information of a workpiece surface. A position detection device is attached to the conveyor drive motor of a conveyor that conveys a workpiece. An image processing part calculates the amount of movement of the workpiece from when the three-dimensional information is acquired to when the two-dimensional image is captured on the basis of an output of the position detection device. The image processing part moves the three-dimensional information relative to the two-dimensional image in such a manner as to correspond to the amount of movement of the workpiece in a predetermined coordinate system.

Abstract: Medical and/or robotic devices, systems and methods can provide an indicator associated with each manipulator assembly of a multi-arm telerobotic or telesurgical system. The exemplary indicator comprises a multi-color light emitting diode (LED) mounted to a manipulator moving an associated surgical instrument, allowing the indicator to display any of a wide variety of signals. The invention may provide an additional user interface to facilitate communications between the telesurgical system and/or members of a telesurgical team.

Abstract: The invention describes a generic framework for hand-eye calibration of camera-guided apparatuses, wherein the rigid 3D transformation between the apparatus and the camera must be determined. An example of such an apparatus is a camera-guided robot.

Abstract: A robot system includes a robot having a movable robot head with at least two suction grippers spaced apart from one another and a sensor system for detecting a gripping surface pose and a gripping surface size of a gripping surface of a good. Using a controller, a gripping pose for the movable robot head, in which a maximum number of suction grippers is in contact with the gripping surface of the good, is calculated based on the determined gripping surface pose and gripping surface size. Then, the robot head is moved into the calculated gripping pose where the suction grippers are activated so as to grip the good. Moreover, a method operates the robot system.

Abstract: A robot control system includes robot controller circuitry that controls a robot, and host controller circuitry that communicates with the robot controller circuitry. The host controller circuitry further executes a control program, and transmits a command according to an execution result of the control program to the robot controller circuitry, and the robot controller circuitry further receives the command from the host controller circuitry, and executes pre-processing according to the command.

Abstract: An articulated multi-link robotic tail (MLRT) system is provided comprising a rigid housing, an actuation unit coupled to the rigid housing, and an MLRT having a proximal end that is coupled to the rigid housing and a distal end opposite the proximal end. The MLRT comprises N segments, where N is a positive integer that is greater than or equal to one. Each segment comprises i links, where i is a positive integer that is greater than or equal to two. Each link is mechanically coupled to an actuator of the actuation unit and capable of being actuated by the actuator to which it is mechanically coupled to adjust a pitch, yaw and roll of the MLRT. The articulated MLRT system is well suited for being integrated with a mobile robot to assist in stabilizing and maneuvering the mobile robot.

Abstract: Robots are commonly used for automated MIG (Metal Inert Gas) or TIG (Tungsten Inert Gas) welding in many industries such as automotive manufacturing. A weld procedure is defined and the robot performs motion control of the weld torch along the weld seam, while starting and stopping the arc as desired along the weld seams. The robot controls the motion of the torch along the weld path. The motion is defined by a combination of the position and orientation of the torch which is attached to the robot end-effector. The weld specification will generally prescribe a portion or all of the desired orientation of the torch. This information can be used to reduce the complexity of programming a weld path for a robot.

Abstract: A laparoscopic tool has a semicircular mid-portion with a center point and coinciding remote center of the robotic arm, to which the tool is mounted on a common axis located between straight proximal and straight distal sections. The straight proximal of the laparoscopic tool is rotatably mounted on a fixed side mount on surgical robotic arm. The robotic arm is disengaged from the surgical robot to allow manual location of the robotic arm to position the semicircular mid-portion through a percutaneous port and the center point of semi-circular mid-portion and coinciding remote center of the robotic arm, to which the tool is mounted at a target virtual insertion point on the patient's body. Visual aids are provided to assist in the positioning of the center point.

Abstract: A robotic assembly cell is configured to generate a physical mesh of physical polygons based on a simulated mesh of simulated triangles. A control application configured to operate the assembly cell selects a simulated polygon in the simulated mesh and then causes a positioning robot in the cell to obtain a physical polygon that is similar to the simulated polygon. The positioning robot positions the polygon on the physical mesh, and a welding robot in the cell then welds the polygon to the mesh. The control application captures data that reflects how the physical polygon is actually positioned on the physical mesh, and then updates the simulated mesh to be geometrically consistent with the physical mesh. In doing so, the control application may execute a multi-objective solver to generate an updated simulated mesh that meets specific design criteria.

Abstract: Provided is a first robot including: a machine readable medium storing instructions that when executed by the processor of the first robot effectuates operations including: executing, with the processor of the first robot, a task; and transmitting, with the processor of the first robot, a signal to a processor of a second robot during execution of the task when its power supply level reduces below a predetermined threshold; and the second robot including: a machine readable medium storing instructions that when executed by the processor of the second robot effectuates operations including: executing, with the processor of the second robot, the remainder of the task upon receiving the signal transmitted from the processor of the first robot; and wherein the first robot navigates to a charging station when its power supply level reduces below the predetermined threshold and wherein the first robot and second robot provide the same services.

Abstract: A printing press (10) has at least one electric motor (14), which is arranged at a distance of less than 0.5 m from an emission source (18). At least one explosion protection wall (22) is provided, such that the thread measure (F) between the emission source (18) and the electric motor (14) is greater than 0.5 m.

Abstract: Systems and methods for inspecting or maintaining a structure, such as a utility pole or a metal tower), with an unmanned aerial vehicle (UAV) are disclosed. The UAV can be configured to fly to a target location on the structure and measure characteristics of the structure such as a component thickness. The UAV can precisely repeat the measurement at a later time to determine any change in component thickness.

Abstract: A method of controlling an elongate instrument during a medical procedure involving motion of the elongate instrument relative to a patient is provided. The method includes generating, by a control system, a first model of the elongate instrument, and generating, by the control system, a second model of the elongate instrument based on a reference pose of the elongate instrument. The method further includes comparing, by the control system, the first model with the second model and determining, by the control system, a state of a system configuration based on the comparison.

Abstract: A computer-assisted system includes an instrument manipulator assembly including a preload assembly and a motor, an insertion assembly configured to control a position of the instrument manipulator assembly, and a motor controller coupled to the preload assembly. The motor controller is configured to actuate the preload assembly to control an amount of preload applied by the preload assembly to the motor and actuate the preload assembly to apply a low preload in response to detecting that a sterile adapter is mounted to the instrument manipulator assembly.

Abstract: A strain wave gear comprising an outer ring and an inner ring rotatably arranged in the outer ring. The inner ring comprises an internally toothed gear and a flex spline is arranged in the inner ring and comprise a flexible part comprising an external toothed gear. A wave generator is rotatable in relation to the flex spline and is configured to flex the flexible part in a radial direction to partly mesh the external toothed gear with the internally toothed gear causing rotation of the inner ring in relation to the outer ring. A part of said inner ring extends out of said outer ring and comprises an outwardly protruding output flange. An encoder reader can be disposed on the outer ring and an encoder track can disposed on the inner ring. A robot joint comprising the strain wave gear is also disclosed.

Abstract: A robot cable-assembly management structure including a first fixing member that fixes, to a turning drum, a cable assembly extending beside the turning drum in a front-rear direction, and a second fixing member that fixes, to a side surface of the arm, the cable assembly extending to a front side of the first fixing member, at a position closer to a distal end of the arm than the second axis, where a movable portion of the cable assembly located between the first fixing member and the second fixing member is provided with a necessary length of allowance and is twisted in one direction, so that the movable portion is bent in a direction away from the side surface of the arm when the arm swings to a rear swing end is displaced toward the side surface of the arm as the arm swings toward a front swing end.

Abstract: Embodiments provide functionality to prevent collisions between robots and objects. An example embodiment detects a type and a location of an object based on a camera image of the object, where the image has a reference frame. Motion of the object is then predicted based on at least one of: the detected type of the object, the detected location of the object, and a model of object motion. To continue, a motion plan for the robot is generated that avoids having the robot collide with the object based on the predicted motion of the object and a transformation between the reference frame of the image and a reference frame of the robot. The robot can be controlled to move in accordance with the motion plan or a signal can be generated that controls the robot to operate in accordance with the motion plan.

Abstract: The present invention addresses the problem of providing a camera position/attitude calibration device with which the relative position/attitude of a camera and a robot can be calibrated without interrupting a task which is set in the robot.

Abstract: A control system for a base supporting a boom assembly comprises long telescopic boom and telescopic stick. Mounted to the remote end of the stick is an end effector that supports a robot arm that moves a further end effector to manipulate the items. The robot arm has a robot base, and mounted above the robot base is a first target in the form of a position sensor, that provides position coordinates relative to a fixed ground reference. Mounted on the end of the robot arm immediately above the end effector is a second target that provides position coordinates relative to the fixed around reference. The fixed ground reference tracks the sensors and feeds data to the control system to move the stick with slow dynamic response and to control movement of the robotic arm and end effector with fast dynamic response.

Abstract: A system is disclosed for providing extrinsic calibration of a camera to a relative working environment of a programmable motion device that includes an end-effector. The system includes a fiducial located at or near the end-effector, at least one camera system for viewing the fiducial as the programmable motion device moves in at least three degrees of freedom, and for capturing a plurality of images containing the fiducial, and a calibration system for analyzing the plurality of images to determine a fiducial location with respect to the camera to permit calibration of the camera with the programmable motion device.

Abstract: An operation unit includes a lever shaft having an operating lever at one end thereof and orthogonal to the operating lever, a plate with a flange having a bearing of the lever shaft, the other end-side of the lever shaft being arranged with penetrating the plate with a flange from a front surface thereof, a rotation restraint part for the lever shaft fixed to the lever shaft behind the plate with a flange and having a self-return function of forward and reverse rotations of the lever shaft, a cover with a flange covered on a backside of the plate with a flange in a form of sandwiching the rotation restraint part, a tip end-side of the lever shaft penetrating the cover with a flange via a bearing, and a potentiometer provided on a backside of the cover with a flange, rotation of the lever shaft being transmitted to the potentiometer.

Abstract: A laser processing device for processing shielded conductors includes a processing chamber configured to process an end portion of a shielded conductor disposed therein using laser radiation. The processing chamber has a housing defining an opening. In a processing position of the laser processing device, the end portion of the shielded conductor is inserted along an insertion axis into the opening and extends into the processing chamber. A gripping device is configured to fix the shielded conductor in the opening in the processing position of the laser processing device. In the processing position of the laser processing device, the gripping device is positioned at the housing without contact therebetween. The gripping device includes a first projection portion which extends at least partially into the opening along the insertion axis in the processing position of the laser processing device.

Abstract: Articulation joint arrangements for facilitating multi-axis articulation of a surgical end effector relative to a shaft assembly of a surgical instrument.

Abstract: Systems and methods for fleet inspection and maintenance using a robot are provided. The robot may detect a maintenance issue of a vehicle of a fleet of vehicles via one or more sensors, generate a navigation route to a position proximal to the maintenance issue of the vehicle, traverse along the navigation route to the position, and execute a maintenance to rectify the maintenance issue of the vehicle. The robot may include a mobile base removably coupled to a modular platform for performing a maintenance task.

Abstract: Systems are provided for gripping one or more workpieces. A tooling system includes a plurality of grippers configured to engage and grip the workpieces. An arm is connected with each gripper. A lock releasably locks each arm in a number of positions, including a home position. A pneumatic circuit is coupled with the grippers. A valve is disposed in the pneumatic power supply circuit and is positionable in an open state and in a closed state. When the arm is moved to the home position, in response the valve is mechanically moved to the closed state, idling the gripper.

Abstract: Provided is a system for robotic collaboration, including a first robotic chassis and a second robotic chassis each including a medium storing instructions that when executed by a respective processor effectuates operations including: capturing data of an environment and data indicative of movement; inferring locations visited up to a current location based on at least the data of the environment; and tracking areas cleaned based on the locations visited. The first robotic chassis performs a first part of a task and the second robotic chassis performs a second part of the task after the first robotic chassis completes the first part of the task.

Abstract: To provide a robot control system that performs a process by a robot for a continuously-moving process target or a repeatedly-moving/stopped process target, the robot control system being configured so that even in a case where the robot process cannot be properly performed in the robot control system, disadvantages such as occurrence of damage of equipment can be avoided by sensing of such failure in the robot process. The robot control system includes a robot that performs a process for a process target, a control unit that controls drive of the robot, a first area setting unit that sets a first area where the process is performed for the process target, and a second area setting unit that sets a second area outside the first area such that the robot performs a retraction motion when a working apparatus provided at the robot moves out of the first area and enters the second area while the robot is following the moving process target.

Abstract: Provided are a method and apparatus for determining pose information of a robot, a device and a medium. The method includes: fitting a target curve according to a motion trajectory of an image module relative to a target label when the robot rotates; determining a coordinate offset of the image module relative to a body of the robot according to the target curve, and determining a relative distance between the image module and the target label according to the image module; and determining the pose information of the robot according to the coordinate offset and the relative distance.

Abstract: A deformable segment with combined motion includes a flexible center backbone, the tendons of deformable segment with combined motion, a connecting piece, a proximal disk and a distal disk. The proximal end of the flexible center backbone and the proximal ends of the tendons of deformable segment with combined motion are fixedly connected to the proximal disk. The distal ends of the tendons of deformable segment with combined motion are fixedly connected to the distal disk. The distal end of the flexible center backbone penetrates through the distal disk and then extends into the distal execution segment, and is connected with the end-effector. The deformable segment with combined motion is provided with the connecting piece. The proximal driving segment is provided with proximal driving tendons. The proximal driving tendons penetrate through the proximal disk, and then are fixedly connected with the connecting piece.

Abstract: A method for determining coordinates of a mechanical arm includes taking a first picture of a marker on a target object on a first jig, obtaining first position coordinates of the marker, calculating reference position coordinates, controlling the mechanical arm to move to the reference position coordinates, moving the mechanical arm from the reference position coordinates to an intermediate position, setting current position coordinates as intermediate position coordinates, moving the mechanical arm from the intermediate position to a target position, setting current position coordinates as target position coordinates, moving the target object onto a second jig, taking a second picture of the marker to obtain second position coordinates, calculating reference position coordinates based on the second position coordinates, controlling the mechanical arm to move to the reference position coordinates, calculating intermediate position coordinates corresponding to the second jig, and calculating target position c

Abstract: The invention discloses systems for improving performance and operational efficiency of wireline tractors. A cooling system improves power capabilities of electrical motors mounted in wheels, which are mounted on a linkage pivotably connected to an arm extended from a tractor tool body, in an in-line arm configuration. The linkage and arm mechanism significantly improve the tractor's ability to traverse wellbore obstructions. The hydraulic system of the tractor ensures adequate wellbore centralization.

Abstract: Techniques are disclosed for systems and methods to provide extrinsic sensor calibration for mobile structures. A sensor calibration system includes first and second sensors coupled to a mobile structure and a logic device. The logic device is configured to receive first and second series of pose measurements corresponding to sensor data provided by the respective first and second sensors, determine a set of intermediate calibration transformation estimates corresponding to the first and second sensors based, at least in part, on a scale-dependent calibration error function and/or the first and second series of pose measurements, and determine an ongoing calibration transformation estimate corresponding to the first and second sensors based, at least in part, on the determined set of intermediate calibration transformation estimates.

Abstract: An exoskeleton for interfacing with a joint includes a base configured to be coupled to a user, a platform configured to be coupled to the user proximate the joint, and a plurality of substructures extending between the base and the platform. The substructures are actuated in parallel in order to move the platform.

Abstract: The present invention discloses an machining device based on a portable 5-DOF parallel module. The machining device based on a portable 5-DOF parallel module comprises: a table for moving a parallel module to increase the stroke of the machine tool such that the machine tool can machine large components and can also simultaneously conduct the mounting and the machining of workpieces at different stations; a CNC rotary table; and a portable 5-DOF parallel module. The portable parallel module has a large swing angle range, can conduct the conversion between vertical and horizontal machining modes and can achieve five-face machining in one setup in cooperation with the CNC rotary table. The parallel module can move flexibly, and can machine large and complex components after mounted on the sliding table. After the machining of the workpiece is completed, the parallel module can move to the position of a mounted component through the table to conduct the machining of the next component.

Abstract: A weld overlay machine assembly includes a carriage to support a hinged index bar and a wire feed assembly. The index bar has an auto height control unit and an index assembly to locate the position of a weld torch relative to the index bar. The assembly is configured to adjust the index bar to interior contours of the vessel while applying a layer of overlay material to a surface therein. The assembly runs along a track in the interior of the vessel. The assembly is configured to transition from sides of the vessel to that of the top or bottom domes wherein the curve of the domes are perpendicular to that of the radial sides. This transition is done without the need to add or remove components to the assembly. This is accomplished by providing the pivoting of the index bar relative to the track.

Abstract: Embodiments relate to a crop harvesting apparatus configured to garner or harvest crops from plants via vacuum suction and sort the garnered crops via a quick-switching gate system. A vacuum source generates the vacuum suction for the apparatus so that crops are garnered (or plucked) from the plant via suction through an end-effector, which are then transferred to a crop sorter by way of tubing that has a smooth inner surface. The crop sorter utilizes a gate system that exploits vacuum suction from the vacuum source and gravity to quickly and effectively sort the garnered crops into a hopper and a rejection bin.

Abstract: A computer-assisted teleoperated system includes a pre-load assembly in an instrument manipulator that is under the control of a controller. The controller can automatically cause the preload assembly to engage and disengage a preload. A surgical apparatus includes an instrument manipulator assembly and a sterile adapter assembly. The sterile adapter assembly is mounted in the distal face of the instrument manipulator assembly. When the preload assembly configures the instrument manipulator assembly to apply a preload force on the sterile adapter assembly, the sterile adapter assembly is removable from the distal face of the instrument manipulator. The sterile adapter assembly includes a mechanical sterile adapter assembly removal lockout and a mechanical instrument removal lockout.

Abstract: The invention relates to a method for operating a palletizing plant (5) which comprises a palletizing apparatus (10) for forming a layer stack (100) and at least one driverless transport vehicle (40) for transporting the layer stack (100). In the method, the driverless transport vehicle (40) is moved to a palletizing location (41) close to the palletizing apparatus (10) and a layer stack (100) is formed on the driverless transport vehicle (40). The driverless transport vehicle (40) remains at the palletizing location (41) during the formation of the layer stack (100). The invention also relates to a palletizing plant (5) which is set up to carry out the method according to the invention.

Abstract: A robot wrist structure includes a first wrist element that is supported by a forearm in a rotatable manner about a first axis; a second wrist element that is supported by the first wrist element in a rotatable manner about a second axis that is orthogonal to the first axis; and a third wrist element that is supported by the second wrist element in a rotatable manner about a third axis that is orthogonal to the second axis and that is disposed in the same plane as the first axis. Further the second wrist element is provided with, at a position at which the second axis is included, a second axial hollow hole that passes therethrough in a direction along the second axis.

Abstract: A portable device for precision plasma and oxy-fuel torch cutting is provided. Versions of an example portable cutting torch tool guide the gun of a cutting torch to make precision linear cuts or curved cuts in a metal workpiece. In an implementation, the device is a gun for a cutting torch, with an integrated rail follower and adjustable vertical and horizontal offsets from a workpiece. The cutting torch tool may use various kinds of rails for stable cuts, with optional movement damping, motorized drive, servos for vertical and horizontal offset, and remote control with user interface.

Abstract: A system for robotic collaboration, including: a first robotic chassis and a second robotic chassis, each including wheels; a control system; a power supply; at least one sensor; a processor, and a medium storing instructions that when executed by the respective processor effectuates operations including: capturing data of an environment and data indicative of movement; generating a map of the environment based on at least some of the captured data; inferring a current location of the respective robotic chassis based on at least some of the captured data; and executing a portion of a task, the second robotic chassis executing a second part of the task after the first robotic chassis completes a first part of the task.

Abstract: The present disclosure relates generally to protective covers, for example, suitable for protecting parts of a robot. The present disclosure relates more particularly to a protective wrap for a robot component. The protective wrap includes a continuous strip of a material sheet configured to wrap around the robot component in a plurality of loops so as to form a tubular body that surrounds a portion of the robot component.

Abstract: A method of controlling a machine tool comprising the steps of: providing a data memory containing, for at least one specific working axis of the plurality of working axes, a plurality of data tuples each assigning a load value to a position value relative to the specific working axis, selecting a first data tuple and a second data tuple whose load values are different, and generating at least one control command for the machine tool, wherein the control command is adapted to perform a first tolerance measurement at a first position value and a second tolerance measurement at a second position value, and wherein, based on a first result of the first tolerance measurement and a second result of the second tolerance measurement, information about wear of a part of the machine tool is output. A corresponding device is also be disclosed.

Abstract: Provided are a home network system and a method for an autonomous mobile robot to travel along a shortest travel route. The home network system capable of home automation includes a plurality of beacons for sensing a user located in a cell coverage area and for transmitting resulting sensing information of the user; an autonomous mobile robot for executing travel to reach the user based on provided travel route information; and a home server for calculating a travel route along which the autonomous mobile robot can easily reach the user based on the sensing information of the user transmitted from the beacons, and for providing the travel route to the autonomous mobile robot. Therefore, the autonomous mobile robot may reach the user by the shortest travel route and thus reducing energy loss.

Abstract: Boom drive apparatus for substrate transport systems and methods are described. The boom drive apparatus is adapted to drive one or more multi-arm robots rotationally mounted to the boom to efficiently put or pick substrates. The boom drive apparatus has a boom including a hub, a web, a first pilot above the web, and a second pilot below the web, a first driving member rotationally mounted to the first pilot, a second driving member rotationally mounted to the second pilot, a first driven member rotationally mounted to the boom above the a web, a second driven member rotationally mounted to the boom below the a web, and a first and second transmission members coupling the driving members to driven members located outboard on the boom. Numerous other aspects are provided.