Abstract: Kinematic singular points in a process system are handled. In one embodiment, a numerically controlled (NC) processing system includes materials processing installation having a multi-axis kinematic linkage operable to position a tip portion of the linkage along a predetermined process path. The system also includes a processor having a compensation system operable to detect a singular point in the process path and to improve the accuracy tip portion positioning near the singular point.

Abstract: A compact micro-manipulator with low energy consumption accurately and quickly positions a micro-material in a visual field of a microscope. A micro-manipulator operable to grip micro-material by bringing leading ends of the gripping fingers in close proximity includes an XY drive unit that drives a handling unit in X and Y directions, a drive unit that changes a positional direction of the handling unit in order to swing the gripping fingers around leading ends of the gripping fingers, and a Z drive unit that drives the handling unit in the Z direction.

Abstract: An industrial robot may include a main body part and an arm part including a first arm, a second arm and a hand arm. The main body part is provided with a first turnable shaft for performing an expansion-contraction operation of the arm part, a second turnable shaft which is disposed within the first turnable shaft for changing an expansion-contraction direction of the hand arm together with the first arm, a first sensor mechanism including a first sensor for detecting a home position of the second turnable shaft, a second sensor mechanism provided in the second turnable shaft and which includes a second sensor for detecting a relative home position between the second turnable shaft and the first turnable shaft, and a rotary joint which is connected with the second turnable shaft and is electrically connected with the second sensor.

Abstract: An apparatus for monitoring the operation of a robot joint in which a second member (43) is displaceably mounted on a first member (41). The distance to a measurement plate provided to the second member (43) is measured by a range finder (42) provided to the first member (41). A monitoring unit (71) compares the distance data measured by the range finder with a reference distance stored in advance, and generates an abnormality signal when the difference between the distance data and the reference distance exceeds an allowable value.

Abstract: The robot joint drive system includes a motor and a reducer for driving a first member and a second member of a robot relative to each other. Output shaft of the reducer is secured to the first member, while a casing of the reducer is secured to the second member. An input shaft of the reducer includes a cantilevered protruded part projecting from the casing of the reducer in a cantilevered manner, and a rotor of the motor is secured to this cantilevered protruded part.

Abstract: An press line including at least one mechanical press with at least one electric drive motor, a ram, a mechanical unit for operating the press, and one other device or auxiliary production device. The press is arranged so that the speed of the at least one said drive motor may be varied during at least one pressing or non-pressing part of a press cycle. Improved operating characteristics and optimised energy use and cycle times are obtained by controlling the speed of the motor and synchronizing a movement of the press to a movement or position of at least other device, loader or other press. A system includes the press. A computer program controlls the press line.

Abstract: A first elastic body actuator and a second elastic body actuator are used for driving a first configuration member and a second configuration member to swing them with respect to each other. One end portion of the first elastic body actuator is secured to the first configuration member and the other end portion of the first elastic body actuator is secured to the second configuration member, and one end portion of the second elastic body actuator is secured to the first configuration member and the other end portion of the second elastic body actuator is secured to the second configuration member, such that the position at which the other end portion of the second elastic body actuator is secured to the second configuration member and the position at which the one end portion of the first elastic body actuator is secured to the second configuration member are substantially symmetric about a rotational joint.

Abstract: A robot, capable of appropriately adjusting position and/or posture on a current spot to execute a designated task involving interaction with a target object. The Robot is configured to enable adjustment of the position and/or posture by controlling movement of at least a hip joint mechanism, and a knee joint mechanism in the spot while the robot is allowing each foot to keep its floor-arriving state. Accordingly, when the position and/or posture is inappropriate to execute the designated task while the robot is at a standstill in a second designated area for executing the designated task, the robot can execute the designated task after the position and/or posture has been corrected in the second designated area.

Abstract: A robotic surgical device for using in laparoscopic surgery, including two robotic arms, each having at least six joints providing a total of fourteen degrees of movement that accurately reproduce the movements of a human torso complete with arms.

Abstract: A control system is disclosed for controlling the movements of a plurality of mechanical units. The control system includes a plurality of independent control units, each including one or more control programs having instructions for controlling movements of at least one mechanical unit, and software for executing the control programs, wherein each control unit is configured to be put into any of a plurality of different states independent of states of remaining control units. A single server unit contains the plurality of independent control units, the server including memory for storing the control programs and the software for executing the control programs, a processor having at least one core, communication hardware for communicating with a network, and a resource-distributing unit adapted to distribute real and virtual hardware resources of the server unit to the control units, such that the control units share the real and virtual hardware resources of the server unit.

Abstract: At present, the unblocking of the primary crusher is carried out manually or using mechanical equipment which means the crusher stops for a long time and is less available. There is also a high level of exposure to the risks associated to unblocking procedures. Due to the above, a robot system and method have been developed for unblocking primary crushers. The system is composed mainly of an anthropomorphous robotic manipulator of at least 5 degrees of freedom, and a system to unclog or release the crusher. In this regard, most of the problems associated to the safety of the people and less availability decrease.

Abstract: An industrial robot able to reliably prevent fall of an elevating part and able to improve a degree of freedom of design, that is, an industrial robot comprising a base body; an elevating part able to rise and descend with respect to the base body; an elevation drive source; a transmission mechanism for transmitting the drive force of the elevation drive source; a drive mechanism for making the elevating part rise and descend by the drive force transmitted via the transmission mechanism; a sensor for detecting an abnormality of the transmission of the drive force from the drive source to the elevating part; and a fall prevention part supported by one of the base body and the elevating part and abutting against the other of the base body and the elevating part and preventing fall of the elevating part when the sensor detects an abnormality of the transmission mechanism.

Abstract: A structure is provided with a first member at a base end side, a third member at a leading end side, a second member arranged between the first and third members, and a coupling force generator for generating a first coupling force for pressing an end surface of the first member and that of the second member against each other and a second coupling force for pressing an end surface of the second member and that of the third member against each other. In this structure, the first and third members are relatively displaced upon the application of an external force larger than a coupling force generated between the end surface of the first member and that of the second member by the first coupling force, whereas the second and third members are relatively displaced upon the application of an external force larger than a coupling force generated between the end surface of the second member and that of the first member by the second coupling force.

Abstract: A target position detection apparatus for a robot includes: a robot including an arm configured to be freely moved in at least two directions of X and Y axes, the arm having a wrist axis provided at a distal end of the arm and configured to be freely moved in a horizontal direction, and the wrist axis being provided with an end effector; and a control unit adapted for driving a memory to store a teaching point therein and controlling an operation of the robot such that the end effector will be moved toward the teaching point stored in the memory.

Abstract: The present invention provides an industrial robot which can reduce torque required for driving an object to be moved. By providing a third reduction device and a third driving device separately, the dimension in the third axial direction of the third reduction device can be reduced, thus the distance from a second axis to an end effecter can be decreased. As such, the torque required for a first driving device and a second driving device to rotate and drive the end effecter can be reduced. Accordingly, even when the weight of the end effecter is increased, an increase of the torque required for the first driving device and the second driving device can be suppressed. Therefore, a higher speed operation can be achieved as compared with the conventional industrial robot.

Abstract: A parallel link mechanism includes a first arm, a second arm, a first auxiliary link, a second auxiliary link, and a drive motor. A cylindrical connection shaft having a first rotational axis is provided near the proximal portion of the first arm. The proximal portion of the first arm is rotatably connected to a fixed base through the connection shaft. The distal portion of the second arm is rotatably connected to a movable base. The proximal portion of the second arm is rotatably connected to the distal portion of the first arm through a connecting portion connected to a transmission mechanism. The first auxiliary link forms a first parallel link together with the first arm, the connecting portion, and the fixed base. The second auxiliary link forms a second parallel link together with the second arm, the connecting portion, and the movable base. The drive motor drives the transmission mechanism to pivot the first arm and the second arm. The drive motor includes a motor shaft having a second rotational axis.

Abstract: The invention relates to a mechanical structure which provides motion in six degrees of freedom, which comprises: (a) a main plate; (b) a base; (c) at least three supporting structures, each comprising a lower, bridge-like section supported by the base, and an upper section connected to said bridge section and to said main plate, wherein: (I) said bridge-like structure comprising two supporting plates, two intermediate plates, and one middle plate, all being serially connected one to another by means of four transversal hinges; (II) each pair of said supporting plates being slidable in linear displacement parallel to the base; (III) said upper section comprising two plates, a lower plate connected to said middle plate by means of a hinge transversal to said lower plate but longitudinal with respect to said middle plate, and an upper plate connected to said lower plate by means of a longitudinal hinge and to said main plate by means of a transversal hinge; (d) At least six linear motors connected each to a cor

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 system for processing semiconductor wafers, includes a plurality of front opening unified pods (FOUPs), loadlocks for receiving the plurality of wafers, a plurality of process chambers configured to perform processing steps and or measurement steps on the wafers, loadlock cooling stations for receiving the wafers from the processing chambers and a transport chamber interconnecting the loadlocks, cooling chambers and process chambers. A first multi-axis robot transfers wafers between the FOUPs, loadlocks and loadlock cooling stations, at an ambient pressure. A second multi-axis robot tranfers wafers between the loadlocks, process chambers and the loadlock cooling stations, and is adapted to operate in a transport chamber at a pressure that is different from the ambient pressure.

Abstract: A robotic treatment delivery system including a linear accelerator (LINAC), and a robotic arm coupled to the LINAC. The robotic arm is configured to move the LINAC along at least four rotational degrees of freedom and one substantially linear degree of freedom.

Abstract: The present invention relates to an apparatus for a Robust CMM Arm with Exoskeleton is provided comprising an Internal CMM Arm and an Exoskeleton driving the Internal CMM Arm through a plurality of transmission means such that one or more internal volumes are sealed against ingress of solid objects and fluids. It also relates to a haptic control of an RCA.

Abstract: A robotic manipulator device includes a robotic linkage to rotate an insertion axis about a remote center of motion with two degrees of freedom. A driven link supports the insertion axis. Rigid links in a parallelogram arrangement constrain the driven link to move in parallel to a drive link and the insertion axis to rotate about the remote center of motion. A drive unit has an output shaft coupled to the drive link. Rotation of an input shaft causes the output shaft to rotate. The input and output shafts are at a substantial angle. A housing supports the output shaft. A first motor causes the input shaft to rotate the output shaft. A second motor causes the housing to rotate, rotating the output shaft about an axis that is substantially parallel to the input shaft and passes through the remote center of motion.

Abstract: A method of predicting kinematic data for a segment. The method comprises the steps of determining a modified acceleration using at least original kinematic data, estimating a joint load for a joint of the segment by using at least the modified acceleration, and predicting kinematic data for the segment based on one or more modified parameters. Therefore, various embodiments advantageously allow for prediction of novel motion.

Abstract: A robotic wheelhouse hemming apparatus includes a base. A multi-axis robot is mounted on the base. The robot includes an arm. A roller hemming head is mounted on an end of the arm for roller hemming. A slide mechanism is mounted for multi-directional movement on the base. A support is mounted on the slide mechanism. An anvil is supported on the support. A registration member is integral with the support and is engagable by the roller hemming head. The robot arm is operable to manipulate the roller hemming head into engagement with the registration member, and subsequent movement of the robot arm moves the support on the slide mechanism, thereby adjusting the position of the anvil relative to a workpiece to be hemmed.

Abstract: An industrial robot including a drive package with a motor and a gear between an output shaft of the motor and a third shaft of the robot in immediate proximity to the third shaft for rotation of an upper arm of the robot relative to a lower arm. The gear is a multistage gear transmission with parallel gear-wheel axes and one of the gear wheels of the gear is secured to the third shaft.

Abstract: In a robot with two or more leg links having ankle joint respectively and pivotably linked to a torso, the robot walks naturally by making the ankle joint of a grounded leg link rotate freely by using passive movement. A controller executes controlling operation of calculating target joint angles of remaining joints other than the ankle joint of the grounded leg link based upon the measured joint angles of the ankle joint of the grounded leg link in the lateral and forward direction. The target joint angles of the remaining joints are calculated so as to satisfy the following condition that a tilting angle of the torso matches a target tilting angle determined based upon the measured joint angle of the ankle joint of the grounded leg link in the forward direction, a cycle period of the idle leg link from lifting to grounding, and a target stride of the idle leg link.

Abstract: A robotic work cell and a method of operation are described. The work cell is comprised of an industrial robot having at least one articulated robotic arm having a tool engaging end. A robot controller is associated with the robot to cause the robot to effect a programmed task selected from a plurality of programmed tasks stored in a computer memory. At least two or more fixed work stations are positioned in the work cell in proximity of the robot. At least two of the work stations have a work task platform detachably secured thereto with at least one of said platforms being a work task platform. The work platforms have a software associated therewith for the robot to effect an associated one of the programmed tasks on a product. The programmed task is one of a series of programmed tasks which are related and associated with a specific product to transform said product.

Abstract: A robotic tattoo application and tattoo removal methods and systems are described. This technology involves the use of a robotic system guided by control of a graphics capable computer in order to perform various types, including artistic, recreational, cosmetic, or therapeutic tattooing, or tattoo removal.

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: In an umbilical member processing mechanism of a robot, a working tool managing unit umbilical member (50) for supplying at least one of the power, the signal and the material to a working tool managing unit (34), is guided from a rotary barrel in the longitudinal direction of an upper arm on a side face of the upper arm (14) located on the opposite side to the side attached to the rotary barrel (12) and then guided onto a front side (18b) of a front arm (18). Next, the working tool managing unit umbilical member (50) is connected to the working tool managing unit (34) through a side of the front arm located on the opposite side to the side on which the upper arm is attached. Further, the working tool managing unit umbilical member is connected to the working tool managing unit being relayed by an umbilical member junction portion (39) attached to a side or a front side of the front arm.

Abstract: The invention relates to a patient-positioning device for positioning a patient in an irradiation position in a radiation therapy arrangement, in particular in a particle radiation therapy arrangement comprising a patient supporting module, which is provided with a patient supporting device for holding the patient in a body holder where the irradiation is to be carried out, wherein, said patient supporting device is mounted on a base unit in such a way that it is rotatable about an axis by means of a bearing, said base unit is provided with a coupling element, the inventive device is also provided with a positioning arm, which comprises several joints and a coupling point for coupling the coupling element and for freely positioning the patient in any predefined irradiation position by adjusting the angle of rotation of the patient supporting module.

Abstract: A robotic joint configured as a 3-axis joint configured with a shoulder or other human joint form factor. The joint includes a first link made up of a block attaching to a torso and a stationary electric actuator assembly mounted to the block. A second link is connected to the first link to rotate about a first axis and be driven by the actuator assembly. A third link is attached to the second link to rotate about a second axis orthogonal to the first axis when the third link is driven by the actuator assembly. A fourth link is connected to the third link to rotate about a third axis orthogonal to the second axis when the fourth link is driven by the actuator assembly. The actuator assembly includes three electric motors with threaded drive capstans driving pulleys in the links while being spaced apart from the rotating links.

Abstract: A system and apparatus controls the movement of vehicles such as highway traffic. The system includes a plurality of inorganic entities which simulate mammalian figures and control apparatus which is operatively associated with the mammalian figures such as to control their respective movement upon activation by an activation assembly. A system actuating means is provided whereby upon selected system actuation the mammalian figures are caused to issue signals to effectively control the movement or arrest of traffic within the effective area of operation of the system.

Abstract: A substrate processing apparatus is described. The apparatus includes a substrate load lock chamber. A substrate transfer chamber is vacuum coupled to the substrate load lock chamber. A plurality of process chamber modules are vacuum coupled to the substrate transfer chamber. At least two of the process chamber modules are horizontally clustered around the substrate transfer chamber. In addition, at least two of the process chamber modules are vertically arranged with one process chamber module above the other process chamber module. The substrate transfer chamber includes one or more robotic arms for transferring semiconductor substrates between the substrate load lock chamber and the plurality of process chamber modules.

Abstract: A manipulator, such as for use in medical procedures, is provided. The manipulator includes a body and a first actuator system connected to the body at a first attachment point and capable of moving the first attachment point with at least three degrees of freedom. A second actuator system is connected to the body at a second attachment point and capable of moving the second attachment point with at least three degrees of freedom. A third actuator system is integrated with the body and is capable of moving at least a portion of the body with at least one degree of freedom.

Abstract: A method for calibration of an industrial robot including a plurality of movable links and a plurality of actuators effecting movement of the links and thereby of the robot. The method includes mounting a measuring tip on or in the vicinity of the robot, moving the robot such that the measuring tip is in contact with a plurality of measuring points on the surface of at least one geometrical structure on or in the vicinity of the robot, reading and storing the positions of the actuators for each measuring point, and estimating a plurality of kinematic parameters for the robot based on a geometrical model of the geometrical structure, a kinematic model of the robot, and the stored positions of the actuators for the measuring points.

Abstract: Regarding predetermined positioning criteria (M1, M2), ((G1, G2), (N1, or N2), (K1, K2)), there is provided image processing means (40B) for obtaining by image processing, measured values (CD1, CD2) ((GD1, GD2), (ND1, or ND2), (KD1, KD2)) and reference values (CR1, CR2) ((GR1, GR2), (NR1, or NR2), (KR1, KR2)), and for moving a work (W) in a manner that the measured values (CD1, CD2) ((GD1, GD2), (ND1, or ND2), (KD1, KD2)) and the reference values (CR1, CR2) ((GR1, GR2), (NR1, or NR2), (KR1, KR2)) coincide with each other, thereby positioning the work (W) at a predetermined position.

Abstract: A calibration device and method for automatically determining the position and the orientation of a robot used for measurement. First, an initial position of a preliminary position is generated based on a designated basic position, and it is judged whether the initial position is within an operation range of the robot. If the robot cannot reach the initial position, the preliminary position is adjusted close to the basic position. Otherwise, the preliminary position is evaluated by calculating an evaluation index of the preliminary position. When the evaluation index does not satisfy a predetermined condition, an initial value of an posture angle is increased.

Abstract: A method and system to provide improved accuracies in multi jointed robots through kinematic robot model parameters determination are disclosed. The present invention calibrates multi-jointed robots by using the chain rule for differentiation in the Jacobian derivation for variations in calculated poses of reference points of a reference object as a function of variations in robot model parameters. The present invention also uses two such reference objects and the known distance therebetween to establish a length scale, thus avoiding the need to know one link length of the robot. In addition, the present invention makes use of iterative methods to find the optimum solution for improved accuracy of the resultant model parameters. Furthermore, the present invention provides for determination of the end joint parameters of the robot, including parameters defining the tool attachment mechanism frame, which allows for interchange of tools without subsequent calibration.

Abstract: Microfeature workpiece transfer devices with rotational orientation sensors, and associated systems and methods are disclosed. A transfer device in accordance with one embodiment includes a base unit movable along a guidepath, and a carrier movable relative to the base unit. The device further includes a position sensor located to identify a rotational orientation of the workpiece while the workpiece is carried by the carrier (e.g., by one or more edge grippers or other end-effector devices). In particular embodiments, the rotational orientation of the workpiece is corrected by appropriately moving articulatable links of the transfer device, and/or by rotating a support that carries the workpiece for processing at a process chamber.

Abstract: A robotic instrument system and method, comprising at least two instrument drive assemblies each detachably coupled to a respective instrument assembly. Each instrument assembly comprising an elongate, flexible guide instrument configured to be inserted into a patient's body. The instrument drive assemblies comprise one or more motors configure to operate a respective instrument assembly. One or more controllers are operatively coupled to the instrument drive assemblies. The method comprises maneuvering a distal end of each of the respective guide instruments into a patient's heart by actuating the respective drive assembly performing a procedure controlled by the one or more controllers.

Abstract: A parallel kinematic machine has a parallel kinematic mechanism including an end effecter and a parallel link mechanism. A numerical control device controls a position and orientation of the end effecter based on kinematics of the parallel kinematic mechanism. A posture setter sets an adjustment tool on the end effecter in a known posture in a reference coordinate system defined outside the parallel kinematic mechanism based on a measurement method. A data acquirer acquires data in accordance with a measurement method selecting code for designating the measurement method used by the posture setter in setting the adjustment tool in the known posture, and defines a correlation between kinematic parameters for the parallel kinematic mechanism and the reference coordinate system. A calculator calculates the kinematic parameters based on the acquired data by using a relational expression describing forward kinematics of the parallel kinematic mechanism.

Abstract: An articulated robot is provided with first, second and third arms respectively having effective lengths substantially equal to each other and capable of turning respectively about first, second and third pivotal axes. The second and the third arm are interlocked by an interlocking mechanism such that the third arm turns about a third pivotal axis relative to the second arm in one of opposite directions through an angle twice as large as an angle through which the second arm turns about a second pivotal axis relative to the first arm in the other direction. The second arm 25 and the third arm 26 are moved in either of first and second working areas respectively extending on the opposite sides of an imaginary plane including a reference line and the first pivotal axis to move hand units along the reference line. Since the second and the third arm are necessarily only in one of the first and the second working region, the articulated robot is capable of operating in a narrow working area.

Abstract: Apparatus and methods are provided for estimating joint forces and moments in human beings. A forward dynamics module determines simulated kinematic data. An error correction controller forces tracking error between the simulated kinematic data and measured (or desired) kinematic data to approach zero. The error correction controller generates a modified acceleration for input into an inverse dynamics module. The estimated joint forces and moments track the measured (or desired) kinematics without the errors associated with computing higher order derivatives of noisy kinematic data.

Abstract: An extensible task engine framework for humanoid robots. Robot instructions are stored as tasks and skills. Tasks are designed so that they can be executed by a variety of robots with differing configurations. A task can refer to zero or more skills. A skill can be designed for a particular configuration of robot. A task can be transferred from robot to robot. When executed on a particular robot, the task makes calls to one or more skills that can take advantage of the capabilities of that robot.

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

Abstract: A robotic surgical device for using in laparoscopic surgery, including two robotic arms, each having at least six joints providing a total of fourteen degrees of movement that accurately reproduce the movements of a human torso complete with arms.

Abstract: This invention is directed to a system for actuating manipulator jaws. This system employs a double sided rack, each side of which engages a pinion at a first end of a rotatably mounted lever. The second end of each lever comprises a jaw region. The present invention may be used with subsea manipulators mounted on remotely operated vehicles (“ROV's”).

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

Abstract: A parallel robot or parallel kinematics mechanism is provided for uses such as robotics or machining. The mechanism comprises a fixed base, a main arm, and a first and second support arm to position and orient an object in a cylindrical space with at least three degrees of freedom and retained inclination. The main arm includes an end component for supporting the object and linkage means to retain the inclination of the end component with respect to the base for all positions and orientations of the end component. The mechanism advantageously provides a large cylindrical workspace and a small footprint and is capable of moving an object at high accelerations and speeds. The mechanism can be equipped with an additional motor to orient an object, thereby providing the mobility of a SCARA robot. Alternatively, it can be equipped with passive transmission means that allow for an object to be displaced in parallel to itself.