Abstract: A three-dimensional measuring device includes a ball-shaped structure, an X-axis measuring module, a Y-axis measuring module and a Z-axis measuring module. The ball-shaped structure is moved and/or rotated in response to a movement of a movable object. The X-axis measuring module includes a first measuring structure and a first position sensor. The first measuring structure is movable along an X-axis direction and contacted with the ball-shaped structure. The Y-axis measuring module includes a second measuring structure and a second position sensor. The second measuring structure is movable along a Y-axis direction and contacted with the ball-shaped structure. The Z-axis measuring module includes a third measuring structure and a third position sensor. The third measuring structure is movable along a Z-axis direction and contacted with the ball-shaped structure.

Abstract: A techniques for improved guiding of hyper-redundant manipulator probes into a constrained space which make use of the known characteristics of the space into which the probe is being inserted to increase the efficiency of the computation of the path of the probe. Embodiments of the invention achieve this through an optimisation function which determined a new orientation which minimises the deviation between each of: a) the point on the probe where the probe starts to follow a defined curve within the constrained space and a predetermined initial point, and b) the distal end of the probe and said defined curve.

Abstract: A safety switch device including a device main body, a movable portion movable in a moving direction with respect to the device main body, and a holding portion configured to hold the movable portion at a position in the moving direction. The device main body includes a main-body-side holding portion, the movable portion includes a movable-portion-side holding portion provided so as to be opposite to the main-body-side holding portion in the moving direction, the holding portion includes a rack gear provided in one of the device main body and the movable portion, an engaging tooth member provided in the other of the device main body and the movable portion so as to be movable in a direction intersecting the moving direction, and an springy member that urges the engaging tooth member in a direction in which the engaging tooth member meshes with the rack gear.

Abstract: An electronic device for automated image-based auditing of equipment cabinets may include a memory storing an imaging computer program; and a computer processor. The imaging computer program, when executed by the computer processor, may cause the computer processor to perform the following: receive a plurality images from an image capture device on a carriage, wherein the image capture device is configured to traverse an equipment cabinet and capture the plurality of images of equipment in the equipment cabinet; generate a single image by stitching the plurality of images together; receive data from a sensor on the carriage, wherein the sensor is configured to capture data from the equipment in the equipment cabinet; associate the data with a location in the equipment cabinet; compare the single image and the data to an expected image and expected data; and output a result of the comparison.

Abstract: A robotic system for arranging packages at a destination in a specified arrangement. The robotic system processes incoming packages, stores the packages in a temporary storage area, executes a simulate function to generate or update a simulated stacking plan, determines the occurrence of a palletizing trigger, and places the packages on the pallet according to the simulated stacking plan upon determining the occurrence of the palletizing trigger. The palletizing trigger can be one of a time limit trigger, a uniform layer trigger, a storage capacity trigger, or receiving a placement initiation command.

Abstract: A control system for a robotic device comprising a task embedding network to receive one or more demonstrations of a task and to generate a task embedding. The task embedding comprises a representation of the task, and each demonstration comprises one or more observations of a performance of the task. The control system includes a control network to receive the task embedding from the task embedding network and to apply a policy to map a plurality of successive observations of the robotic device to respective control instructions for the robotic device. The policy applied by the control network is modulated across the plurality of successive observations of the robotic device using the task embedding from the task embedding network.

Abstract: A surgical robotic arm control system and a surgical robotic arm control method are provided. The surgical robotic arm control system includes a surgical robotic arm, a first image capturing unit, a second image capturing unit, and a processor. The first image capturing unit is used for obtaining a field image. The field image includes a first target image of a target object. The second image capturing unit is disposed at an end position of the surgical robotic arm and is used to obtain a second target image of the target object. The processor analyzes the field image to obtain robotic arm movement information, and controls the surgical robotic arm to move to approach the target object. The processor analyzes the target image to obtain robotic arm rotation information, and controls an angle and a posture of the surgical robotic arm.

Abstract: A teaching system configured to teach operation to a plurality of robots includes a first controlling device which determines whether a first robot and a second robot are in an enabled state where the first and second robots are permitted to operate, and when the first controlling device determines as in the enabled state, the first controlling device transmits an enable signal indicative of permitting the second robot to operate and enables the first robot to be taught the operation when a teaching terminal specifies the first robot. When a second controlling device receives the enable signal from the first controlling device and the teaching terminal specifies the second robot, the second controlling device enables the second robot to be taught the operation.

Abstract: A method for optimizing a predefined policy for a robot, the policy being a Gaussian mixture model. The method begins with an initialization of a Gaussian process, the Gaussian process including at least one kernel k which, as an input parameter, obtains a distance that is ascertained between probability distributions, which are characterized in each case by the Gaussian mixture model and the Gaussian process, according to the probability product kernel. This is followed by an optimization of the Gaussian process in such a way that it predicts the costs as a function of the parameters of the Gaussian mixture model. This is followed by an ascertainment of optimal parameters of the Gaussian mixture model as a function of the Gaussian process, the parameters being selected, as a function of the Gaussian process, in such a way that the Gaussian process outputs the optimal cost function.

Abstract: This disclosure describes systems, methods, and devices related to robotic point capture and motion control. A robotic device may synchronize one or more first axes of the robotic device with one or more second axes of a handheld device. The device may determine a welding path using the handheld device. The device may perform a weld by the traversing of an end effector of the robotic across the welding path, wherein the end effector comprises a welding tip.

Abstract: A robotic line kitting system is disclosed. In various embodiments, a signal associated with an unsafe condition is received via a communication interface. In response to the signal, a controlled operation to reduce a speed of movement of a robotic instrumentality is performed prior to a safety stop of the robotic instrumentality being triggered.

Abstract: A calibration apparatus includes a processor, an alignment device, and an arm. The alignment device captures images in a three-dimensional space, and a tool is arranged on a flange of the arm. The processor records a first matrix of transformation between an end-effector coordinate-system and a robot coordinate-system, and performs a tool calibration procedure according to the images captured by the alignment device for obtaining a second matrix of transformation between a tool coordinate-system and the end-effector coordinate-system. The processor calculates relative position of a tool center point of the tool in the robot coordinate-system based on the first and second matrixes, and controls the TCP to move in the three-dimensional space for performing a positioning procedure so as to regard points in an alignment device coordinate-system as points of the TCP, and calculates the relative positions of points in the alignment device coordinate-system and in the robot coordinate-system.

Abstract: A machine learning device performs machine learning with respect to a plurality of servo control units corresponding to a plurality of axes. A first servo control unit related to an axis receiving interference includes a compensation unit that compensates for at least one of a position error, a velocity command, and a torque command of the first servo control unit based on at least one of a variable related to a position command and a variable related to position feedback information of a second servo control unit related to an axis generating the interference. The machine learning device acquires state information including first and second servo control information and a coefficient of the function, outputs action information and a reward value for reinforcement learning, and updates a value function on the basis of the reward value, the state information, and the action information.

Abstract: A robot system includes a manufacturing system including a robot and peripheral equipment. There is a controller communicably connected to the robot, the peripheral equipment, and a portable information terminal. The controller includes a memory storing the operation program, operation mode setting circuitry to set an operation mode a teaching mode or a playback mode, operation controlling circuitry configured to control the operation of the robot in the teaching mode based on the operation command, and control the robot and the peripheral equipment in the playback mode in accordance with the operation program, and display controlling circuitry configured to control the portable information terminal in the teaching mode to display on a display an operation screen through which the operation command is inputted, and control the portable information terminal in the playback mode to display on the displaying part a screen different from the operation screen.

Abstract: A controller for performing synchronization control over the master axis and the slave axis to follow an electronic cam profile includes a reference position calculator that, in response to power being restored after a power disconnect, obtains a position of the master axis and calculates reference positions of the master axis and the slave axis based on the obtained position of the master axis, a position of the master axis at cam synchronization, and the electronic cam profile, and a return control unit that performs return control to determine a position of the slave axis corresponding to a current position of the master axis based on the current position of the master axis, the electronic cam profile, and the reference positions of the master axis and the slave axis calculated by the reference position calculator, and that moves the slave axis to the determined position.

Abstract: A device that uses a motor may quickly and safely stop the motor using a rapid braking system. For example, the device may stop to avoid collision with an object, upon determining a failure of an internal component, upon receipt of a command, and so forth. Responsive to a signal to stop, the motor is disconnected from the battery. A braking circuit is activated that dissipates, in a controlled fashion, power produced by continuing motion of the motor. When the voltage produced by the motor's continuing motion drops below a threshold, a stop circuit shorts the terminals of the motor, causing the motor to resist further rotation. When the stop condition no longer applies the signal to stop is removed resulting in the motor being reconnected to the battery, the braking circuit being deactivated, the stop circuit opens the short between the terminals of the motor, and normal operation resumes.

Abstract: Implementations are described herein for automatically annotating or curating digital images using various signals generated by individual users, in addition to or instead of content of the digital images themselves, thereby to enable the digital images to be retrieved from a searchable database based on their annotations. In particular, techniques are described herein for identifying events associated with a user, e.g., based on natural language input provided by a user, and automatically classifying/annotating images inferred to be related to those events.

Abstract: Provided is a tangible, non-transitory, machine readable medium storing instructions that when executed by a processor of a robotic device effectuates operations including, receiving, by the processor, a sequence of one or more commands; executing, by the robotic device, the sequence of one or more commands; saving, by the processor, the sequence of one or more commands in memory after a predetermined amount of time from receiving a most recent one or more commands; and re-executing, by the robotic device, the saved sequence of one or more commands.

Abstract: A robotic kitting machine is disclosed. In various embodiments, a robotic arm is used to move an item to a location in proximity to a slot into which the item is to be inserted. Force information generated by a force sensor is received via a communication interface. The force sensor information is used to align a structure comprising the item with a corresponding cavity comprising the slot, and the item is inserted into the slot.

Abstract: According to an aspect, there is provided a teaching device on which portable terminal equipment is mounted, the teaching device being used to teach operation to a robot. The teaching device includes a case section including a mounting surface on which the portable terminal equipment is mounted. The case section includes a first member including a stop switch for stopping the operation of the robot and configured to restrict the portable terminal equipment's moving in a first direction extending along the mounting surface and a second member provided to be capable of moving in the first direction relatively to the first member and configured to restrict the portable terminal equipment's moving in an opposite direction of the first direction.

Abstract: An apparatus for compensating a channel based on an artificial neural network includes a channel learning device that learns a property of the channel, and a channel compensating device that compensates for an error of the channel based on a learning result of the channel learning device.

Abstract: A robot assembly for safe operation in a manufacturing setting with humans including a sensor for detecting a human location and human movement is provided. A safety control module providing a boundary of a safety zone area that is associated with the human in a task oriented state that includes a largest possible area in which the human or an associated work object can extend when the human is standing in one location and performing the work task. The human movement and safety zone area location being used to develop a capture set area that includes at least one predictive future safety zone area location. Using the at least one predicted future safety zone area, establishing a travel path for moving the robot between locations without overlapping the capture set area.

Abstract: A robot configured to use a gripper to grasp one or more tools is disclosed. In various embodiments, the robot comprises a robotic arm having a gripper disposed at a free moving end of the robotic arm, and a set of two or more tools configured to grasped or otherwise engaged by the gripper. Each tool in the set of two or more tools may be disposed in a corresponding tool holder, optionally attached to the robot or situated near the robot. The robot is configured to use the gripper to retrieve a selected tool from its tool holder to perform a task; use the tool to perform the task; and return the tool to its tool holder.

Abstract: The present invention provides a method of detecting a curved lane through path estimation using a monocular vision camera by which the curved lane may be estimated by using paths on the curved lane in the past when a lane is not seen on the curved road because of a dotted lane or other causes.

Abstract: A determination device includes: a memory; and a processor coupled to the memory and configured to: obtain sensor data on motion of a device from a plurality of sensors, extract, from the sensor data, data related to an anomaly based on a threshold value used in detecting the anomaly with use of the sensor data, convert the data related to the anomaly into structural data having a graph structure focusing on an analogous relationship between or among the plurality of sensors, and generate a classifier that identifies a cause of the anomaly with use of the structural data.

Abstract: A method for a robot to automatically find a bending position, including the following steps: step 1, establishing a gripper tool coordinate system (TX, TY, TZ); step 2, determining a user coordinate system (XA, YA, ZA; XB, YB, ZB) of rear blocking fingers (11, 21); step 3, a robot gripper moving horizontally, and detecting the state of sensors (12, 22); step 4, the robot gripper executing a rotational movement, detecting the state of the sensors (12, 22), and thereby obtaining a standard bending position. The robot automatically finds the bending position, the teaching difficulty is reduced, and the bending quality is increased. In the elevator industry, elevator door plate bending sizes are the same, but forming sizes are different. In the present invention, only one product process needs to be taught in order to satisfy elevator door plate processing with different specifications, thereby reducing maintenance costs and increasing production efficiency.

Abstract: A robotic system for arranging packages at a destination in a specified arrangement. The robotic system processes incoming packages, stores the packages in a temporary storage area, executes a simulate function to generate or update a simulated stacking plan, determines the occurrence of a palletizing trigger, and places the packages on the pallet according to the simulated stacking plan upon determining the occurrence of the palletizing trigger. The palletizing trigger can be one of a time limit trigger, a uniform layer trigger, a storage capacity trigger, or receiving a placement initiation command.

Abstract: A device communicates with a human through voice recognition of voice of the human. The device includes: a drive mechanism that drives the device; and a processor. The processor controls the drive mechanism to drive the device to a waiting place for the device to contact the human, and the waiting place is determined based on contact information that is history of contact between the device and the human.

Abstract: Methods and apparatus for complex assembly via autonomous robots using reinforcement learning action primitives are disclosed. An example apparatus includes a construction manager and a movement manager. The construction manager is to determine sequences of reinforcement learning (RL) action primitives based on object location goals and associated assembly goals determined for respective ones of objects depicted in an imaged assembly of objects. The movement manager is to command a robot to construct a physical assembly of objects based on the sequences of RL action primitives. The physical assembly of objects is to correspond to the imaged assembly of objects.

Abstract: Methods and systems are provided for positioning a remote sensor within a target object. An articulated robotic system is coupled to the remote sensor. A positioning system determines a position of the target object to be inspected and determines a first position of the remote sensor. A control system calibrates a virtual representation of the target object with respect to the position of the target object, and tracks movement of the remote sensor relative to the target object.

Abstract: A robot control apparatus includes a transformation-matrix generating unit that generates, on the basis of N first command values for learning per one robot, which are position-corrected command values for positioning a master robot and a slave robot on tracks of their respective robots during the synchronous driving, concerning the respective N command values for learning, transformation matrices among the command values for learning, a command-value storing unit that outputs a first command value for driving at each of M operation periods for defining the track of the master robot, a transformation-matrix-function generating unit and a command-value generating unit that interpolate the N transformation matrices and generate a transformation matrix at the each first command value for driving, and a command-value generating unit that causes the transformation matrices to act on the M first command values for driving and generates M second command values for driving of the slave robot.

Abstract: Apparatus and methods for training and controlling of, for instance, robotic devices. In one implementation, a robot may be trained by a user using supervised learning. The user may be unable to control all degrees of freedom of the robot simultaneously. The user may interface to the robot via a control apparatus configured to select and operate a subset of the robot's complement of actuators. The robot may comprise an adaptive controller comprising a neuron network. The adaptive controller may be configured to generate actuator control commands based on the user input and output of the learning process. Training of the adaptive controller may comprise partial set training. The user may train the adaptive controller to operate first actuator subset. Subsequent to learning to operate the first subset, the adaptive controller may be trained to operate another subset of degrees of freedom based on user input via the control apparatus.

Abstract: Robotic devices may be trained by a user guiding the robot along a target trajectory using a correction signal. A robotic device may comprise an adaptive controller configured to generate control commands based on one or more of the trainer input, sensory input, and/or performance measure. Training may comprise a plurality of trials. During an initial portion of a trial, the trainer may observe robot's operation and refrain from providing the training input to the robot. Upon observing a discrepancy between the target behavior and the actual behavior during the initial trial portion, the trainer may provide a teaching input (e.g., a correction signal) configured to affect robot's trajectory during subsequent trials. Upon completing a sufficient number of trials, the robot may be capable of navigating the trajectory in absence of the training input.

Abstract: An image acquisition unit acquires an image including an object, and a controller starts a visual servo using the acquired image, on the basis of at least one of an error in calibration, an error in installation of a robot, an error resulting from the rigidity of the robot, an error of a position where the robot has gripped the object, an error regarding imaging, and an error regarding a work environment. Additionally, the controller starts the visual servo when the distance between one point of a working unit of the robot and the object is equal to or greater than 2 mm.

Abstract: The present invention concerns an imitation learning method for a multi-axis manipulator (7,7?). This method comprises the steps of capturing, at a set of successive waypoints (10,11) in a teach-in trajectory (4) of a user-operated training tool, spatial data comprising position and orientation of the training tool (3) in a Cartesian space; selecting, from among said set of successive waypoints (10,11), a subset of waypoints (11) starting from a first waypoint (11) of said set of successive waypoints (10,11), wherein for each subsequent waypoint (11) to be selected a difference in position and/or orientation with respect to a last previously selected waypoint (11) exceeds a predetermined threshold; fitting a set trajectory (4?) in said Cartesian space to said selected subset of waypoints (11); and converting said set trajectory into motion commands in a joint space of said multi-axis manipulator (7,7?).

Abstract: Apparatus and methods for arbitration of control signals for robotic devices. A robotic device may comprise an adaptive controller comprising a plurality of predictors configured to provide multiple predicted control signals based on one or more of the teaching input, sensory input, and/or performance. The predicted control signals may be configured to cause two or more actions that may be in conflict with one another and/or utilize a shared resource. An arbitrator may be employed to select one of the actions. The selection process may utilize a WTA, reinforcement, and/or supervisory mechanisms in order to inhibit one or more predicted signals. The arbitrator output may comprise target state information that may be provided to the predictor block. Prior to arbitration, the predicted control signals may be combined with inputs provided by an external control entity in order to reduce learning time.

Abstract: Apparatus and methods for arbitration of control signals for robotic devices. A robotic device may comprise an adaptive controller comprising a plurality of predictors configured to provide multiple predicted control signals based on one or more of the teaching input, sensory input, and/or performance. The predicted control signals may be configured to cause two or more actions that may be in conflict with one another and/or utilize a shared resource. An arbitrator may be employed to select one of the actions. The selection process may utilize a WTA, reinforcement, and/or supervisory mechanisms in order to inhibit one or more predicted signals. The arbitrator output may comprise target state information that may be provided to the predictor block. Prior to arbitration, the predicted control signals may be combined with inputs provided by an external control entity in order to reduce learning time.

Abstract: Robots may manipulate objects based on sensor input about the objects and/or the environment in conjunction with data structures representing primitive tasks and, in some embodiments, objects and/or locations associated therewith. The data structures may be created by instantiating respective prototypes during training by a human trainer.

Abstract: Adaptive controller apparatus of a robot may be implemented. The controller may be operated in accordance with a reinforcement learning process. A trainer may observe movements of the robot and provide reinforcement signals to the controller via a remote clicker. The reinforcement may comprise one or more degrees of positive and/or negative reinforcement. Based on the reinforcement signal, the controller may adjust instantaneous cost and to modify controller implementation accordingly. Training via reinforcement combined with particular cost evaluations may enable the robot to move more like an animal.

Abstract: A control system and method generate torque comments for motion of a target system in response to observations of a source system. Constraints and balance control may be provided for more accurate representation of the motion as replicated by the target system.

Abstract: A robot arm includes a grip part which is structured to be separated from an end effector attached to the robot arm. When the grip part is gripped by the user and shifted, the robot arm shifts tracking the grip part. Further, the grip part includes contact sensors, and a tracking control method is switched according to the value of the contact sensors.

Abstract: A prediction system includes an acquisition device, an execution device, and a prediction device. The acquisition device is configured to acquire a value of electric resistance of a cable secured by fixing members to a pair of link members configured to rotate relative to each other through a joint. The execution device is configured to cause the joint to execute a predetermined operation. The prediction device is configured to predict a service life of the cable based on a change in the value of electric resistance acquired by the acquisition device while the execution device is causing the joint to execute the predetermined operation.

Abstract: A robot according to the present disclosure includes a support structure and at least three main arms mounted to be movable relative to the support structure, wherein the outer ends facing away from the support structure are movable to different spatial positions relative to the support structure and relative to each other. The robot further comprises connecting elements having the same lengths by means of which the outer end of each main arm can be connected at a defined distance from the outer end of the two adjacent main arms. The present disclosure also provides a method of calibrating a robot.

Abstract: A vacuum processing apparatus includes a robot connected to a vacuum container to carry a wafer on one of its two arms to or from a processing chamber; a unit to detect an amount of deviation of the wafer from a predetermined wafer mounting position on the arm that may occur when the robot carries the wafer into or out of the processing chamber; and an adjusting device to adjust the operation of the robot based on the detected amount of deviation. The adjusting device adjusts the robot operation based on the result of a teaching operation performed in advance. After being subjected to the initial teaching operation, the robot again undergoes a second teaching operation according to the information on the amount of wafer position deviation that is detected by moving the wafer in a predetermined transfer pattern, before the wafer processing is performed.

Abstract: A weld bead shaping apparatus including: a gouging torch for gouging an object to be shaped; a shape sensor for measuring a shape of the object; a slider apparatus and an articulated robot for driving the gouging torch and shape sensor; an image processing apparatus; and a robot controlling apparatus. The image processing apparatus includes: a shape data extracting unit extracting shape data of the object, from a measurement result obtained by the shape sensor; and a weld reinforcement shape extracting/removal depth calculating unit calculating a weld reinforcement shape of the weld bead from a difference between the shape data and a preset designated shape of the object, and calculating a removal depth by which gouging is performed, based on the weld reinforcement shape. The robot controlling apparatus controls the slider apparatus, the articulated robot, and the gouging torch based on the weld reinforcement shape and the removal depth.

Abstract: It is possible to perform robot motor learning in a quick and stable manner using a reinforcement learning apparatus including: a first-type environment parameter obtaining unit that obtains a value of one or more first-type environment parameters; a control parameter value calculation unit that calculates a value of one or more control parameters maximizing a reward by using the value of the one or more first-type environment parameters; a control parameter value output unit that outputs the value of the one or more control parameters to the control object; a second-type environment parameter obtaining unit that obtains a value of one or more second-type environment parameters; a virtual external force calculation unit that calculates the virtual external force by using the value of the one or more second-type environment parameters; and a virtual external force output unit that outputs the virtual external force to the control object.

Abstract: In order for a control system that interlocks with a teaching data input unit and a robot to control the robot, when teaching data including layer selection information that is input through the teaching data input unit is received, the control system generates a joint space path of a layer of any one of teaching data of a first layer and teaching data of a second layer according to the layer selection information of the teaching data. The control system controls the robot based on the generated joint space path.

Abstract: A robot system includes a robot, a control device, and a projection device. The control device is configured to receive area information on an area defining an operation of the robot. The projection device is configured to project the area onto an object adjacent to the robot based on the area information received by the control device.

Abstract: Adaptive controller apparatus of a robot may be implemented. The controller may be operated in accordance with a reinforcement learning process. A trainer may observe movements of the robot and provide reinforcement signals to the controller via a remote clicker. The reinforcement may comprise one or more degrees of positive and/or negative reinforcement. Based on the reinforcement signal, the controller may adjust instantaneous cost and to modify controller implementation accordingly. Training via reinforcement combined with particular cost evaluations may enable the robot to move more like an animal.

Abstract: In the control method for mobile parallel manipulators, kinematic singularity and redundancy are solved through joint limits avoidance and manipulability criteria. By taking the MPM self-motion into consideration due to its redundancy, the inverse kinematic is derived using a hybrid neuro-fuzzy system, such as NeFIK. The discrete augmented Lagrangian (AL) technique is used to solve the highly nonlinear constrained multi-objective optimal control problem. An adaptive neuro-fuzzy inference system (ANFIS)-based structure (based on the result of the AL solution) is used to solve the online trajectory planning of the MPM.