Abstract: A wafer cleaning apparatus and a wafer transfer device. The wafer transfer device includes a machine bracket, a drive mechanism, a retractable bracket, and a plurality of wafer support brackets. The drive mechanism and the retractable bracket are arranged at the machine bracket. An end of the retractable bracket is fixedly connected to the machine bracket. The second end of the retractable bracket is movably arranged at the machine bracket and arranged along the movement direction of the second end. The drive mechanism is connected to the retractable bracket and is configured to drive the second end to move to cause the retractable bracket to retract. The plurality of wafer support brackets are arranged at the retractable bracket. The distance between any two neighboring wafer support brackets changes as the retractable bracket extends and retracts.

Abstract: In a robotic medical system comprising a staging kinematic chain coupled to a plurality of independently articulable robotic arms capable of motion with one or more degrees of freedom, a first configuration of robotic arms may be determined based on a first inverse kinematic model including the robotic arms and assuming a static staging kinematic chain. The first configuration may effectuate desired poses of instruments coupled to the robotic arms. A set of control parameter values associated with the robotic arms may be determined based on the first configuration, and, when a determined control parameter value falls outside a corresponding control parameter range, a staging kinematic chain pose and a second configuration of the robotic arms to effectuate the desired poses of the instruments may be determined. The second configuration is determined using a second inverse kinematic model that includes the robotic arms and assumes a mobile staging kinematic chain.

Abstract: A versatile, compact, and high-fidelity haptic device is provided. The mechanical transparency of the design and the selection of proper actuation meet the challenges of an accurate and stiff haptic device with high and isotropic force capability. Such a haptic interface enables a precise remote control and provides perfect sense of the task interaction in any environments and applications.

Abstract: A robotic system is configured to evaluate an identified phase of a medical procedure. The robotic system includes a video capture device; a robotic manipulator; one or more sensors; an input device; a data store; and control circuitry. The control circuitry is configured to: determine a first status of the robotic manipulator based on sensor data from the one or more sensors; identify a first input from the input device for initiating a first action of the robotic manipulator; perform a first analysis of a video of a patient site captured by the video capture device; identify a first phase of the medical procedure based at least in part on the first status of the robotic manipulator, the first input, and the first analysis of the video; and generate an evaluation of the first phase of the medical procedure based on one or more metrics associated with the first phase.

Abstract: Computer-implemented methods and computer systems are disclosed herein as implemented by a controller operatively coupled to a network of electric vehicles. The methods and systems include the controller (i) receiving a notification that an electric vehicle is stranded without sufficient power to operate; (ii) receiving information regarding the stranded electric vehicle; (iii) detecting one or more other electric vehicles in a vicinity of the stranded electric vehicle; (iv) receiving information regarding the detected one or more other electric vehicles; and/or (v) determining, based upon the received information, which of the detected one or more other electric vehicles to send a power source request. Alternatively, the notification may indicate that an electric vehicle has a low state of charge (SOC), or is otherwise has a battery in need of being recharged to facilitate the electric vehicle traveling to a destination.

Abstract: An operation parameter adjusting method according to an aspect includes a detecting step for causing a robot to execute a plurality of adjustment operations using candidate values of operation parameters and acquiring detection values of a detecting section, an operation parameter updating step for executing optimization processing for the operation parameters using the acquired detection values to thereby obtain new candidate values of the operation parameters, a repeating step for repeating the operation parameter updating step and the detecting step, and an operation parameter determining step for determining, based on one or more candidate values of the operation parameters obtained by the repeating step, the operation parameter used in the robot system. The detecting step includes a suspension determining step for performing continuation or suspension of the detecting step based on a result of comparison of the acquired detection values of the part of the adjustment operations and a reference value.

Abstract: A system and method for motion planning is presented. The system is configured, when an object is or has been in a camera field of view of a camera, to receive first image information that is generated when the camera has a first camera pose. The system is further configured to determine, based on the first image information, a first estimate of the object structure, and to identify, based on the first estimate of the object structure or based on the first image information, an object corner. The system is further configured to cause an end effector apparatus to move the camera to a second camera pose, and to receive second image information for representing the object's structure. The system is configured to determine a second estimate of the object's structure based on the second image information, and to generate a motion plan based on at least the second estimate.

Abstract: Method for using a robot system carrying out a job at a workstation of a container processing facility, wherein the robot system moves with a chassis supported on the floor in a working area of the container processing facility, characterized in that the robot system automatically removes work material and/or consumable material needed for the job, such as, for example, a cleaning agent or a lubricant, at a supply area and transports it to the workstation for the job.

Abstract: There is provided an information processing apparatus that includes a motion request verifying unit controlling execution of a motion request for a device, on the basis of the motion request based on device side information including device state information indicating a state of the device at a first point in time and target state information indicating a state of an operated target, and device side information updated during time after the first point in time and before a second point in time at which the motion request is received.

Abstract: A robot scheduling method. Robots include a cleaning robot for performing cleaning operations in a cleaning region and a conveying robot for transporting the cleaning robot in an aisle region. The robot scheduling method includes a task generating step, a task issuing step, a route planning step, a travel controlling step, and a docking controlling step.

Abstract: Nut plate grippers, end effectors that include nut plate grippers, robots that include end effectors, installation systems that include robots, and related methods are disclosed herein. The end effectors include a nut plate gripper, a rivet holder, and a yoke that defines a nut plate gripper side and a rivet holder side. The nut plate gripper is operatively attached to the nut plate gripper side of the yoke. The rivet holder is operatively attached to the rivet holder side of the yoke such that the nut plate gripper and the rivet holder define a structure-receiving region therebetween. The nut plate gripper is configured to grip the nut plate. The rivet holder is configured to selectively retain a plurality of rivet heads of a plurality of corresponding rivets. The robots include the end effector. The installation systems include the robot. The methods include methods of utilizing nut plate installation systems.

Abstract: A method of calibrating a delta robot, the method including executing an arm movement by moving one driving link relative to other two driving links; measuring a movement of a point in fixed relationship with a tilting body during the arm movement as an arm measurement; executing a tilting movement by tilting the tilting body about a fifth axis; measuring a movement of the point during the tilting movement as a tilting measurement; and calibrating a fourth axis based on a comparison of the arm measurement and the tilting measurement. A method of calibrating the fifth axis, a control system, and a robot system are also provided.

Abstract: Disclosed are solutions for an autonomous vehicle to real-time detect and determine dynamic and/or obscured obstacles to support navigation and services to within a desired proximity of said obstacles. Certain such implementations are specifically directed to autonomous mowers, for example, capable of real-time object detection to determine location and orientation of solar panels in a solar farm, for example, and based on the location and orientation of such solar panels further determine the location of their corresponding posts that may be otherwise obstructed from direct detection by the autonomous mower's other sensing systems possibly due to vegetation growth around the posts or other reasons.

Abstract: A system and method for cleaning of heat exchanger tubes including an assembly, an indexer, and a communication device provided with specialized software and programming. The indexer includes orthogonally arranged first and second arms. A trolley and sensors are provided on the indexer arms. One or more lances are provided on the trolley to deliver water jets into the openings. Sensors measure displacement as the trolley is moved relative to the heat exchanger's face plate. An operator controls the system from a distance away using the communication device. During setup, the pattern of the face plate is learned and mapped utilizing information from the sensors as one of the inputs. This information is utilized to help navigate the face plate during a subsequent cleaning operation. A kit for retrofitting existing X-Y indexers is also disclosed.

Abstract: Systems and methods relating to tactile dexterity and control are disclosed. In one embodiment, a method of manipulating an object based on tactile sensing includes sensing an object by receiving signals from a tactile sensor of an end effector of a robotic system in contact with the object, controlling a contact state by operating the end effector to enforce a desired contact condition between the end effector and the object, estimating a pose of the object based on the received signals, and planning at least one trajectory of the object based on the estimated pose of the object and a desired pose of the object.

Abstract: A method and system for dynamic collision avoidance motion planning for industrial robots. An obstacle avoidance motion optimization routine receives a planned path and obstacle detection data as inputs, and computes a commanded robot path which avoids any detected obstacles. Robot joint motions to follow the tool center point path are used by a robot controller to command robot motion. The planning and optimization calculations are performed in a feedback loop which is decoupled from the controller feedback loop which computes robot commands based on actual robot position. The two feedback loops perform planning, command and control calculations in real time, including responding to dynamic obstacles which may be present in the robot workspace. The optimization calculations include a safety function which efficiently incorporates both relative position and relative velocity of the obstacles with respect to the robot.

Abstract: A robot apparatus capable of performing a stable wireless communication is provided. The robot apparatus includes a robot arm including a link, a first control device disposed in the robot arm, a second control device, and a wireless communication unit configured to enable the first control device and the second control device to communicate with each other wirelessly. The wireless communication unit is disposed in the link.

Abstract: Devices, systems, and methods for providing remote traction to tissue may include a grasper and a control element. The grasper may have a first jaw, a second jaw, a main body, and a first magnetic element. The control element may include a second magnetic element. The first and second magnetic elements may attract the grasper to the control element such that the grasper is oriented parallel, perpendicularly, or at an angle between parallel and perpendicular with respect to the control element and/or a body. In some instances, the grasper may include first and second magnetic elements and the control element may include third and fourth magnetic elements.

Abstract: A program generation system according to an example includes circuitry configured to: set multiple kinds of candidate postures of a robot in a connection area between a work path that is a trajectory of the robot in a task and an air-cut path that is a trajectory of the robot connecting tasks; evaluate an operation program including the work path and the air-cut path while changing a posture of the robot in the connection area among the multiple kinds of candidate postures; determine one of the multiple kinds of candidate postures as the posture of the robot in the connection area based on an evaluation result in the evaluating; and generate the operation program.

Abstract: A system and method for motion planning is presented. The system is configured, when an object is or has been in a camera field of view of a camera, to receive first image information that is generated when the camera has a first camera pose. The system is further configured to determine, based on the first image information, a first estimate of the object structure, and to identify, based on the first estimate of the object structure or based on the first image information, an object corner. The system is further configured to cause an end effector apparatus to move the camera to a second camera pose, and to receive second image information for representing the object's structure. The system is configured to determine a second estimate of the object's structure based on the second image information, and to generate a motion plan based on at least the second estimate.

Abstract: Systems and methods for utilizing interactive Gaussian processes for crowd navigation are provided. In one embodiment, a system for a crowd navigation of a host is provided. The system includes a processor, a statistical module, and a model module. The processor receives sensor data. The statistical module identifies a number of agents in a physical environment based on the sensor data. The statistical module further calculates a set of Gaussian processes. The set of Gaussian processes includes a Gaussian Process for each agent of the number of agents. The statistical module further determines an objective function based on an intent and a flexibility. The model module generates a model of the number of agents by applying the objective function to the set of Gaussian processes. The model includes a convex configuration of the number of agents in the physical environment.

Abstract: A freezing support device and method for a large thin-walled part, which belongs to the technical field of machining support. The present invention realizes freezing support for a large thin-walled part by a freezing system and an auxiliary system, wherein the freezing system comprises a heating source, a freezing source, flexible films, support plates, etc., and the auxiliary system comprises a rotating device, a moving plate and guide rails. The present invention utilizes ice with a certain thickness formed on a support side of a machining area and supports a workpiece through the ice, and the ice is always used as a support along with the progress of machining to have an effect of follow-up support. The present invention simplifies a support structure, and has the advantages of low cost, no contamination to a machine tool, and convenient use; plays a function of clamping the workpiece.

Abstract: Autonomous unmanned vehicles (UVs) for responding to situations are described. Embodiments include UVs that launch upon detection of a situation, operate in the area of the situation, and collect and send information about the situation. The UVs may launch from a vehicle involved in the situation, a vehicle responding to the situation, or from a fixed station. In other embodiments, the UVs also provide communications relays to the situation and may facilitate access to the situation by responders. The UVs further may act as decoupled sensors for vehicles. In still other embodiments, the collected information may be used to recreate the situation as it happened.

Abstract: A method further includes the following steps. Firstly, a three-dimensional picture under a generated background condition is generated, wherein the three-dimensional picture includes a three-dimensional object image. Then, a two-dimensional picture of the three-dimensional picture is captured, wherein the two-dimensional picture includes a two-dimensional object image of the three-dimensional object image. Then, an object region of the two-dimensional object image is recognized. Then, an exposed ratio of an exposed area of an exposed region of the object region to an object area of the object region is obtained. Then, whether the exposed ratio is greater than a preset ratio is determined. Then the exposed region is defined as the pick-and-place region when the exposed ratio is greater than the preset ratio.

Abstract: A method includes: synchronously calculating offsets of a first mechanical arm, a second mechanical arm and an endoscopy mechanical arm corresponding to a change of posture of the surgical bed when the change of posture of the surgical bed is detected in real time; calculating target joint readings of each of the first mechanical arm, the second mechanical arm and the endoscopy mechanical arm based on the offsets; adjusting in real time the first mechanical arm, the second mechanical arm and the endoscopy mechanical arm, based on the calculated target joint readings. The method acquires the joint readings of the mechanical arm of the surgical robot with information about a change of posture of the surgical bed so as to achieve the purpose of synchronizing the mechanical arm with the change of posture of the surgical bed.

Abstract: In order to aspire to higher sensitivity in an automatic analysis device, it is important to prevent the mixing of dust and the like in a reaction part in which a sample and a reagent react. The present invention presents an automatic analysis device that is provided with a configuration for making the pressure inside a specific block in the device such as a reaction part, or inside the device become positive. By making the pressure become positive and forming an air flow that flows out from the inside of the reaction part or the device, it is possible to limit, to a certain amount or less, the amount of dust penetrating into the reaction part.

Abstract: An image processing apparatus capable of simplifying operations for determining an image pickup posture of an image pickup apparatus attached to a robot. The image processing apparatus processes an image that an image pickup apparatus attached to a robot picks up. The image processing apparatus includes a memory device that stores a set of instructions, and at least one processor that executes the set of instructions to specify a working area of the robot based on teaching point information showing a plurality of designated teaching points, specify an image pickup area of the image pickup apparatus so as to include the specified working area; and determine an image pickup posture of the robot based on the specified image pickup area.

Abstract: A lifetime estimation device for a robot including a linear-motion mechanism including a guide member and at least one slider moving along the guide member includes: a load calculation unit that calculates, at predetermined time intervals, a load acting on each slider on a basis of a program for operating the robot and geometric parameters of the robot and a load mounted on the robot; a travel-distance calculation unit that calculates travel distances of the slider at the time intervals; a lifetime calculation unit that calculates a lifetime of the linear-motion mechanism on a basis of the loads calculated by the load calculation unit and the travel distances calculated by the travel-distance calculation unit; and a display unit that displays the calculated lifetime.

Abstract: A tool operating assembly for a lens shaping machine to finish the peripheral edge of a corrective lens wherein the tool operating assembly is disposed in operative relationship relative to a lens operating assembly comprising a lens support assembly to support the corrective lens to be finished and a multi-axis lens positioning assembly to move the corrective lens relative to the tool operating assembly during the finishing operation to finish the peripheral edge of the corrective lens, the tool operating assembly comprising a multi-station tool support assembly to selectively position one of a plurality of tools in operative position to engage the peripheral edge of the corrective lens to be finished and a tool drive assembly to rotate the selected tool during the finishing operation to finish the peripheral edge of the corrective lens.

Abstract: The present invention involves a fill needle system for aseptically dispensing a pharmaceutical fluid in an aseptic chamber comprises a fill needle tubing in fluid communication with a pharmaceutical fluid source via flexible tubing and extending through a fill needle hub; a fill needle dispensing tip disposed at a dispensing end of the fill needle tubing; a fill needle sheath shaped and arranged to removably mate with and seal aseptically to the fill needle hub to form an aseptically sealed volume enclosing the dispensing tip; and a fluid pressure pulse induction system disposed and configured to compress the flexible tubing in order to dislodge droplets of pharmaceutical fluid retained on the dispensing tip after halting dispensing of the pharmaceutical fluid. An associated method of dispensing pharmaceutical fluid comprises operating the fluid pressure pulse induction system to dislodge the droplets. The system may comprise a controller for automatically controlling the dispensing and droplet dislodging.

Abstract: A surgical instrument is disclosed including an end effector, a shaft, and a housing. The end effector includes an RFID tag configured to store end effector information. The shaft includes a first RFID scanner and a second RFID tag configured to store shaft information. The first RFID scanner is configured to detect the first RFID tag in a first attached configuration. The housing includes a second RFID scanner configured to detect the second RFID tag in a second attached configuration, a motor configured to apply a load to the end effector, and a control circuit. The control circuit is configured to receive input from the first RFID scanner indicative of the end effector information, receive input from the second RFID scanner indicative of the shaft information, and adjust at least one parameter of operation of the motor based on the end effector information and the shaft information.

Abstract: Presented are automatic end-of-arm tool changing devices, methods for making/using such tool changing devices, and automated robotic systems with such tool changing devices. A tool changing device for an automated robotic system includes a quick-change (QC) interlock subassembly that attaches to an end effector. The QC subassembly includes a housing, one or more locking pins movable on the QC housing, and one or more anchor pins projecting from the QC housing. A finger block (FB) subassembly, which performs a task on a target object, includes a housing, a robot tool mounted to the FB housing, and one or more key slots and one or more pin holes in the FB housing. Each key slot receives an anchor pin; once the anchor pin is slid to a locking end of the key slot, each locking pin automatically slides into a pin hole to thereby lock together the QC and FB subassemblies.

Abstract: A flexible-rope-driven hybrid spray painting robot mechanism includes a static platform framework, a flexible-rope-guided pulley train, flexible transmission ropes, a moving platform, and drive mechanisms. A moving platform casing is driven by eight flexible ropes in parallel, to realize three degrees of freedom of translation thereof. A spray gun is connected in series to the moving platform casing via a universal joint cross, and is driven by four flexible ropes in parallel, to realize two degrees of freedom of rotation thereof. Beneficial technical effect of the present invention: The flexible ropes are used in parallel to control three degrees of freedom of translation and two degrees of freedom of rotation of the end spray gun, achieving advantages of a small movement inertia and flexible movement. Electric drive devices are placed together in a bottom layer of the static platform framework and are isolated from a spraying space.

Abstract: A substrate retaining device comprising: a support mechanism configured to change a pitch at which a plurality of substrate retaining units are arranged, urging mechanisms provided for the respective substrate retaining units and configured to urge the movable units to cause movable retaining members to press-hold substrates, and a push back mechanism configured to release the press-holding of the substrates by the movable retaining members. A push back portion of the push back mechanism is positioned at a standby position, at which the push back portion makes no contact with the movable units.

Abstract: A robot apparatus includes a manipulator including a hand and an arm, a teaching apparatus that teaches operation of the manipulator, and a control apparatus that controls the manipulator that operates in a regular operation status or an erroneous manipulation avoiding status based on a control signal from the teaching apparatus. After determining whether a status of the manipulator is the regular operation status or the erroneous manipulation avoiding status, the control apparatus transmits a control signal for performing operation at a set regular speed to the manipulator in a case of the regular operation status, and the control apparatus transmits a control signal for performing operation at a speed lower than or equal to a safety speed that is set based on the regular speed to the manipulator in a case of the erroneous manipulation avoiding status.

Abstract: Current handheld marking devices typically use hand movement to create marks on a surface. Marks, in this context, can be defined as an area on a surface having different physical properties from its surroundings. Such marks are created by the motion of a marking region that travels on a surface plane, creating a mark over time. Examples of such devices are: pens, brushes, markers, spray tools, and engraving instruments. Marking devices carry motion from the brain, to the hand, through the device and onto the surface. A feedback loop is created from the brain to hands to a final mark on a surface. The mark is observed as it is created and loops back into the brain. This creative mark making loop is the process to generate a visual element or design on a surface. Typically this loop is consistent across handheld marking devices.

Abstract: Provided are a method and a control apparatus for cooperative cleaning using multiple cleaning robots, including monitoring an overall cleaning condition of an extensive space and automatically assigning multiple cleaning robots to a space required to be cleaned, and when a cleaning area is fixed based on a cooperative cleaning method, data on an amount of garbage generated from the cleaning area or a cleaning condition of the cleaning area may be accumulated to facilitate easier management of the cleaning.

Abstract: A cooling mechanism includes a plurality of support stands which is provided in a vertical direction over a plurality of stages in an atmospheric transfer chamber where a down-flow is formed, a plurality of support pins which is provided in each of the support stands and supports a target object in contact with the backside of the target object. The cooling mechanism further includes a plurality of air guide plates which is provided in the support stands and cools the target object supported by the support stand located at a lower stage using the down-flow.

Abstract: A robot includes a force detection unit and an arm including an end effector. The arm applies a force acting in a predetermined direction to a first workpiece so that the first workpiece is pressed against at least a first surface and a second surface of a second workpiece.

Abstract: Provided is an in-pipe inspection robot which moves along a path in a pipe to inspect suspected areas such as cracks in the pipe. An in-pipe inspection robot in accordance with an exemplary embodiment of the present invention has a configuration in which two or more operating units having a plurality of arms, which move forward and backward in a radial direction of a pipe, are connected to each other to move in a straight direction or to be bent relative to each other by means of a flexible link mechanism.

Abstract: A robotic arm is mounted on a personal mobility device, such as a wheelchair, scooter or the like, and is controlled with a user input interface, also mounted on the personal mobility device. The user input interface has a grip operable by the user to move in a plurality of orthogonal directions, both spatially and angularly, having articulating arms supporting a housing with a pivot member.

Abstract: A control device includes a reception unit that receives first operation information and second operation information different from the first operation information; and a process unit that instructs a robot to execute operations based on the first operation information and the second operation information using a plurality of captured images of an imaged target object, the images being captured multiple times while the robot moves from a first posture to a second posture different from the first posture.

Abstract: A robotic cooking apparatus that can cook dishes using a computer recipe provided by a user and ingredients stored in it. Able to adjust the recipe based on user preference data. Cooking apparatus comprises of ingredient input section, cooking stations, pre-processing and post-processing station. Input section has trays and can be at room temperature or refrigerated for storing perishable ingredients. Robot head assembly is able to transfer ingredients, identify and measure as well as take inventory periodically. Cooking apparatus is connected to a network and can be operated remotely by a fixed or handheld device and monitor its operation remotely.

Abstract: A bioassembly system having a tissue/object modeling software component fully and seamlessly integrated with a robotic bioassembly workstation component for the computer-assisted design, fabrication and assembly of biological and non-biological constructs. The robotic bioassembly workstation includes a six-axis robot providing the capability for oblique-angle printing, printing by non-sequential planar layering, and printing on print substrates having variable surface topographies, enabling fabrication of more complex bio-constructs including tissues, organs and vascular trees.

Abstract: An assembly for releasably connecting an end effector in the form of a robotic tool or component to a robotic arm is disclosed. The connection is manually operated and formed of a first and second joint member including a cylindrical body, a locking collar, and a locking wall extending from the cylindrical body. The locking collar is coaxially aligned with and rotatably connected to the first joint member. The second joint member has a cylindrical mating body and a coupler, and engages the first joint member. The coupler also includes key pins, the pins being engageable in keyed relationship with the locking wall, the coupler and locking collar further includes intervening circumferentially spaced teeth, wherein the collar is rotatable to releasably engage the first joint member with the second joint member.

Abstract: A calibrated mass damper for use with end effectors for semiconductor wafer handling robots is described. The calibrated mass damper reduces vibrational response in an end effector carrying a semiconductor wafer without requiring modification of the end effector structure.

Abstract: Provided is a robot further improved in safety. The robot includes at least one link which is rotatably coupled around an axis, a motor which rotates the link around the axis, a first sensor which detects a rotation state of the motor, and a second sensor which detects a rotation state of the link. The robot also includes a controller which controls the rotation of the link based on information from the first sensor. The controller determines an operation state of at least one of the first sensor and the second sensor, based on first information from the first sensor and second information from the second sensor.

Abstract: A robotic control system is placed in clutch mode so that a slave manipulator holding a surgical instrument is temporarily disengaged from control by a master manipulator in order to allow manual positioning of the surgical instrument at a surgical site within a patient. Control systems implemented in a processor compensate for internally generated frictional and inertial resistance experienced during the positioning, thereby making movement more comfortable to the mover, and stabler from a control standpoint. Each control system drives a joint motor in the slave manipulator with a saturated torque command signal which has been generated to compensate for non-linear viscous forces, coulomb friction, cogging effects, and inertia forces subjected to the joint, using estimated joint angular velocities, accelerations and externally applied torques generated by an observer in the control system from sampled displacement measurements received from a sensor associated with the joint.

Abstract: Disclosed are methods and systems for using hieroglyphs for communication in a rapid fabrication environment. The method includes receiving, by a control system for an articulated robotic arm, one or more images of a fabrication machine build space. The method includes identifying, by the control system, a hieroglyph present in the one or more images and translating the identified hieroglyph into one or more instructions for manipulation of the articulated robotic arm. The method includes causing the articulated robotic arm to carry out the instructions translated from the identified hieroglyph. Accordingly foreign objects are inserted into fabricated objects during an automated rapid fabrication process without extensive redesign of the rapid fabrication machine. In some implementations, an unmodified third-party stereolithographic rapid fabrication machine can be used.

Abstract: A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.