Abstract: A method according to the invention for controlling a manipulator, in particular a robot, includes the following steps: determining (S10, S20) a target path (q(s)) of the manipulator, and determining (S70) a motion value (v(s)) for this target path, optionally, determining (S50) a path segment ([s_A, s_E]) with a defined profile of a motion value (v(s)=vc), and automatically determining (S60) this motion value on the basis of motion values (v_max_RB, v_max_vg) permissible in this path segment.

Abstract: There is provided a device for evaluating and correcting a robot operation program for evaluating an appropriateness for the robot operation program and correcting the robot operation program, comprising a computer including a simulation function for confirming a robot operation. The computer includes a load calculation section for calculating a load given to a motor for driving an operating portion of the robot by a simulation conducted by a computer; and an evaluation section for evaluating, by an evaluation function, whether or not the load exceeds a predetermined allowed value.

Abstract: A trainer for training a human to use a physical robot in a physical environment, the physical robot being controlled in the physical environment by an operator control unit, the trainer comprising an input device; a visual display; a computer connected to the input device and the visual display; and computer software disposed in the computer for creating a virtual robot and a virtual environment on the visual display, the virtual robot and the virtual environment being simulations of the physical robot and the physical environment wherein interaction between the virtual robot and the virtual environment simulates interaction between the physical robot and the physical environment.

Abstract: A method for driving a robot in a manner of imitation by watching (non-contact manner) based on the movement of a moving object, which has a complicated shape often causing self-occlusion, is provided. A plurality of image data of the robot is associated with pre-arranged operation commands and stored in an image corresponding operation command storing means 11. In order to have the robot perform a movement, the moving objecting caused to perform a desired movement, and at the same time, image data of the moving object are obtained as robot operational image data in time-series.

Abstract: A working robot arm and an object recognizing unit used for recognizing a moving body such as a person and an animal are prepared, and while an object recognized by the object recognizing unit is blocked by a shielding operation by the use of the robot arm or a trunk portion of a robot mechanism unit, a job is carried out by the working robot arm so that it becomes possible to actively ensure a working space of the robot mechanism unit, and consequently to continue the job safely.

Abstract: A robot controller according to an embodiment of the present invention comprises a base; a first link; a first actuator which drives to rotate the first link relative to the base; a first torque transmission mechanism which transmits the torque of the first actuator to the first link at a speed reducing ratio of N1; a first angular sensor which detects a rotating angle ?M1 of the first actuator; a first angular velocity sensor which detects an angular velocity ?A1 of the first link rotating relatively to the base; and a processor which calculates an angle of the first link relatively to the base by using a high frequency content of an integrated value of ?A1 and a low frequency content of ?M1*N1, the high frequency content being equal to a first frequency or higher and the low frequency content being equal to a first frequency or lower.

Abstract: A method of controlling a redundant manipulator for assigning one or more redundant joints from a plurality of joints and obtaining the solution to an inverse kinematics problem at high-speed. The joints are arbitrarily classified into redundant joints and non-redundant joints, and an initial value is set for the joint angle of the classified redundant joint as a parameter. Then based on an evaluating function or a constraint condition defined by the joint angle of the redundant joint provided as a parameter and the joint angle of the non-redundant joint, which is determined by the inverse kinematics calculation according to the change of the parameter, an optimum solution of a set of joint angles is determined, and until the optimum solution covers the target range of the hand position, the procedure to determine the optimum solution is repeated with relaxing the constraint conditions.

Abstract: The invention relates to a method for controlling robots for welding three-dimensional workpieces, comprising the following steps: positioning and tacking profiles to a plate in order to form the workpiece to be welded, depicting the workpiece by means of a three-dimensional imaging system in the form of three-dimensional pixels, determining the geometric data of the plate and profiles, including the allocation of cutouts and final cutting shapes from the three-dimensional pixels, determining the weld seam data from the geometric data while considering the profile placement lines and the contact lines of profiles, allocating the weld seam data to parameterizable specifications for the weld plan into stored predefined movement patterns of the robot, and into commands for the control of the welding process.

Abstract: First of all, in a first step S1, each actuator command value for position command value and posture command value of an end-effector is determined. Next, in a second step S2, rotational resistance values of a first and a second universal joints are obtained, and in a third step S3, the force and the moment exerted to each of the second universal joints are computed using this, and in a fourth step S4, the resultant force and the resultant moment exerted to the end-effector are determined from these. Then, in the fifth step, the elastic deformation amount of a mechanism is computed using these, and a compensation amount of the actuator command value is computed using these values. And then, in the sixth step, the actuator command values determined in the first step are updated with the compensation amount determined in the fifth step taken into account.

Abstract: A robot program correcting apparatus, which displays three-dimensional models of a robot and a workpiece simultaneously on the screen of a display apparatus, and corrects an operation program for the robot, includes: a unit retrieving a robot operation program and a working position based on at least either a line or a surface computed from touchup points and on a touchup position or points representing a working position specified on the screen; a difference computing unit computing a difference between at least either the line or surface computed from the touchup points and at least either a line or a surface computed from the plurality of points as position information representing the retrieved working position; and a correcting unit correcting the robot operation program by computing the amount of correction based on the difference, thereby reducing the number of steps required when correcting the robot operation program.

Abstract: The invention relates to a programmable robot system comprising a robot provided with a number of individual arm sections, where adjacent sections are interconnected by a joint, the system furthermore comprising controllable drive means provided in at least some of said joints and a control system for controlling said drive means. The robot system is furthermore provided with user interface means comprising means for programming the robot system, said user interface means being either provided externally to the robot, as an integral part of the robot or as a combination hereof and storage means co-operating with said user interface means and said control system for storing information related to the movement and further operations of the robot and optionally for storing information relating to the surroundings.

Abstract: A manual pulse generator (1) attached to the control panel of a machine tool made up of: a spindle mechanism for holding a tool; a workpiece mounting mechanism; a feed mechanism for moving the spindle mechanism relative to the workpiece mounting mechanism along three orthogonal X-axis, Y-axis and Z-axis paths, a control device for controlling the feed mechanism, a control panel having control keys and a keyboard for inputting various types of data to the control device, and a display for displaying on a screen control state resulting from the control device. The manual pulse generator (1) is provided with a control section (11) for inputting a pulse signal to the control device, and a light-emitting diode (15) for illumination, which is provided on an upper surface thereof to emit light upwardly, and which lights only when a pulse signal can be input to the control device.

Abstract: Methods and systems to optimize wafer placement repeatability in semiconductor manufacturing equipment using a controlled series of wafer movements are provided. In one embodiment, a preliminary station calibration is performed to teach a robot position for each station interfaced to facets of a vacuum transfer module used in semiconductor manufacturing. The method also calibrates the system to obtain compensation parameters that take into account the station where the wafer is to be placed, position of sensors in each facet, and offsets derived from performing extend and retract operations of a robot arm. In another embodiment where the robot includes two arms, the method calibrates the system to compensate for differences derived from using one arm or the other. During manufacturing, the wafers are placed in the different stations using the compensation parameters.

Abstract: A method for providing independent static and dynamic models in a prediction, control and optimization environment utilizes an independent static model (20) and an independent dynamic model (22). The static model (20) is a rigorous predictive model that is trained over a wide range of data, whereas the dynamic model (22) is trained over a narrow range of data. The gain K of the static model (20) is utilized to scale the gain k of the dynamic model (22). The forced dynamic portion of the model (22) referred to as the bi variables are scaled by the ratio of the gains K and k. The bi have a direct effect on the gain of a dynamic model (22). This is facilitated by a coefficient modification block (40). Thereafter, the difference between the new value input to the static model (20) and the prior steady-state value is utilized as an input to the dynamic model (22). The predicted dynamic output is then summed with the previous steady-state value to provide a predicted value Y.

Abstract: A robot system can grasp and take out one of a plurality of workpieces placed in a basket-like container by a hand mounted at the forward end of a robot arm. The workpiece is detected by a visual sensor, and the robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference or the like occurs, information relating to the problem is stored in a robot control unit or a visual sensor control unit. Information relating to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of problem occurrence, a position which the robot has reached, the target position data, the content of the process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the time of problem occurrence by using simulation unit. The situation at the time of problem occurrence can also be reproduced by using the actual robot without using the simulation unit.

Abstract: A handling robot system, including a table having a placement surface for placing articles; an article dispersing mechanism for dispersing the articles placed on the placement surface of the table across the placement surface; a vision sensor for detecting each of the articles dispersed on the placement surface of the table; and a robot operating, based on article detection data from the vision sensor, to hold the articles one by one.

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: The present invention relates to a rehabilitation robot and a tutorial learning method for the rehabilitation robot. The rehabilitation robot comprises a robotic device, a rehabilitation mode control unit, and a driving unit. The robotic device comprises at least a motor capable of controlling the joints of the robotic device. The rehabilitation mode control unit further comprises a tutorial learning module capable of enabling the rehabilitation robot to learn a rehabilitation operation of a physiotherapist in a tutorial manner as he/she is operating the rehabilitation robot while registering the rehabilitation operation as an operation mode of the same.

Abstract: An industrial robot system including at least one industrial robot including at least one manipulator located in a robot cell, a control unit for controlling the manipulator, a portable operator control device for teaching and manually operating the manipulator, a detecting unit detecting when the portable operator control device leaves the robot cell, and a warning generator producing a warning to the operator upon detecting that the portable operator control device leaves the robot cell.

Abstract: A working robot arm and an object recognizing unit used for recognizing a moving body such as a person and an animal are prepared, and while an object recognized by the object recognizing unit is blocked by a shielding operation by the use of the robot arm or a trunk portion of a robot mechanism unit, a job is carried out by the working robot arm so that it becomes possible to actively ensure a working space of the robot mechanism unit, and consequently to continue the job safely.

Abstract: A method is provided for teaching a transfer robot used in conjunction with a workpiece processing system including a pedestal assembly, a light sensor having an optical input fixedly coupled to the pedestal assembly, a transfer robot having an end effector, and a processing chamber containing the pedestal assembly and light sensor. The method includes the steps of producing light within the processing chamber, moving the end effector over the optical input such that amount of light reaching the light sensor varies in relation to the position of the end effector, and recording the signal gain as the end effector is moved over the optical input. The method also includes the step of establishing from the recorded signal gain a desired position of the end effector relative to the pedestal assembly.

Abstract: The safety of an operator which may be endangered by an erroneous instruction by the operator or a robot control system is ensured by making more stringent a condition regarding the separation of the operator from the vicinity of a robot when an operation program of the robot is activated. An interlock to which a condition regarding activation of the operation program of the robot is added is provided in a feeding unit which is connected to a robot controlling unit by wireless connection for charging a teaching unit, so as to provide a robot system which improves the safety of the operator.

Abstract: A tire rotating robot used to rotate the tires of a vehicle. The robot can remove two tires sequentially without having a human to manually lift the tires. The robot for rotating tires comprises of a mobile base, a body connected to the base, a pivotally mounted two-position rotating beam connected to the body, two arm guide assemblies displaced within a channel of the beam, a motor that powers the robot, and an interface that controls the robot.

Abstract: A robot control apparatus allows a plurality of mobile robots to carry out tasks at a reduced or minimized cost as a whole with consideration given to costs derived from an encounter with an obstacle is provided. An action optimization controller provided in the robot control apparatus generates an instruction for optimizing actions of the plurality of mobile robots so that the plurality of mobile robots carry out the tasks at a minimized cost, based upon locomotion plan information indicative of locomotion plans of the plurality of mobile robots. A possibility that any robots have an encounter with an obstacle is determined by comparing distances from the robots to the obstacles. A locomotion plan implementation cost is calculated with consideration given to the possibility of encounter, and thus an optimum route is selected based upon the locomotion plan implementation cost with the encounter-derived cost. In accordance with the optimum route, the locomotion plan for the robot is modified.

Abstract: A teaching position correcting device which can easily correct, with high precision, teaching positions after shifting at least one of a robot and an object worked by the robot. Calibration is carried out using a vision sensor (i.e., CCD camera) that is mounted on a work tool. The vision sensor measures three-dimensional positions of at least three reference marks not aligned in a straight line on the object. The vision sensor is optionally detached from the work tool, and at least one of the robot and the object is shifted. After the shifting, calibration (this can be omitted when the vision sensor is not detached) and measuring of three-dimensional positions of the reference marks are carried out gain. A change in a relative positional relationship between the robot and the object is obtained using the result of measuring three-dimensional positions of the reference marks before and after the shifting respectively.

Abstract: Apparatus and method for reference point teaching for an articulated member, such as a robotic arm. An end effector is moved to form a witness mark on a medium at a target location. An updated reference point for the end effector is generated in relation to a detected coordinate of the witness mark. The end effector preferably supports a gage with a tapered probe, and a distal end of the probe contactingly engages the medium to form the witness mark. A vision system preferably detects the position of the witness mark after retraction of the end effector away from the mark. The medium preferably comprises paper, and the witness mark preferably comprises a hole punched therethrough. Alternatively, the medium comprises pressure sensitive paper and the mark is formed by the application of pressure thereto. The gage can comprise two probes that make two spaced apart witness marks, as desired.

Abstract: A medical system that allows a mentor to teach a pupil how to use a robotically controlled medical instrument. The system may include a first handle that can be controlled by a mentor to move the medical instrument. The system may further have a second handle that can be moved by a pupil to control the same instrument. Deviations between movement of the handles by the mentor and the pupil can be provided as force feedback to the pupil and mentor handles. The force feedback pushes the pupil's hand to correspond with the mentor's handle movement. The force feedback will also push the mentor's hand to provide information to the mentor on pupil's movements. The mentor is thus able to guide the pupil's hands through force feedback of the pupil handles to teach the pupil how to use the system.

Abstract: A portable device (1) with at least one optical output device (2) for displaying at least process data of a machine, a robot or a technical process, with at least one input device (3) for at least intervening in the operating functions of the device (1) and/or for operating the machine or robot or technical process, and having a safety switch device (12) for preventing the output of undesirable, unintended control commands for the machine, robot or technical process. The output devices (2) and input devices (3) are connected to a control device (14), which is accommodated in a housing (7) that is unbreakable as far as possible and at least one communication interface (17) is provided to an external control device disposed at a distance away. Several of the input and output devices (2, 3) are functionally combined by means of a touch-sensitive screen (4) in the form of a touch-screen (5) and the touch-sensitive screen (4) extends across substantial regions of the surface of the housing (7).

Abstract: In a device and method for programming an industrial robot using a simulation program, control commands are issued by a handheld programming device and these commands are visualized on an image surface as movement and/or processing operations by the robot on the basis of data of the robot. An object to be processed is also displayed on the image surface and a three-dimensional image of the robot and the object is presented.

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: 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 tool changer comprising a master module and a tool module includes a rapid-connect communication bus between the master and tool modules. A unique tool identification number, along with other tool-related information, may be transmitted from the tool module to the master module within about 250 msec of the master and tool modules coupling together. The master module includes a robotic system communications network node connected to the rapid-connect communication bus, and operative to transmit data between the tool and the network via the communication bus. The need for a separate network node in the tool module is obviated, reducing cost and reducing the start-up time required to initialize such a network node upon connecting to a new tool. The rapid-connect communication bus may be a serial bus.

Abstract: A method for data connectivity in a room with a robotic device. In the method, at least one condition is detected with a plurality of sensors and the detected at least one condition is communicated from the sensors to associated access points. One or more of the access points are selected and the robotic device is maneuvered to a location in a vicinity of one or more of the selected access points. The detected at least one condition is communicated from one or more of the selected access points to the robotic device. In addition, the robotic device is maneuvered to a location in a vicinity of a base station and the detected at least one condition is communicated from the robotic device to the base station.

Abstract: A method for machining workpieces by means of a multiaxial manipulator, such as an industrial robot, with a tool moved proportionally by a control unit of the manipulator and which can perform characteristic movements with several degrees of freedom is characterized in that the degrees of freedom of the tool are evaluated together with the degrees of freedom of axes of the manipulator in real time for moving a tool tip (TCP) in accordance with a predetermined, continuous machining path or a portionwise continuous machining geometry (step function) and for determining a movement of the manipulator. The invention also proposes a device suitable for performing the aforementioned method, in which the tool and a tool tip, during workpiece machining, are movement-controllable by the manipulator control unit. In this way it is possible to drastically reduce the overall machining time.

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

Abstract: A teleoperator system with telepresence is shown which includes right and left hand controllers (72R and 72L) for control of right and left manipulators (24R and 24L) through use of a servomechanism that includes computer (42). Cameras (46R and 46L) view workspace (30) from different angles for production of stereoscopic signal outputs at lines (48R and 48L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image (30I) is produced which, is reflected by mirror (66) toward the eyes of operator (18). A virtual image (30V) is produced adjacent control arms (76R and 76L) which is viewed by operator (18) looking in the direction of the control arms. Use of the teleoperator system for surgical procedures also is disclosed.

Abstract: A system for performing the method of this invention includes a leader having a robot arm able to articulate about first axes and supporting an end effector. A follower includes a robot arm able to articulate about respective second axes. Servo motors articulate the leader arm about the first axes and the follower arm about the second axes. A user interface allows a user to jog the arm of the leader and to program movement of the arms for automatic execution such that the end effector reaches predetermined positions. A controller, operatively connected to the servo motors and the user interface, controls operation of the servo motors, moves the arm of the leader in accordance with the programmed movement, and moves the arm of the follower such that it tracks or mirrors movement of the leader.

Abstract: A workpiece W serving as an object for detection is fixed in place. A camera 20 is mounted to the end of a robot RB. The camera is turned about an axis, which passes through the center position of the workpiece W and is perpendicular to the optical axis of the camera, to take an image of the workpiece W at a plurality of positions in different directions. A teaching model is generated on the basis of each produced image data. The relative position and posture of the workpiece to the camera 20 is also stored in association with the teaching model. Thus, it is possible to easily generate the teaching model of the workpiece regardless of three-dimensional variations in posture.

Abstract: The present invention relates to a method for rapid transfer of a work object in both the horizontal and vertical directions using a robot unit (10) having a gripping mechanism (12) preferably from one workstation (3) to another (4), the work piece (2) weighing between one kilo and forty kilos and the transfer in the horizontal direction being at least one meter but less than ten meters and at least partially being effected along an essentially horizontally extending beam unit (20), and the gripping mechanism (12) being arranged in such a way that, at least in one end situation (E1) along the beam (20), it can collect and/or deliver a work object (2) in a position (E2) situated beyond the end situation (E1) along the said horizontal beam (20), which robot unit is controlled by means of a control unit (50) and is driven by means of a belt member (24) and at least two motors (26, 27) comprising rotor units connected to drive wheels (26A, 27A) for the said belt member (24), the said motors (26, 27) being immovab

Abstract: A method for an industrial robot to increase accuracy in movements of the robot. A first path is formed by bringing a tool supported by the robot to adopt a plurality of generated positions. A plurality of observed positions of the tool moving along the first path are determined. A second path is formed of the determined tool positions. A correction is determined by a path deviation between geometrically determined positions in the first path and the second path.

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

Abstract: A method for operating a data center with a robotic device. In the method, a condition is detected in a location of the data center. The robotic device, which includes a camera and a manipulator, is maneuvered to travel to the location of the data center. The location of the data center is imaged with the camera of the robotic device and an object is manipulated with the manipulator of the robotic device.

Abstract: A method for providing independent static and dynamic models in a prediction, control and optimization environment utilizes an independent static model (20) and an independent dynamic model (22). The static model (20) is a rigorous predictive model that is trained over a wide range of data, whereas the dynamic model (22) is trained over a narrow range of data. The gain K of the static model (20) is utilized to scale the gain k of the dynamic model (22). The forced dynamic portion of the model (22) referred to as the bi variables are scaled by the ratio of the gains K and k. The bi have a direct effect on the gain of a dynamic model (22). This is facilitated by a coefficient modification block (40). Thereafter, the difference between the new value input to the static model (20) and the prior steady-state value is utilized as an input to the dynamic model (22). The predicted dynamic output is then summed with the previous steady-state value to provide a predicted value Y.

Abstract: A tool changer comprising a master module and a tool module includes a rapid-connect communication bus between the master and tool modules. A unique tool identification number, along with other tool-related information, may be transmitted from the tool module to the master module within about 250 msec of the master and tool modules coupling together. The master module includes a robotic system communications network node connected to the rapid-connect communication bus, and operative to transmit data between the tool and the network via the communication bus. The need for a separate network node in the tool module is obviated, reducing cost and reducing the start-up time required to initialize such a network node upon connecting to a new tool. The rapid-connect communication bus may be a serial bus.

Abstract: 3-D models of various types of objects such as a robot body, and a peripheral equipment, a machine, a part (workpiece), of the robot, are stored in an object library in advance. Dimension line data of an edge line of which dimension can be changed, and constraint condition for constraining coordinate positions of apexes which can be changed are also stored in the object library. A model having the shape corresponding to the shape of the object to be used is selected from the object library, and the dimension of the shape is set. The dimension of the selected model is modified so that the shape of the model corresponds to the shape of the actual object. Using the model of which dimension was adjusted, animation motion of the robot is formed on a display screen. With the above arrangement, it is possible to easily set and change object 3-D models relating to a robot motion.

Abstract: A robot apparatus and a motion controlling method for the robot apparatus wherein a reflex motion or the like can be performed at a high speed while decreasing the calculation amount of and the concentrated calculation load to a control apparatus. The robot has a control configuration having a hierarchical structure including a higher order central calculation section corresponding to the brain, reflex system control sections corresponding to the vertebra, and servo control systems and actuators corresponding to the muscles. From restrictions to the power consumption and so forth, there is a limitation to increase of the speed of a control cycle of the higher order central calculation section. External force acting upon the machine body is a disturbance input of a high frequency band, and a very high speed control system is required.

Abstract: The present invention discloses a robotic manipulator, comprising at least one joint, each joint having a drive axis and at least one microelectromechanical system (MEMS) inertial sensor aligned with at least one drive axis providing sensing of a relative position of the drive axis. The robotic manipulator can include an inertial measurement unit (IMU) coupled to the robotic manipulator for determining the end effector position and orientation. A controller can be used, receiving a signal from at least one MEMS inertial sensor and controlling at least one joint drive axis in response to the signal to change the relative position of the joint drive axis. Rate information from MEMS sensors can be integrated to determine the position of their respective drive axes.

Abstract: A positioning substrate is used for performing a teaching operation on a transfer mechanism for transferring a target substrate in a semiconductor processing system. The positioning substrate includes a substrate body made of a material selected from the group consisting of the same material as the target substrate, semiconductor, compound semiconductor, and ceramic. The substrate body has an outer contour sized to be handled by the transfer mechanism as an alternative to the target substrate. The positioning substrate also includes a positioning assistant having a combination of a positioning hole and a positioning reference line formed in the substrate body. The positioning hole is formed to penetrate the substrate body in a thickness direction. The positioning reference line is formed on a surface of the substrate body to extend across an opening of the positioning hole and have a predetermined width.

Abstract: A palletizer system is described for transferring a object that are conveyed along a conveyor to a rack, the object having a surface, the palletizer system comprising a camera, a robot transfer subsystem and a control module. The camera is configured to generate images of the object as it is being conveyed along the conveyor. The robot transfer subsystem comprises a gripper module mounted on a robot, the robot being configured to move the gripper module, and the gripper module being configured to controllably grip the surface.

Abstract: It is constructed so as to detect a joint movement position of a robot arm by a position detector and a joint movement speed is calculated from change amounts of the joint movement position and elapsed time and is compared with an allowable movement speed and unlocking and locking of a brake are controlled so that the joint movement speed of an arm at the time of brake unlocking becomes within a constant value even when a shape, an attitude and a load condition of the robot arm vary. Therefore, movement work of the arm by the brake unlocking can be performed alone and a robot with high safety can be obtained.