Abstract: In a biped walking robot having a body and two articulated legs each connected to the body and each having a foot at its free end such that the robot is controlled to walk by landing a heel of the foot first on a floor. The heel of the foot has projections and packings charged in gaps. The projections are constituted to have high rigidity against forces acting in the direction of the gravity axis and low rigidity, which is lower than the first rigidity, against forces acting in other directions, when the heel is landed, thereby enabling to achieve an optimum balance between absorption/mitigation of shock at footfall and attitude stabilization after footfall.

Abstract: When a multiaxial robot with a mechanism having spring elements between electric motors of respective axes and robot arms is controlled, the path precision of a tool tip is increased without causing vibrations produced by mechanical interference between axes and high-frequency vibrations of electric motors. A model controller (1) is supplied with position commands Xref—L, Xref—U with respect to the electric motors and outputs model motor position commands &thgr;Mm—L, &thgr;Mm—U, model motor speed commands {dot over (&thgr;)}Mm—L, {dot over (&thgr;)}Mm—U, and model feed-forward commands UFF—L, UFF—U to feedback controllers (10L, 10U) which actuate and control the electric motors and the robot arms. The model controller (1) includes therein corrective quantity calculators (3L, 3U) for calculating corrective quantities (corrective torques) in view of interfering forces acting between the axes from the other axes to cancel the interfering forces.

Abstract: A first arm (3) of a articulated robot has a double arm structure composed of a first arm piece (3a) and a second arm piece (3b). The first arm piece (3a) transmits a drive force, and a housing (4a) of a second arm (4) is rotatably mounted to the first arm piece (3a) at the end thereof. The second arm piece (3b) houses cables and pipes or the like, and a cover (4b) of the housing (4a) is rotatably mounted to the second arm piece at the end thereof. The cover (4b) is fixed to the housing (4a) through a fixing tool (6). The housing (4a) is permitted to be opened by separating the housing (4a) and the cover (4b) from each other by causing the second arm piece (3b) to rotate relatively to the first arm piece (3a) after the removal of the fixing tool (6).

Abstract: A dynamic control system for a power-assist device has a statics formulator for determining a set of static torques for the lift system based on force data from the lift system. The control system further includes a dynamics formulator for determining a set of dynamic torques for the lift system based on joint data and the static torques. A static torque and a dynamic torque is therefore determined for each joint of the assist device. The control system also includes a torque summation module for summing the dynamic torques with the static torques to determine torque data for each joint of the lift system. The torque summation module applies the torque data to the lift system to achieve dynamic compensation within a substantially shorter response time. Thus, a method and system are presented for dynamically controlling a power-assisted lift system to continuously reduce human operator strain in a real-time mode.

Abstract: In order to guide a cable for a robot in a protective fashion while facilitating simple insertion of protected cables in a robot arm, in particular a robot arm bearing a hand arbor motor, having a cable guide channel extending substantially along the robot arm and having a sideward opening along its entire length.

Abstract: An industrial robot is provided which has a compact and of low height body operable within an operating range not exceed the height of the robot during operation, and yet is able to secure a wide operating range of the near front side of the robot. The robot has a fixed base, a rotary base mounted on the fixed base rotatably around a vertical swing axis, a first arm mounted on the rotary base rotatably around a horizontal first rotational axis, a second arm mounted on the first arm rotatably around a horizontal second rotational axis and a wrist mounted on the distal end of the second arm rotatably around a longitudinal axis thereof. The first arm is made operable to hang down in a position where the axis of the first arm is perpendicular to the installation surface of the robot and outwardly offset from the outer surface of the fixed base, the operating range of the first arm which interfere with the fixed base is made so small and the operating range of the front side of the robot is much enlarged.

Abstract: A device for handling instruments used in technical cytological examinations has a holder base with at least two separate and moveable holders each carrying one instrument and each being coupled with a drive for switching the holders between two defined positions, one of which is a working position and the other is a rest position. In the working position, the distal end of the instrument located in the holder is aligned during a technical cytological intervention in the region of cellular material which is to be treated. In the rest position, the instrument held in the holder is kept at a safe distance from the cellular material which is to be treated. The drives are coupled with each other so that, when activated, they switch the holders between their rest and working position, respectively.

Abstract: When the operator inputs a macro control command, each microrobot takes an actual action on the basis of the command. That action is autonomously controlled to successfully execute the macro command. The autonomous control is to feed back and control the deviation between sensor information (position, speed, and acceleration) of the microrobot and the control command. When a plurality of microrobots are used and must take distributed, cooperative actions, conditions required for task completion such as environmental conditions (temperature, humidity, and the like) are obtained via communications with the base controller and are used for control information compensation. Such control allows each microrobot to cope with complicated tasks independently of the number of sensors, communication performance, and computer processing performance.

Abstract: A robot arm comprises an assembly (6) rotatable relative to a part (2) of the arm about an axis extending at an angle to a longitudinal axis of the arm part, said assembly comprising a drive unit (8) and a member (9) driven by the drive unit. A cable (35, 36) comprising one or more lines for communication of energy for driving and/or control purposes extends between the arm part (2) and the drive unit (8). The assembly (6) comprises an axle pin (13) rotatably supported relative to the arm part (2). The cable extends in a space (48) provided in the assembly and comprising a first part space (49) provided in the axle pin (13), the cable being coiled in screw-line-shape in said first part space, and a second part space (50), in which the cable extends from the first part space (49) to the drive unit.

Abstract: A calibration jig for establishing a home position of a robotic mechanism which retrieves components from a parts tray. The calibration jig includes: an angled member having a first wall member and a second wall member which is substantially perpendicular to the first wall member, wherein the angled member is configured to be juxtapositioned at a corner of a drawer which holds the parts tray; and a tapered portion, coupled to at least one of the first and second wall members, and extending upwardly with respect to the first and second wall members, wherein the tapered portion engages a portion of the robotic mechanism so as to serve as a calibration point for establishing the home position of the robotic mechanism with respect to the parts tray.

Abstract: A robotic device for turning a steering wheel of a vehicle includes an electric motor and a telescoping turning shaft connected to the motor. An adapter couples the steering wheel to the turning shaft.

Abstract: A control unit for an industrial robot comprising a speed command device for outputting a speed command signal for the industrial robot and a servo control device which outputs to a servo motor of each of a plurality of axes of rotation of the industrial robot, in response to the speed command signal, an electric current corresponding to the speed command signal. The servo control performs feedback control of the industrial robot, in response to a signal from an encoder of each of the axes of rotation of the industrial robot, so as to actuate the servo motor at a speed designated by the speed command signal. The speed command device includes a comparison member for comparing an actual speed of the industrial robot calculated from a pulse train of a signal returning from the encoder with the speed designated by the speed command signal.

Abstract: An industrial robot allowing one-way assembly, size reduction and long cable life includes a first member; a second member which swivels relative to the first member; a third member which swivels relative to the second member; a first drive unit provided at the first member for swiveling the second member; a second drive unit provided at the second member for swiveling the third member; a cable passing inside of the first and second members for feeding power or a signal to the second drive unit; a first fixing member for fixing a portion of the cable to an end portion of the first or second member; a second fixing member for fixing another portion of the cable to an end portion of the first or second member; and a bent cable provided between the first and second fixing members so as to be bent in a U-shape, the bent cable being provided at either one of the first and second members and arranged at a portion of an output shaft of the first drive unit with a bent portion thereof as one end thereof and with port

Abstract: A lead wire distribution processing structure includes separated partition plates (16) standing on the upper surface of a bottom section (12) of a swivel base (11) at a position closer to the outer periphery thereof than an arm (14) within a space (13), wherein partition plates (16) have lead wire penetration sections (17) at a level above bottom section (12), which is provided with lead wire penetration holes (18) at positions outward from partition plate (16) thereby allowing lead wires (15) drawn out of the lower section of arm (14) within space (13) to run downward and arrive at a position below lead wire penetration sections (17) of partition plates (16), thus causing them to separate from each other and extend upwardly so that they extend in opposite directions to enter the interior of a fixed base through lead wire penetration holes (18). It is possible to simply and reliably attain drip protection without any significant modifications of the swivel base in structure.

Abstract: A swinging base 12 is provided on top of a stationary base 11 such as to be capable of rotating by means of a bearing 13. A reduction gear 15 is provided in a depression portion 14 formed on the top surface of the stationary base 11. A motor 16 having a rotational shaft 17 connected to the reduction gear is provided on the swinging base. A cable support portion 21 which is rotatably supported by means of a bearing 18 provided on an axis A is provided inside the stationary base 11. The cable support portion 21 supports cables C. A through hole 23 is formed in the bottom of the swinging base 12. An arcuate aperture portion 24 is formed in the stationary base 11. The cables C are passed through the aperture portion 24 and the through hole 23. With this invention, cables which are installed in industrial robots can be supported without receiving excessive forces.

Abstract: A foot system for a jointed leg type walking robot which is capable of more stably walking on both even and uneven ground surfaces includes a connection member disposed at a center portion of the foot system and connected to a leg system provided above the same and having a waist joint, a knee joint, and a shank, the connection member being cylindrical, an ankle member being integral with the connection member and below the same, a shock absorber supporting portion member outwardly and integrally extending at the outer surface of the ankle member and having a vertical hole formed therethrough, a shock absorber fixedly inserted into the hole formed in the shock absorber supporting portion member, and front and rear toes pivotally connected to the ankle by a plurality of upper and lower parallel links.

Abstract: A robotic arm has a base with a top surface and an aperture therein. A shaft extends up through the aperture, and there is a gap between the shaft and an inner edge of the aperture. A splash guard may extend over said gap, and an indentation in said top surface may at least partially surround the gap. A seal, including a bearing and a barrier, is located in the gap. The bearing allows the inner and outer surfaces to rotate relative to each other. The barrier includes a plurality of annular outward-pointing flanges attached to an inner surface interleaved with a plurality of annular inward-pointing flanges attached to an outer surface. The flanges may be angled and have an upturned lip located at an inner edge of each flange. The seal may include a magnet attached to a flange.

Abstract: A robot system allows an operator to connect a peripheral to a robot controller without entering the operation range of a movable robot assembly. The robot controller has a data communication interface therein which is connected through a connector cable to a relay that is mounted on a safety cage. The relay has a connector for connecting a data communication cable to which a transmitter/receiver is connected. A peripheral such as a programmable logic controller or a personal computer is connected to the transmitter/receiver through a data communication cable. When the data communication cable connected to the transmitter/receiver is connected to the relay, the robot controller is connected to a network. The robot controller can easily be connected to the peripheral by connecting the data communication cable to the relay.

Abstract: A process for producing an electrically driven mechanochemical actuator comprising:(a) immersing a mixture of poly(2-hydroxethyl methacrylate) and poly(methacrylic acid) crosslinked with 1,1,1-trimethylol propane trimethacrylate and ethylene glycol dimethacrylate into an aqueous polyelectrolyte solution to form a hydrogel;(b) applying an electrical field to the hydrogel sufficient to provide buckling, rippling, and contraction of the hydrogel;(c) terminating application of the electrical field and allowing the hydrogel to relax and return to its original shape;(d) reapplying the electrical field to the hydrogel sufficient to provide buckling, rippling, and contraction of the hydrogel.

Abstract: A folding press is disclosed having a frame supported by a fixed base; a fixed beam and a ram beam supported by the frame, the ram beam being movable relative to the fixed beam; a pair of folding blades attached to the beams for folding a sheet of metal; and manipulation means for grasping the sheet of metal and introducing the sheet of metal between the folding blades, the manipulation means being attached to the ram beam. The folding blades are so disposed as to produce a horizontal working stroke relative to the fixed base, and the manipulation means comprises a plurality of arm members rotatable in relation to each other. In operation, the manipulation means grasps a sheet of material and introduces it between the blades while maintaining the sheet of material in a substantially vertical position relative to the fixed base, thereby minimizing folding errors caused by a horizontal disposition of the sheet of material.

Abstract: A new generation of hybrid form multi-axis machine tools is described. The hybrid machine tools comprise a position mechanism and an orientation mechanism. Both mechanisms are three-DOF parallel mechanisms that can be connected either in series to form a hybrid parallel-serial manipulator, or in parallel to form a cooperating machine. The position mechanism is used for manipulating the position and the orientation mechanism is used for manipulating the orientation of an object. Six-axes machining of a workpiece is achieved by coordinating the motions of the position and orientation mechanisms. This approach has several important advantages. First of all, a high stiffness, low inertia, and high speed machine tool is realized by using the parallel construction. Secondly, its direct and inverse kinematic solutions could be solved in closed forms which would greatly simplify the control and path planning problems. Thirdly, it has a relatively large workspace in comparison to fully parallel platform manipulators.

Abstract: A positioning device for positioning a robot unit (30) of a multi-articulated type industrial robot at an origin reference position having a polygonal male jig (52) attached to an extremity of the robot unit (30), and a polygonal female jig (58) suitable for being mated with the polygonal male jig (52), and the flat surfaces of the polygonal male jig (52) are brought into contact with the flat surfaces of the polygonal female jig (58) to position the robot unit (30) at the origin reference position. When mating the male jig (52) and the female jig (58) with each other in close surface-to-surface contact, the male jig (52) is pressed by pressing means (64) to bring the predetermined flat surfaces of the polygonal male jig (52) into close contact with the predetermined flat surfaces of the female jig (58).

Abstract: In a robot apparatus comprising a robot mechanical unit and a robot controller, the robot apparatus does not need a connecting cable for connecting the robot mechanical unit to the robot controller. The robot mechanical unit includes a connector for receiving a control signal and outputting a sensor signal, in addition to an arm and a drive unit. The robot controller includes a circuit for controlling the robot mechanical unit, a servo amplifier, and a connector capable of being directly coupled with the connector of the robot mechanical unit. Further, the robot controller is installed at a location adjacent to the robot mechanical unit and within a dead space of an operating area of the robot mechanical unit.

Abstract: An articulated industrial robot provided with a reference position setting means which includes two positioning contact parts 22 and 24, and the reference position setting means is provided for each joint 16 of a robot unit 10 in such a manner that the positioning contact parts 22 and 24 are brought into contact with each other so as to perform determination of a geometrical reference position for each joint drive source after the replacement of a defective drive motor or a defective reduction gear of the joint drive source. The determined geometrical reference position regarding each of the joint axes are stored in the robot controller to thereby achieve a single-axis mastering,and thus the reference position setting means simplifies single-axis mastering with respect to each joint axis of the robot unit without being subject to any spatial restrictions.

Abstract: A modular robot body assembly includes a generally rhombicuboctahedron geometric shape segmented into five modules symmetrically located around a horizontal center shaft system which allows the robot body, front legs, and back legs to rotate about a horizontal center axis with respect to one another. Four quarter-shell modules are arranged at 90 degree angles from each other about the common horizontal center axis and joined at edges to each other and at their inner facing edges to a core module containing a shaft rotatably mounted along the horizontal center axis. Each module may contain functionally different parts that can be mixed and matched with other modules to suit particular applications. A flexible coil conduit is connected between the shaft and the core module providing an electrical linkage form the robot body to the legs while maintaining rotational capability of the legs with respect to the body.

Abstract: The present invention pertains to a multiaxial manipulator (1), in which the supply lines (9, 10) for the tool (7) and for the manipulator drives (8) are led in separate bundles of lines and are connected separately. The supply lines (9, 10), led in from the outside, are connected to the relatively stationary base (2) of the manipulator (1), wherein at least the supply lines (10) for the tool (7) are then led inside the base (2) to the moving carousel (3). The supply lines (10) again exit to the outside at the carousel (3) and are then led along the moving manipulator parts (4, 5, 6) to the tool (7). The supply lines (9) for the manipulator drives (8) can also be led in a similar manner on the inside through the base (2) and then on the outside, along the manipulator parts (4, 5, 6).

Abstract: A joint of a hydraulic manipulator connects two hollow arm members and includes two indirect linkage members arranged to provide increased scope for the joint. Hydraulic hoses or cables extend through the hollow arm members, so as to be protected, and along a route which intersects the centre axis of the joint so they are not stretched as the joint bends.

Abstract: An industrial robot is provided with a cable laying arm (20) extended on one side of a robot trunk (12) so as to form a dual arm structure in combination with a structural arm (18) extended on the other side of the robot trunk (12). A bundle (58) of cables capable of being detachably connected to the robot unit is extended in the cable housing element (50) of the cable laying arm (20) so that the cables including power supply cables and signal transmission cables are not exposed to the outside. The whole cable housing element (50) can be readily removed from the robot trunk (12) together with the bundle (58) of cables, in case any one of the cables is disconnected, to permit repair of the disconnected cable.

Abstract: An industrial robot device in which accurate alignment between the robot and the processing machine with which it is employed are ensured. Alignment datum points are provided both on a standard mounting face of the robot, which preferably corresponds to the X axis assumed by the robot-operating software, and on a standard mounting face of the processing machine, which corresponds to the X axis of the latter. The robot is mounted to the processing machine in such a manner that the two datum points are aligned.

Abstract: A robot driver for a motor vehicle, which has a central casing (4) to be mounted in the passenger compartment (1) and actuating elements (5) for pedals (6) and, if appropriate, gear lever, can be mounted in the passenger compartment in a stable and uncomplicated way and without the risk of damage in that the casing is supported on the seating surface and back rest surface (8,9) of the driver's seat (2) and is connected to a rod (17) which is held on a steering wheel frame (19) mounted on the steering wheel (3) and is flush with the center of the steering column (18).

Abstract: The present invention provides a holding fixture which is best utilized when installing a closed loop fixed length of weather stripping. The fixture as provided improves a robot weather stripping system by decreasing the rate of unacceptable applications and decreasing the criticality of the weather stripping parameters by holding the weather stripping in a unique manner during installation.

Abstract: An apparatus for predicting the lifetime of cables for movable portions of an industrial robot, the apparatus comprising: measuring devices connected to the cables for the movable portions of the industrial robot for measuring mechanical movement of the cables for said movable portions; and a CPU for making accummulating results obtained by the measuring devices and predetermined reference values to determine that the cables for said movable portions have exceeded their lifetime if the accumulated exceeds a predetermined reference value.

Abstract: A fitting structure of a first arm fitted to a robot base of a horizontal articulated robot, wherein a linearly movable slide is longitudinally guided along the robot base. A base at a base end of the first arm is rotatably fitted to the slider, and rotation of the base relative to the slider is restricted by a removable fixing device. This invention is efficiently used when packaging the robot.

Abstract: Systems and methods for performing tele-operations with the active assistance and supervision of a cognitive agent, such as a human being, who generates a future path plan in real time for immediate use by an automated on-line controlled agent, such as a work robot or other manipulator, are disclosed. The systems and methods may employ a visual display to present images of the controlled agent, of a foward simulation of the controlled agent, and of the future path plan being generated to enable a human operator to assess and control the on-going activity. The system simultaneously operates the controlled agent and produces the forward simulation and path plan, all under real time conditions. The cognitive agent, display and forward simulation equipment may be at one location and the controlled agent and its controller at another remote location.

Abstract: To program a robot, without requiring action by specially qualified staff, electronic cards (called chip cards) are used. A handling workman stacks chip cards in an automatic distributor. These chip cards correspond to a set of tasks to be performed. The robot is designed to come and stand in queue before this distributor to receive the chip card which is located at the bottom of the stack and has the program of instructions which it has to carry out.

Abstract: An industrial robot having an expansion axis, a turning axis and a vertical axis, wherein the one end of flexible supporting plate supporting an internal wiring and piping system of the robot is fixed to the expansion axis which is capable of making free linear motion for a base plate arranged to the vertical axis. The flexible supporting plate is bent in the form of letter U in parallel to the turning plane of the expansion axis. Therefore, the expansion axis can be located at the sufficient lower position for the base plate, and the strength and accuracy of the drive mechanism can be improved.

Abstract: A tool is to be automatically connected to a robot arm in well-defined angular position such that a sufficiently high torque is transmitted. The robot arm has a conical recess extending over a tool cone. A threaded sleeve is rectilinearly guided in the tool cone and displaceable with respect to a spring. A flange of the threaded sleeve engages an annular shoulder. A threaded spindle extending with a threaded head in a recess is mounted in the robot arm. The threaded spindle first pushes the threaded sleeve back against the action of the spring, such that the spindle engages the threaded sleeve with a well-defined force. Then the threaded head is screwed into the threaded sleeve and through the flange pulls the tool and the robot arm against each other by rectilinear movement. The conical surfaces and of the recess and the tool cone ensure the torque transmission.

Abstract: Multi-jointed robot for use in a clean room specifically applicable during the production of semiconductor devices where contaminant material must be eliminated to the extent possible. The robot includes a sectional body defined at least in part by a plurality of arm members wherein a plurality of pivotal joints are provided to pivotably connect adjacent arm members with respect to each other. The arm members and the pivotal joints are hollow such that an uninterrupted air passage is provided in the robot extending through each of the pivotal joints and the arm members of the sectional body thereof. The robot includes a terminal arm member located at one end of the sectional body which has an opening on the exterior surface thereof defining one end of the air passage through the robot. A rotary fan is mounted in the robot at the other end of the air passage and is operable upon rotation to exhaust air through the air passage within the interior of the sectional body of the robot.

Abstract: An industrial robot (10) comprising a cylindrical fixed robot body (14), a swivel body (26) mounted on the fixed robot body (14), a robot arm mechanism (60, 64) pivotally joined to the swivel body (26), and a robot wrist (66) connected to the robot arm mechanism is provided with a cable guide member (30). The cable guide member (30) is extended along the outside of the fixed robot body (14) and has a lower end pivotally joined to the fixed robot body (14) by a lower bearing member (42) and an upper end pivotally joined to the swivel body (26) by an upper bearing member (40). The cables (50) of the industrial robot (10) extending from the lower end of the fixed robot body (14) are held by cable holding section (32) formed in the middle portion of the cable guide member (30) and are extended from the upper end of the cable holding member (30) through the swivel body (26) toward the robot arm mechanism.

Abstract: A robot control apparatus is provided, including a for storing a plurality of approach patterns related to hand movement for when workpieces gripped by a robot hand are stacked and unstacked at predetermined locations. Approach pattern from a position at which movement of the robot hand starts to a motion position at which a workpiece is stacked or unstacked, and from this motion position to a position at which movement of the robot hand ends can be selected at will depending upon the type of workpiece and the motion position.

Abstract: The partitioning of circuitry and software on electronic boards in a robot control is arranged to enable respective controls for varied types of robots to be readily assembled and packaged with use of a few standard boards.The basic control system is formed from an arm interface (AIF) board and a torque processor (TP) board and a servo control (SCM) board. The AIF board has a VME bus terminated in multiple pin connectors for interconnection with the TP and SCM boards and any other boards or additional units to be included in a particular robot control. An AIF connector is also provided for TP board connection on a VMX bus.Robot controls with extended control performance are packaged by including additional boards. For example, the system control board includes a VME bus connector for connection to the AIF board to provide a robot control with higher control capacity.

Abstract: A dual forearmed robotic elbow configuration comprises a main arm having a double elbow from which two coplanar forearms depend, two actuators carried in the double elbow for moving the forearms, and separate, independent end effectors, operated by a cable carried from the main arm through the elbow, is attached to the distal end of each forearm. Coiling the cables around the actuators prevents bending or kinking when the forearms are rotated 360 degrees. The end effectors can have similar or different capabilities. Actuator cannisters within the dual elbow are modular for rapid replacement or maintenance. Coarse and fine resolver transducers within the actuators provide accurate position referencing information.

Abstract: A tool changer for welding robot comprising: detachable male portions of connectors provided at a substrate fixed to a robot arm side for supplying electricity, gas, air, water to the tool side from the robot arm side; and detachable female portions of connectors to be connected to the male portions of the connectors and provided at a substrate fixed to a tool side for receiving electricity, gas, air, water from the male portions of connectors, each female portion composed of the connector, a protective tube provided at the substrate fixed to the welding gun side, a coupler inserted inside thereof, and an O-ring provided between the protective tube and the coupler, wherein the connector and the coupler are integrally formed and are radially slidable within the protective tube around the O-ring. A transformer is provided centrally of the connectors on the robot arm side substrate.

Abstract: A robot traveling duct for clean room in which a vertical laminar flow of air is produced from a ceiling filter toward a floor thereof, and in which the robot traveling duct is arranged within the clean room and below the ceiling filter and surrounds a guide rail of the robot, the robot traveling duct including a longitudinal opening for connection between the guide rail and the robot. The robot traveling duct includes a first enclosure for enclosing the guide rail to extend along the guide rail, the first enclosure having an air intake system for introducing air, issuing from the ceiling filter, into the first enclosure. The robot traveling duct further includes a second enclosure mounted to the first enclosure to be located below the first enclosure, the second enclosure including a second enclosure filter for filtering air therein and allowing the filtered air to go downwards into the clean room, the second enclosure extending along the guide rail and being equal in width to the first enclosure.

Abstract: A hierarchial calibration arrangement is used to provide ever-increasing levels of accuracy in positioning a robot arm end effectuator. A first level of positional calibration is the use of a home position to provide an approximate position of the robot arm end effectuator. Subsequent calibration operations provide a finer degree of positional accuracy of the robot arm end effectuator with a vision system being used to provide the most precise positioning of this apparatus. The final step in the calibration process occurs with each tape cartridge retrieval or replacement operation that is completed in the automated tape cartridge library system. Every tape cartridge storage cell in the library system contains a visual target for the final fine positioning of the robot arm end effectuator by the use of the vision element. The use of this hierarchial calibration process enables the robot arm to operate in a non-linear, non-uniform workspace.

Abstract: An apparatus for mastering a robot includes two balls, each of which has a spherical surface configured to simultaneously contact its respective set of mutually orthogonal locating surfaces of a fixture only when the robot is in a predetermined reference position and orientation. The fixture is mounted on a pedestal of the robot base in a fixed spatial position. One of the balls is mounted for movement with a free end of an outer arm of an arm assembly of the robot. The robot also includes a wrist mechanism. A first end of the wrist mechanism is connected to the free end of the outer arm and a second end of the wrist mechanism is adapted to support a tool. The second ball is mounted for movement with the second end of the wrist mechanism.

Abstract: A robot for serving a product dispensed from a product dispenser to a customer including a processor and a robotic arm. The processor stores a predetermined instruction set and generates command signals according to the instruction set. The robotic arm is responsive to certain ones of the command signals for transferring the dispensed product from a product dispense location to a position adjacent the customer for removal by the customer. The robot may further comprise a communications system for storing a set of predetermined messages and is responsive to certain other ones of the command signals for announcing selected ones of the messages. Furthermore, the robot may further include a transport system for transferring the dispensed product from the position adjacent the customer, the product dispense location and the position adjacent the customer beyond reach of the customer, to a position within reach of the customer.

Abstract: A vehicle automatic fueling assembly having an automatic teller-type control command center which is energized by insertion of money or credit card by the vehicle driver from within the vehicle to select and pay for the amount of fuel desired. A computer control assembly is provided in operative command control engagement with the automatic teller-type command center so as to selectively actuate a robot controlled fueling assembly having an automatic cut-off fueling nozzle assembly into mating fueling engagement with an automatic cut-off fuel receiving valve assembly provided in associated with the modified gasoline tank of a vehicle. The vehicle automatic fuel assembly is also provided with wheel stop lock means and windshield cleaning and drying means which are also automatically controlled by the computer control assembly.

Abstract: An intelligent security assessment system includes a multiplicity of sens for detecting intrusion into an area. Each of the sensors operates on a different principle to detect intrusion. For example, sound, vibration, infrared, microwave and light level sensors are used. A computing system receives the outputs of each of the sensors and is programmed to provide an output based upon an algorithm that minimizes the likelihood of a false indication of intrusion by the intrusion sensors. Each sensor has an on and an off state and the computing system assigns a weighting factor for each sensor that is in the on state. The computing system sums the weighting factors and compares this sum to a reference and then provides a further output when the sum exceeds the reference. This computing system output is utilized to activate an additional intrusion detector such as an ultrasonic detection system and also to activate a video surveillance camera for observance of the area where the intrusion is indicated.

Abstract: A robot teaching pendant having improved operability achieved by being provided with a display function for a personal computer. The robot teaching pendant includes an emergency stop switch and a deadman switch necessary to secure the safety of an operator, and a jog key switch necessary for a teaching operation. The robot teaching pendant further includes a liquid crystal display unit for displaying an image signal supplied from a graphical (CRT) interface of the personal computer, whereby the robot teaching pendant not only serves as a display unit for the personal computer but also realizes an easy to operate display using the graphical user interface of the personal computer when a teaching operation and the like are carried out.