Abstract: Continuous change of state directions are graphically provided on a display screen to assist a user in performing necessary action(s) for transitioning between operating modes in a medical robotic system or performing corrective action. A graphical representation of a target state of an element of the medical robotic system is displayed on a display screen viewable by the user. Current states of the element and indications directing the user to manipulate the element towards the target state are continuously determined and graphical representations of the continuously determined current states and indications are displayed on the display screen along with that of the target state.

Abstract: The processing system (10) serves for processing a moving workpiece (12) by means of an industrial robot (16) that can be rigidly coupled, intermittently, to the workpiece (12) and/or to a movable workpiece carrier unit (14), the industrial robot (16), when in a decoupled operating position (42), being carried by a carrier device (18) that is movable, independently of a workpiece, by means of a drive unit (20) acting with active drive, and, when in a coupled operating position (44), being floatingly mounted relative to the carrier device (18) by means of a floating bearing system (22).

Abstract: A redundantable robotic mechanism is disclosed for improving reliability of tranport equipment. The redundantable robot assembly typically comprises independent robots with separate controls, motors, linkage arms, or power, thus providing the capability of operation even if parts of the assembly are not operational or when parts of the assembly are removed for repair. The redundantable robot assembly can be also designed to allow in-situ servicing, e.g. servicing one robot when the other is running. The disclosed redundantable robot assembly provides virtual uninterrupted process flow, and thus greatly increases the yield for the manufacturing facility.

Abstract: An offline programming device for preparing an operation program for making a robot with a hand perform a handling operation for an object with respect to a machine tool.

Abstract: A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork.

Abstract: Ball robot comprising a shell, a diametric main axle, at least one pendulum, and a drive mechanism comprising at least two drive motors, wherein the drive motors are arranged on the pendulum(s) in the vicinity of the inner surface of the shell. There is also provided a ball robot with a ball shaped shell, a diametric axle attached to the shell concentric with the main axis of rotation of the shell, and a drive mechanism located inside the shell and supported by the diametric axle, wherein the diametric axle is arranged to accommodate for dimensional changes of the shell along the main axis of rotation.

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: A method of three-dimensional object location and guidance to allow robotic manipulation of an object with variable position and orientation using a sensor array which is a collection of one or more sensors capable of forming a single image.

Abstract: Methods correcting wafer position error are provided. The methods involve measuring wafer position error on a robot, e.g. a dual side-by-side end effector robot, during transfer to an intermediate station. This measurement data is then used by a second robot to perform wafer pick moves from the intermediate station with corrections to center the wafer. Wafer position correction may be performed at only one location during the transfer process. Also provided are systems and apparatuses for transferring wafers using an intermediate station.

Abstract: Systems and methods are provided for controlling one or more servos coupled to a model vehicle. An input signal having a series of input pulses encoded at an input pulse repetition frequency is received at a receiver coupled to a model vehicle having one or more servos. The input signal is decoded at the receiver. A servo control pulse is generated using at least one of the input pulses at the receiver. The servo control pulse is outputted to at least one of the servos at an output pulse repetition frequency that is different from the input pulse repetition frequency.

Abstract: In an automatic machine system comprising a mechanism unit (1) including at least one driving mechanism, a controller (2) for controlling a driving operation of the mechanism unit (1), and a teaching unit (3) for operating the mechanism unit (1), the teaching unit (3) includes a teaching unit communicating portion for carrying out a wireless communication with the controller (2) and a first field intensity monitoring portion (13) for monitoring a field intensity of communication data in the teaching unit communicating portion, and the controller (2) includes a controller communicating portion for carrying out a wireless communication with the teaching unit (3), a second field intensity monitoring portion (26) for monitoring a field intensity of communication data in the controller communicating portion, and a driving portion for driving the mechanism unit (1) based on an operation signal sent from the teaching unit (3) in the controller communicating portion.

Abstract: The invention relates to a robot comprising storage means designed to store at least one computer program which, when executed, causes the robot to act according to a particular behavior, characterized in that it comprises loading means able to load, from remote computer equipment, a computer program which, when executed, causes the robot to act according to a particular behavior, and saving means able to save the duly loaded computer program in said storage means. Said loading means are designed to transmit a load request to the remote equipment to initiate the loading of the computer program from the remote equipment. The robot comprises at least one memory for storing evolution parameters, and the loading means are also designed to transmit the request according to the evolution parameters.

Abstract: A robot controller (7) controlling a robot (1) used combined with a machine tool (5, 6) provided with a communication unit (9) connecting the robot controller to a machine tool, a detection unit (52) detecting through the communication unit a type and number of machine tools, and a setting unit (55) setting the robot controller based on the type and number of machine tools detected by the detection unit. Due to this, machine tool and robot startup work can be simply and easily performed without requiring skill or increasing the startup man-hours. The setting unit selects one setting file from among a plurality of setting files for the robot controller, stored in the robot controller, based on the type and number of machine tools detected by the detection unit.

Abstract: An apparatus provides selective communication between multiple programmable robot controllers and one or more teaching devices connected by a network. The network controls communication between the teaching devices and the controllers including active tasks and passive tasks for preventing communication of active tasks between any of the controllers and more than one of any of the teaching devices. The network permits communication of the passive tasks between any of the controllers and one of the teaching devices communicating active tasks with another one of the controllers.

Abstract: The invention relates to a method and a device for applying films (10) to interior wall sections of the bodywork (7) of a vehicle with the aid of an instrument or robot (6) comprising a multi-membered articulated arm (18, 19) and gripping elements (21) for the films. To reduce the mounting time, the robot (6) is driven through an opening (14) in the interior of the bodywork (7), the films (10) to be applied are transported by transport elements (11) to the vicinity of the interior or into the interior of the bodywork (7) and the delivered films (10) are taken from the transport elements by the robot (6) and its gripping elements (21) and are applied to the respective interior wall sections.

Abstract: The present invention relates to a method and a system for facilitating calibration of a robot cell including one or more objects (8) and an industrial robot (1,2,3) performing work in connection to the objects, wherein the robot cell is programmed by means of an off-line programming tool including a graphical component for generating 2D or 3D graphics based on graphical models of the objects.

Abstract: A device and a method for automatically setting an interlock based on a suitable interference area obtained by executing an offline simulation in relation to a system including a plurality of robots. The device executes the simulation on the offline programming system based on a motion program so as to determine a moving path of the robots and a two-dimensional interference area between the robots. Next, the device calculates a first three-dimensional interference area by moving the two-dimensional area in the vertical direction and calculates an accurate second three-dimensional interference area within the first interference area, using three-dimensional models of the robots.

Abstract: The user's movement of the joints on a master mechanism is converted to electrical energy to control a kinematically similar arrangement of joints on a slave mechanism. Bi-directional, dynamic, force reflecting control of the slave mechanism is provided without a need for sensors, software, computers, or external power sources.

Abstract: Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.

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 transmission-side robot control device (21) and a receiving-side robot control device (21) each include an EPROM (27) which stores a software update program and robot motion control software, a RAM (24) which stores the software update program read from the first storage section (27), and storage media (26B) which stores update software. An external terminal or a host computer for software update is not needed, and a plurality of robot control devices can be standardized to have even an old version. It is not necessary to check a version currently stored, and the update can be performed at high speed.

Abstract: A partial surface of a total surface, divided into several partial surfaces, is allocated to one of several mobile units by determining the partial surface of the total surface and allocating one of the several mobile units with a reservation. The mobile unit transmits allocation information indicating the allocation of the partial surface. The reservation is lifted and the allocation of the partial surface is validated when the one of the several mobile units receives no allocation rejection information from at least one of the other mobile units, indicating a rejection of the allocation of the partial surface. If rejection information is received, the reservation is lifted and the allocation of the partial surface is invalidated.

Abstract: An ambidextrous robotic master controller includes a mounting base secured to a support, a shoulder member pivotally connected to the mounting base and, connected in series to the shoulder, an upper arm member, a forearm member, an inner wrist member, and an outer wrist member. An ambidextrous grip link is pivotally connected to the outer wrist member and is movable to a right hand position or a left hand position. An ambidextrous hand grip member is pivotally connected to the grip link member. The controller includes suitable encoders engaged between connected elements thereof to sense and signal relative movement therebetween. The controller is usable by either a right or left handed person to control a manipulator device having links and joints analogous to the links and joints of the controller.

Abstract: Device and method to pick up and remove from a bundle one or more bars in order to arrange them for use in an operating machine. The device comprises first magnetic means to separate from the bundle an end segment of a plurality of bars and to arrange at least the end segments of plurality bars on a plane distanced with respect to the bundle. The device comprises second magnetic means to pick up, from the first magnetic means, at least one bar at a time from the plurality of bars and to unload the at least one bar in a desired release position.

Abstract: A system for automated adaption of a process parameter of a handling device includes a supervision device configured to selectively monitor at least one process parameter and/or to adapt the at least one process parameter of the handling device in an automated manner based on specifications and/or the environment and/or in a rule-based manner in interaction with a control/regulation device, wherein environment/safety-specific specifications and/or regulations are complied with and/or implemented irrespective of the type of a respective working process, wherein the system is configured to interact with the control/regulation device configured to monitor, control and/or regulate the handling device.

Abstract: A system for lapping gear sets with a ring gear and a pinion gear. The system includes a lapping machine tool and a robot. The lapping machine tool has a first spindle and a second spindle. The second spindle is rotatable about an axis that is generally perpendicular to a rotational axis of the first spindle. The lapping machine tool has a loading zone for loading the first and second spindles. The robot has an end effector with a first end that is configured to hold one of the gear sets. The robot is configured to position the first end of the end effector into the loading zone and to load the first gear set to the lapping machine tool without removing the end effector from the loading zone such that the ring gear is loaded onto the first spindle and the pinion gear is loaded onto the second spindle.

Abstract: The present invention discloses a method and system to track and process the received postal items in their personal mailbox. The present invention resides inside the personal mailbox of a user. When mail item arrives in the mailbox, controller initiates the tiny robot arm to pick up the item and moves it to scanner and initiates the scanner to scan the item. Controller then collects associated entities of the received mail item using OCR and sends a notification to the user. An associated entity includes sender name and address and other information on the face of the mail item. If there is no sender address in the mail item then controller realizes that the received mail item is junk/unwanted and sends it to shredder using robot arm for trash.

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: There is provided an industrial robot which comprises a manipulator having a tool at the tip end, a robot control unit for controlling the manipulator, and a primary teaching device and subsidiary teaching device for controlling the manipulator through the robot control unit, wherein operation capable of being conducted by the subsidiary teaching device is restricted as compared with operation capable of being conducted by the primary teaching device. By realizing the industrial robot, it is possible to prevent a production line worker from executing a function of the robot which is originally to be executed by a supervisor.

Abstract: A robotic master controller having a series of linking members interconnected by pivots to each other and a hand grip with relative position sensors therein and sensing yaw and pitch of the hand grip due to movement of the user. The final linking member including an arched section that terminates in a pivot for the hand grip that is located within the user's hand during use and has an axis of rotation that generally aligns with a roll axis of rotation of the arm when the user's hand rotates between a palm up configuration to a palm down configuration. The final linking member also includes an arched section that extends over and cradles the outer palm of the hand when the hand is in the palm up configuration. The user reaches around the outside (to the right for a right arm controller) to grasp the hand grip.

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

Abstract: A robot simulation device is provided. It includes a virtual robot working environment in which a virtual robot has a task of transferring a virtual object from a start point to a goal point, the simulation device determining the path of travel. A task simulation is executed in response to the virtual robot working environment and the path of travel. The task simulation determines a robot activity region where the virtual robot can operate and an interference region where the virtual robot encounters obstacles. Thereafter the device creates a desired executed simulation in which the virtual robot can operate without encountering obstacles.

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

Abstract: The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation.

Abstract: An apparatus and method for automatically placing a sheet of glass in a glass frame. The apparatus includes a frame, a carriage, a first gripper, and a second gripper. The carriage is movably mounted to the frame to automatically move between a first position where the carriage is by a stack of glass sheets on a glass rack to a second position where the carriage is by the glass frame. The first gripper is movably mounted to the carriage and moves relative to the carriage to automatically engage the sheet of glass from the stack of glass sheets on the glass rack at the first position of the carriage and to automatically release the sheet of glass at the second position of the carriage. The second gripper automatically engages the sheet of glass when the first gripper automatically releases the sheet of glass at the second position of the carriage, and then automatically places the sheet of glass in the glass frame.

Abstract: The present invention relates to a method of preparing analyses of total blood samples and to a device that is useful for implementing the method, said samples being conserved in tubes including at least one identification means for identifying the sample, the device comprising: at least one compartment constituting a said storage zone for storing said tubes before and after analysis; and at least one said read means for reading said identification means of said tubes; and at least one preparation zone for preparing said blood samples prior to analysis and including means for verifying and/or treating said tubes containing said samples, and in particular at least one agitator means for agitating said tubes; and at least one access zone giving access to at least one automatic analyzer of total blood, said access zone enabling a said tube to be placed in said analyzer; and robotic gripper and displacement means controlled by an automatic controller and suitable for taking hold of and replacing said tubes ind

Abstract: In-process non-contact measurement systems and methods for automated lapping systems are disclosed. In an embodiment, a moveable frame can be controllably positioned proximate to a lapped work product. A control component can provide first control signals to control a movement of the moveable frame relative to the lapped work product. A non-contact measuring device can be coupled to the moveable frame measures a surface of the lapped work product and can transmit measurement data of the surface of the lapped work product to the control component. The control component can further provide second control signals to control a movement of the non-contact measuring device relative to the moveable frame.

Abstract: Systems and methods for robotic transport are disclosed herein. In some embodiments, robotic systems for transporting biological samples include: a plurality of capillary vessels, in which each capillary vessel can contain a biological sample from a population; a receptacle that can contain the plurality of capillary vessels; a centrifuge; a first robotic device that can transport the receptacle between an input module and the centrifuge; a second robotic device that can transport the receptacle between the centrifuge and a sample harvest location; a cutting device that can cut each of the plurality of capillary vessels; a multi-well plate having a plurality of wells arranged in an array; and a third robotic device that can transfer at least one portion of each of the plurality of biological samples from each of the plurality of capillary vessels to a corresponding well in the array.

Abstract: A tumor treatment system for treating a tumor within a body may include an injection system having an injector configured to inject an injection within the body that treats the tumor, and a robotic system configured to position the injector at a plurality of specified, spaced-apart treatment locations within the body. A tumor treatment process for treating a tumor within a body may include generating an image of the tumor within the body, identifying a plurality of locations within the body at which an injection that treats the tumor should be made based on the image, and making the injections at the locations under the control of a robotic system that is programmed to make the injections at the identified locations without human intervention.

Abstract: According to the manipulator-type robot of the present invention, a manipulator base contains a connection case for making cable connection to an external device. In the connection case, a signal-line connecting section for external connection is disposed on a predetermined signal line of a cable that is routed through the inside of the manipulator. Besides, the connection case contains, other than the aforementioned signal-line connecting section for making connection to outside, an additional signal-line connecting section.

Abstract: The invention relates to a method for locating and picking up objects that are placed on a carrier. A scanning operation is performed over the carrier. The scanning is performed by a line laser scanner whose results are used to generate a virtual surface that represents the area that has been scanned. The virtual surface is compared to a pre-defined virtual object corresponding to an object to be picked from the carrier, whereby a part of the virtual surface that matches the pre-defined virtual object is identified. A robot arm is then caused to move to a location corresponding to the identified part of the virtual surface and pick up an object from the carrier at this location.

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

Abstract: A method of auditing cartridges and empty cells in a storage library system including a plurality cells for storing cartridges and further including a robotically actuated picker assembly, the method comprising: providing a radio frequency sensor on the picker assembly; positioning a cartridge having at least one radio emitting chip within the cells so that the presence of the radio emitting chip can be detected without unloading the cartridge from the cells and operating the picker in a manner to search for the presence of the radio emitting chip within each cell for auditing numbers of cartridges and empty cells in the storage library system by moving the picker with the radio frequency sensor from one cell to the next to measure the presence of the radio emitting chip for each cell.

Abstract: A method and system for performing invasive procedures includes a surgical robot which is controlled by a guidance system that uses time of flight calculations from RF transmitters embedded in the robot, surgical instrument, and patient anatomy. Sensors around the room detect RF transmissions emitted by the RF transmitters and drive the robot according to a preprogrammed trajectory entered into the guidance system.

Abstract: The present invention provides an apparatus for manufacturing a semiconductor device.

Abstract: A method and apparatus are disclosed for off-line programming of multiple interacting robots. For example, a system for off-line programming (100) of multiple interacting robots includes a computer (110) for off-line programming and verification of program codes (111) for multiple interacting robots (131-133) and a robot controller (120) connected to the computer (110) to receive a download of at least one of the program codes for execution. Multiple interacting robots (131-133) can be controlled by the robot controller (120).

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

Abstract: A machine tool apparatus is provided employing a plurality of tool heads which may be sequentially or simultaneously automatically controlled to perform preprogrammed operations on either the same or different workpieces. In one form, a plurality of tool heads are supported on the same frame, guideway or track and may be separate prepositioned or driven under remote or automatic control to perform preprogrammed operations either in sequence or simultaneously on the same workpiece or simultaneously on separate workpieces spaced apart on a common conveyor such as a flight conveyor while the conveyor is either in motion or stationary. In another form, the conveyor is automatically stopped with units of work thereon, each disposed so as to be predeterminately located with respect to a respective machine tool which has been prepositioned adjacent the work-holding conveyor.

Abstract: A method for processing bioresponse signals coming from organisms living in a well-defined living space, which are each comprised in a microenvironment, wherein these signals are obtained in online measuring of bioresponse variables, and wherein these signals are at least real-time processed in a signal processor, wherein, on the one hand, these organisms are monitored in the said microenvironments, and wherein, on the other hand, these variables can be adjusted by corresponding signal control apparatuses in accordance with a living space control model, wherein the living space comprises an incubator for hatching out hatching eggs, wherein the bioresponse variables are measured and controlled in a physical and/or chemical manner, for instance in the form of optical, electrical, magnetic, acoustic or mechanical bioresponse signals, or combinations thereof.