Abstract: A robot controller executes an operating program, calculates a position and posture of a robot, and sends the position and posture information to a personal computer (PC). At the PC side, on the basis of this position and posture information, animation display information of a work cell including the position and posture of the robot is created and then sent to a teaching pendant. In the teaching pendant, the animation display information is received, and an animation image is displayed on a display section. Until the operating program is terminated, this operation is performed so that an operating animation of the robot is displayed on the display section of the teaching pendant.

Abstract: A walking platform that achieves automatic self-stabilization includes a motor within the mid-region of the platform that is in communication with a crankshaft. The crankshaft has a connecting rod that is rotatably attached to it. The connecting rod, in turn, has a pole that is rotatably attached to it. There is a foot attached that is capable of supporting the weight of the platform. The motor is powered by a battery that causes the components of the platform to simulate a walking motion. This battery is attached to the lower portion of the platform in order to lower the center of gravity of the platform. The platform also includes at least one levered component that is rotatably attached to the platform, allowing it to pivot freely and dampen oscillations produced by the walking platform.

Abstract: A system for controlling a plurality of robots and a method for controlling said system. Said system comprises a plurality of controllers, each having an associated motion system adapted to control attached robots, with each motion controller being able to receive motion instructions from at least one motion instruction source and at least one of said motion instruction sources being a control program, as well as a computer network over which said controllers communicate. In this way, the invention can be applied to solve problems which are commonly encountered in coordination activities such as load sharing, mating of parts while processing, fixtureless transfer, teaching, manual motion of coordinated operations, and time coordinated motion.

Abstract: In order to reduce the risk of damage on external objects, material articles or persons during the operation of a robot, particularly a miniature robot, the invention provides a method for limiting the force action of a robot part, such as a robot arm, on such an external object during a collision in such a way that as a result of a maximum permitted force, maximum force Fmax, acting on the object in the case of a collision, a corresponding, maximum permitted kinetic energy, maximum energy Ekin,max of the robot part is determined, continuously and at adequately short time intervals the actual kinetic energy, actual energy Ekin, of the robot part is determined and on exceeding the maximum permitted energy Ekin,max, the actual operating speed V of the robot is reduced.

Abstract: A transport system provided in particular for large-component transfer presses is distinguished by a design with a low width and, nevertheless, permits large transport steps. By controlling two drives in the direction of rotation in relation to each other, all desired travel curves in one plane can be realized. As a result of the simple construction, a cost-effective solution is achieved for a highly dynamic transport system.

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: Programmable material is a collection of substantially cubic shaped bricks called monomers that move relative to each other under computer control to sculpt engineering structures (5) and mechanisms (6) (walking machine) illustrated in the figure. The monomers have features to lock to other monomers and slide relative to other monomers without separating. The monomers are fault tolerant against damage; functional monomers move faulty monomers and replace them with functioning clones. Movement of monomers is broken down systematically into streamers, gateways, highways and reservoir methods to obtain individual monomer movement paths required to synthesise a structure. Specialised monomers can carry tools which together with synthesis of custom structures create custom machines.

Abstract: A hybrid control system is provided for controlling the movement of a robot. The hybrid control system includes a singularity detector; a task level controller that receives a motion plan and determines a first set of control commands which are defined in a task space; and a joint level controller that receives the motion plan and determines a second set of control commands which are defined in a joint space. The singularity detector monitors the movement of the robot and detects robot movement in a region about a singularity configuration. When robot movement occurs outside of this region, the task level controller is operable to issue the first set of control commands to the robot. When the robot movement occurs inside of this region, the joint level controller is operable to issue the second set of control commands to the robot. In this way, the hybrid control system ensures feasible robot motion in the neighborhood of and at kinematic singularity configuration.

Abstract: A workpiece loader/unloader system for an industrial machine, such as a hemmer, is disclosed. The system includes a single pocket shuttle movable between an extended position in which the shuttle overlies a work station on the industrial machine, and a retracted position in which the shuttle is laterally spaced from the work station. A gripper on the shuttle selectively engages and supports the workpiece after the workpiece has been machined at the work station. A loader manipulator is movable between a preload position in which the loader supports an unmachined workpiece at a position laterally spaced from the work station, and a load position in which the loader manipulator overlies the work station. An actuator moves the loader manipulator between the preload and load position.

Abstract: A robot controller for use in a robot control system with a plurality of robots connected one another through a communication path. When a cause for stopping occurs in one or more robots, other robots are also stopped in the same type of stopping procedure. A priority of execution on a plurality of stop procedure types is determined. When a cause for stopping occurs in one or more robots in the robots connected through the communication line or in the robots in synchronously cooperative operation, all of the robots connected through the communication line or the robots in synchronously cooperative operation are stopped in the same type of stopping procedure. If different causes for stopping occur in the robots, a stopping procedure type having higher priority in the stopping procedures determined in accordance with the different causes of stopping is adopted to stop all of the robots in the same type of stopping procedure.

Abstract: A synchronous control unit receives data describing robot motion and speed along a pathway. A storage unit stores the data. In accordance with an internal clock or encoder equivalent internal to the robot, an output unit outputs the data to a positioning controller thereby synchronizing the robot movement with the data.

Abstract: A method and apparatus for NC machining management based on a measurement program, wherein a machining shape at an arbitrary machining stage is determined by an NC program, a geometric element or a geometric model is generated, and a measurement program is generated on the basis of the geometric model. The measurement program is executed when at least one of the steps of the NC program is completed, and the results of measurement are used as control information for machining measurement.

Abstract: Process for the automatic determination of an optimal movement program of a robot comprising at least one moving member, a motor associated with the moving member and a control unit capable of activating the motor according to a movement program to move the moving member along a trajectory with a predetermined movement parameter. The process comprises the steps of: acquiring data indicating the load state of the motor and the precision of movement of the robot during the execution of a movement program, comparing the information on the load state and on the precision of movement with predetermined limit values, repeatedly executing the movement program while progressively varying the movement parameter until a measured value of the load state and/or of the precision of movement exceeds a corresponding limit value, and storing as the optimal movement program the last movement program which has been executed without exceeding the limit values.

Abstract: A control system for performing a synchronously cooperative operation among some robots of a plurality of robots connected by a communication line. A plurality of robots No. 1 to No. 4 is operated individually and also is operated in synchronous cooperation. Further, some robots No. 1 and 2 is operated in synchronous cooperation while the other robots Nos. 2 and 4 are operated in synchronous cooperation. The robots Nos. 3 and 4 are operated in synchronous cooperation. The robots No. 1 and 3 is operated in synchronous cooperation while the robots Nos. 2 and 4 are operated individually. The synchronously cooperative operation is performed by any desired combination in that the above robot control part keeps motion procedures denoting changes, which are corresponding to the frame notifications of the passage of time from the above media reproduction part; and moves the above robot according toe the above motion procedures, in the corresponding frame.

Abstract: A robotic library system having a self-discoverable inter-library connectivity capability, and methods of operating the robotic library system are provided. Each library of the multi-library system has a unique identifier with which it is associated. The identifiers are adapted to be readable by identifier readers in adjoining libraries connected by pass through ports. In operation, knowledge of the library identity on each side of the pass through ports can be used to control transfers of the data cartridges among the libraries. Data cartridge transfers between connected libraries may be initiated when just the source library and pass through port are ready, then completed when the destination library becomes ready. Transfer paths spanning several libraries may be discovered by querying adjoining libraries for their identity until all possible paths are discovered.

Abstract: An element including a first processing circuit conducting a real time processes for controlling a robot body and a man-machine interface element including a second processing circuit for operating the robot body are connected through the common storage device. It enables for application programs that can run with a general OS to easily refer to data relating to the robot. It also enables to easily construct necessary software.

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: Programmable material is a collection of substantially cubic shaped bricks called monomers that move relative to each other under computer control to sculpt engineering structures (5) and mechanisms (6) (walking machine) illustrated in FIG. 2. The monomers have features to lock to other monomers and slide relative to other monomers without separating. The monomers are fault tolerant against damage; functional monomers move faulty monomers and replace them with functioning clones. Movement of monomers is broken down systematically into streamers, gateways, highways and reservoir methods to obtain individual monomer movement paths required to synthesize a structure. Specialized monomers can carry tools which together with synthesis of custom structures create custom machines.

Abstract: In order to configure a handling device, provided with an actuator for gripping a work piece, as well as at least two movement axes that are operatively connected to a drive and which allow the actuator to be positioned in different positions on a coordinate system, such that it has a relatively inexpensive design but can still be used for a multitude of purposes, a design is suggested for said handling system where the handling device is adapted to at least one workpiece carrier, provided with several workpiece holders on which a workpiece can be arranged, such that the handling device (1) is provided with means for positioning a reference point of the handling device (1) with the aid of the movement axes in such a way that it is located only in fixedly predetermined positions, so that at least in some of these positions the reference point is located respectively on one reference axis for one of the holders (31, 32, 33, 34, 35, 36, 37, 38).

Abstract: The furnace for firing ceramic materials has a working surface including a firing area and a storage area. A hood is provided which is moveable motorically relative to the working surface and positioned above the firing area to define the firing chamber. A robot arm for moving the ceramic material into and out of the firing area is provided.

Abstract: A CNC machine tool has a plurality of collet chucks in a fixture that requires loading workpieces in these collets by hand. The workpieces are first assembled on a loading bar or holder so they can be collectively loaded in the ganged collet chuck for machining in the CNC machine. The holder has spaced stations, and each station includes a standard base adapter and an individualized parts adapter that fits onto the base adapter. Each parts adapter will be configured to accept a part to be machined.

Abstract: A robotic mechanism which can be attached to a furnace hopper and includes a frame which supports a pole insertion mechanism for inserting a pole into a furnace hopper. The pole insertion mechanism is supported from the Fame by a gimbal and moves the pole axially. Hydraulic actuators rotate the pole insertion mechanism about the gimbal. A control system is associated with the mechanism and enables an operator to position the end of the pole within the hopper to remove clinkers.

Abstract: An IC mounting/demounting system wherein a plurality of holding sections are fixedly secured to an index plate rotatable by a servo motor. A plurality of IC's are successively mounted and demounted on a socket board or a tray, and the plurality of IC's are simultaneously held and transferred. This improves the efficiency of the IC transferring work between the socket board and the tray and shortens working time.

Abstract: An adapter for automatically fueling automotive vehicles, primarily cars, wherein a robot which includes a robot head that is movable in relation to the robot and can via a positioning system be docked with the adapter (3). The adapter is intended to be fastened to the upper orifice of the fuel-tank pipe (2) and includes a conical part.The present invention is characterized in that the adapter (3) includes a base part (13) and an adaptation funnel (14), wherein the base part (13) is intended to be fastened to the fuel-tank pipe (2), and wherein the base part has an opening (16); in that the adaptation funnel (14) projects out from the base part (13); in that the adaptation funnel (14) is rotatable relative to the base part about the longitudinal axis (17) of the base part, thereby enabling the adapter (3) to be positioned correctly on the fuel-tank pipe (2) in a rotational direction.

Abstract: An object of the device according to the present invention is to enable small-volume, high-diversity production to be conducted efficiently, in the same way as in the conventional FMS, whilst at the same time overcoming problems associated with the conventional techniques, such as the complexity of creating programs for manufacturing processes, work interruptions due to robot breakdown, and `deadlock` incidents arising during operation. When seed data indicating an objective task (for example, the task of completing a particular product) is input to a computer, by communicating with hardware robots via a communications network, the computer selects a plurality of hardware robots, which are capable of implementing cooperatively the objective task indicated by the input seed data, and which are not engaged in any task based on other seed data. A software robot is created by inputting the seed data to at least one of the selected plurality of hardware robots.

Abstract: Apparatus for the automatic fuelling of vehicles. A robot head that carries a fuel filler tube is movable to enable it to be brought into position to engage with a vehicle fuel-tank pipe. The robot head carries an opening device for opening a fuel-tank cover plate of a vehicle. The positioning of the robot head is effected by a positioning system that includes a transceiver unit carried by the robot head and that preferably operates at microwave frequency. A passive transponder is carried by the vehicle and includes a simple code which the transponder is intended to modulate on a signal transmitted by the transceiver and is reflected by the transponder. The signal received by the transceiver from the transponder is decoded and is used to access a robot head movement plan that corresponds with that code, to automatically steer the robot head to the fuel tank pipe and thereby enable the vehicle to be fuelled.

Abstract: Apparatus for the automatic refuelling of vehicles, primarily cars, including a robot which includes a robot head that is movable in relation to the robot so as to bring the robot head to a predetermined position in relation to the vehicle fuel tank pipe. The positioning of the robot head is effected by a positioning system which includes a first part located on the robot head and a second part placed in a predetermined position on the vehicle, wherein the robot head includes an outer tube and an inner tube which can be moved within said outer tube and extended out of said tube. The outer tube is resilient or yieldable, and the free, front end of the outer tube has the shape of a truncated cone that docks with a correspondingly conical part of an adapter attached to the upper orifice of the vehicle fuel tank pipe during said positioning operation.

Abstract: A refuelling system is provided, the system comprising: a plurality of vertically telescoping elements, the telescoping elements containing a constant length of flexible conduit for transfer of fuel; at least one vertically movable pulley to maintain a constant length of flexible hose within the telescoping elements; an overhead gantry capable of moving the vertically telescoping elements in two horizontal essentially perpendicular axes; and a rotating lower portion of the telescoping elements capable of rotating about an essentially vertical axis and supporting a fuel nozzle. The refuelling system of the present invention does not result in significant segments of unsupported lengths of conduits for fuel, compressed air, vapor recovery, electrical power or control or sensor signals. It is relatively simple and utilizes readily available components and parts, and does not required significant machining of components. This results in an installation that is economical to install and operate.

Abstract: A conveying system provides a cassette accommodating workpieces; a container containing the cassette; a transferring device for conveying the cassette while supporting it or conveying the container which is empty or contains the cassette while supporting it, the transferring device having a supporting device for supporting the cassette. In the conveying system, a handle is provided on the upper surface of the container so that it is supported by the supporting device.

Abstract: A method of, and apparatus for, a robotic filter weighing system for weighing filters stored in sample holders which includes a sample cabinet which holds a carousel having a plurality of filter samples contained in a like plurality of sample holders and in which a robotic system is used for removing in turn each of the sample holders and sequentially placing each of the sample holders in a filter extraction station for removing the filter from its respective holder. The robot system then moves the extracted filter to a weighing system which calculates the weight of the particulate matter contained on the filter and then replaces the filter in its sample holder and replaces the sample holder back in the sample cabinet.

Abstract: A method and an apparatus for the automatic quantitative filling of powdered or granulated samples for analytic measurement purposes as well as a shaking and holding device for sample substances utilized therefor with which precisely admeasured amounts of the sample substance can be filled into a measuring vessel. The shaking device permits the sample substance to be filled in a continuous, slow and defined flowing stream. The shaking and holding of the sample vessel transpires preferentially pneumatically.

Abstract: An alignment station for elements such as semiconductor wafers on a robot arm uses a rotating support and edge detector which in combination are operative to place a wafer on the rotating support, detect wafer alignment, move the wafer to bring it into alignment either on the rotating support itself or onto a separate station.

Abstract: Apparatus for turning a sheet-like workpiece, e.g. a rectangular sheet of glass, and for applying a sealing strip continuously along its edges, includes an air flotation/section support bed (14, 15) covered by an air-permeable mat (16), a sealing strip applicator (32, 59) on a carriage (33), suction cup assemblies (63, 72) mobilely mounted on respective mutually perpendicular slides (24, 25) for gripping the sheet (22) at two adjacent corners thereof, the movement of the assemblies (63, 72) being coordinated such that, while gripping the sheet (22), one assembly (72) is moved towards the initial position of the other assembly (63) and simultaneously the latter (63) is moved towards the corner diagonally opposite the corner at which the first assembly (72) was initially disposed.

Abstract: A system for filling containers with a prescribed medication includes a support head for receiving a disposable syringe which allows the syringe to be pumped to transfer liquid to an from the syringe. A robot arm is also provided to carry medication and diluent containers to the syringe for withdrawing diluent to the syringe and injecting it into the medication container for mixing. In order to ensure alignment of the containers with the syringe, there is provided on the support head an additional needle grasping system which grasps and locates the needle for penetration of the membrane of the container. The support head includes a weigh scale as an integral element thereof so that the syringe is weighed after each step of the process.

Abstract: A system for control of automatic refueling of automotive vehicles parked alongside a fuel dispenser unit which allows for a customer to control a refueling procedure without having to exit the vehicle. The control system includes a processing unit, control operating units, operating units and a communications system which is located within the vehicle to be refueled. The communications system has the capability to start, monitor and finish the refueling procedure by transmitting and receiving data signals which concern the refueling procedure such as signals which start the refueling procedure and signals which interrupt the procedure. The data signals are received by the from the vehicle into the processing unit where the signals are processed. The processed data signals are directed to control operating units. The control operating units then direct operating units in carrying out operating functions which are necessary to automatically refuel the vehicle.

Abstract: A light weight extruder (20) is suitable for high production, in-line extrusion of flowable materials with high precision in the placement and control of the extruded material. The extruder uses a high torque hydraulic motor (72) to drive a feed screw (88) in dispensing highly viscous but flowable material through an extrusion die (126) of preselected configuration. A plurality of heating bands (114-118) surrounding the barrel (86) of the extruder provide precise control over the material temperature at the point of extrusion. In an alternate embodiment, an injection nozzle (120a) is provided with a plurality of independently controllable extrusion dies (128, 130, 132). The extruder is sufficiently light and manipulable such that it can be mounted on the end of the arm of a robot (122).

Abstract: The invention concerns the automated robotic system for dispensing drugs from vials into liquid containers such as IV bags or syringes. A robot selects a vial and a suitable container and transports them to a processing station together with a needle which may be double-ended. At the processing station the contents of the vial are transferred into the container. Some of the contents of the container may be transferred into the vial in order to reconstitute and/or wash out the vial contents and agitation may be provided for the vial. Various additional devices may be provided such as a decapping device for the vials, an alcohol swabbing station for swabbing the top of a vial and/or the input port of a IV bag or syringe. Moreover, a label printer may be provided so that the robot may deliver a label with the finally processed IV bag and empty vial to a verification station. When IV bags are used, the invention may feature a conveyor of trays of the bags to a pick-up station of the robot.

Abstract: An alignment station for elements such as semiconductor wafers on a robot arm uses a rotating support and edge detector which in combination are operative to place a wafer on the rotating support, detect wafer alignment, move the wafer to bring it into alignment either on the rotating support itself or onto a separate station.

Abstract: A method and apparatus for carrying out the method in which a clamp made from a flat blank is plastically deformed into circular shape, is locked in its closed condition, is transferred from the deformation station to a transfer station where it is placed over the object to be fastened and is thereafter tightened onto the object. In order to maintain the clamp in predetermined position on the object before being tightened, the clamp is additionally plastically deformed into a slightly non-circular shape differing from the circular shape of the object and is again elastically deformed into its original circular shape before being placed over the object so that return of the clamp to its slightly non-circular configuration will provide sufficient frictional engagement to hold the clamp in predetermined position.

Abstract: The method and apparatus for the manufacture of product subassemblies by computer programmed robots is an end effector fixture assembly, or geometry station wherein at least two individual elements of the particular subassembly are dimensionally positioned relative to one another between a lower base fixture and an upper fixture of the end effector fixture assembly to establish a net location therebetween. The robot manipulates the end effector fixture assembly and transports the two individual elements located therein to a work performing station located within a defined region of the robot to perform work on the subassembly.

Abstract: Disclosed is a control robot having a machining tool comprising a rotatable tool for grinding at the distal end of the robot arm thereof so as to carry out grinding work with pressing the machining tool against the surface of a work to be machined under predetermined pressure, comprising a posture control shaft for controlling the posture of the machining tool provided at the robot arm; a rotation shaft of the rotatable tool: and arrangement in which the posture control shaft and the rotation shaft of the rotatable tool are respectively arranged in different axial directions.

Abstract: In order to control the opening and closing movement of an injection mold (1, 3) and the feed and extraction movement of a handling device (7) for the removal of the molding in a manner which is optimally concerted with no delay, the opening movement of the mold and/or the extraction movement of the handling device is detected in relation to position and speed; if the speed lies in a reference range, a release signal is generated which triggers the feed movement of the gripping device or the closing movement of the mold.

Abstract: An injection molding machine of an automatic core change type includes a mold clamping section including stationary and movable platens fitted with first and second matrixes of a mold, respectively, a mold changing robot and a mold stocker severally attached to the mold clamping section and separately controlled by way of a control section, and a temperature controller for controlling the respective temperatures of the first and second matrixes and the mold stocker. As an arm and a chuck move and rotate, respectively, a first cavity unit, attached to the first matrix, is taken out from the first matrix, transported toward the mold stocker, and stored in its corresponding storage hole of the mold stocker. Then, another first cavity unit is taken out from the mold stocker, transported toward the mold clamping section, and attached to the first matrix, whereupon the replacement of the first cavity unit is completed. A second cavity unit is replaced in like manner, whereupon the mold replacement is completed.

Abstract: A mobile robot or automatic guided vehicle having a multijointed robot arm. The robot arm has a gripper and charge coupled device camera mounted at the free end of the arm. The gripper is for engaging, holding and releasing workpieces. The robot arm transfers workpieces to and from process machines or storage areas. The robot arm finds the workpiece or the place to set it down by looking at two light emitting diodes placed a known distance and orientation away from the workpiece or set down place. The robot arm and camera are controlled by a computer on board the vehicle. The automatic guided vehicle and robot arm are used to transfer workpieces from place to place in an automated manufacturing environment.

Abstract: A robot teaching/playback system for controlling a robot which performs an operation on a work turned by a turntable and also controls the turntable, including a common controlling means for controlling the turntable and robot, teaching means for storing in a memory a set of robot working data and taught turntable rotational position data for each of divisional rotational regions into which the turntable is divided, and playback means for interpolating robot working data and turntable rotational position data between each adjacent ones of the divisional rotational regions in accordance with the robot working data and taught turntable rotational position data stored for each of the divisional rotational regions and for causing the common controlling means to control the robot and turntable in accordance with the interpolated data.

Abstract: A programmable controller 1, capable of programming the whole operations of the factory cell 3 including a robot, is provided with a program input device 11 and comprises: a memory for storing the program, a discrimination means 13 for discriminating the blocks within the program which define the movements of the robot; an information generation circuit 14 for generating information relative to the movement of the robot, which is transmitted to the robot controller 2 via a communication means 16a; and an instruction processing circuit 15 which executes via the contact input and output circuits 17 and 18 the instructions other than those of the robot defining blocks, relative to the states of contacts and relays of the factory cell 3, in parallel with the movements of the robot controlled by the robot controller 2.

Abstract: A sheet workpiece manipulating apparatus for delivering, supporting, and removing large sheet workpieces to a sheet bending press includes a plurality of rotationally and linearly translatable support arms. A gripping device is disposed on each free end of each support arm. The sheet workpiece is captured and rigidly restrained by the paired gripping devices, such as opposing suction cups operationally connected to a vacuum source, which are detachably attached to the support arms in a magnetically cooperating arrangement. Large gripping forces are developed by the gripping devices, which are separately replacable with alternate gripping devices sized to accommodate workpieces of different sizes, shapes, and materials, as well as a particular manipulation procedure. Perforated as well as imperforated sheets may be manipulated by the apparatus due to the paired, opposing relationships of the suction cups.

Abstract: A technique for efficient use of component placement apparatus used for assembling many different printed circuit boards, wherein all of the printed circuit boards are collectively comprised of more parts than can be handled by a single setup. A portion of the apparatus is dedicated to producing a first family of boards whose identity is determined by their high volume as well as by their parts overlap, while another portion is periodically changed in order to optionally produce different families of boards characterized by their lower volume and lower parts overlap. The changed setups required for the different families of boards are accomplished off-line while the first family of boards is in on-line production.

Abstract: A robotic apparatus for automobile assembly includes a robot which moves in sequence to a plurality of different stations and performs an operation at each station based on information obtained from a video camera. The camera can pivot to form an image of each station. While the robot is performing an operation at one station, the camera is forming an image at a subsequent station. By the time that the robot finishes the operation at one station and moves to the subsequent station, the image formed by the camera at the next station has already been processed by a controller, and the robot can immediately begin to perform an operation at the subsequent station.

Abstract: With this device for an automatic mounting of connector shells (5) and electric conductors, in each case, a connector shell (5) is mounted, with the aid of an industrial robot (1), onto both contact parts (8.1, 8.2) of an electrical conductor at the end of a cable-processing line. Each end of the electric conductors is gripped by the first double gripper (11) of an additional transfer module (40) and, in a mounting position (32), is transferred to a stationary gripper (20). Before this transfer, if the electric conductor is gripped by the first double gripper (11) alone, then the conductor shells are mounted onto the contact parts and the mounting force is tested. After the stationary gripper (20) takes over the electric conductor, the first double gripper carries out a reverse cycle motion into a transfer position (30) in order to grip a new electric conductor.