Abstract: Systems and methods for processing wafers, a combined post expose bake and chill unit, and an interface are disclosed. An exemplary system includes a lithography tool, local track, transfer device, transfer device handler, interface unit, and controller to schedule processing. An exemplary combined post expose bake and chill unit includes an enclosure having an opening in its side, and a bake unit and a chill unit in the enclosure. An exemplary interface includes a plurality of enclosures arranged around robot(s) that transfer wafers among the enclosures, one of the plurality of enclosures being an integrated bake and chill unit.

Abstract: A method for aligning the position of a movable arm includes: providing an alignment element on the apparatus projecting a distance above the apparatus in the z-direction and having a surface lying in a plane formed by an x and y axis; providing a movable arm having a tool at the free end; positioning the object such that the surface of the element faces the tool; moving the tool in a direction towards the surface of the element; sensing when the tool reaches a predetermined point on or above the surface of the element, whereby the position of the tool in the z-direction is determined based on the relationship between the measured response of the tool and the height of the tool above the surface of the alignment element; placing the tool on or at a distance in the z-direction from the surface; moving the tool in the x-direction while sensing the surface of the element; moving the tool in the x-direction until an edge of the element is sensed; determining the center in the x-direction based on the known distan

Abstract: A dynamic workcell includes a three dimensional positioning robot positioned adjacent a plurality of operation stations. A plurality of movable part fixtures located adjacent to the robot is also provided. A fixture location controller directing positioning of the part fixtures relative to the plurality of operation stations to minimize travel between an operation station and a part fixture is provided. A method for operating a workcell may include the steps of: mapping ones of a plurality of testers to the plurality of movable part fixtures; maintaining the position of each movable part fixture; determining a current location of an active part fixture relative to a mapped tester; and minimizing the distance between the mapped tester and the active part fixture.

Abstract: A dosing apparatus includes a feed device for a liquid or pasty medium, which supplies the medium at a given preliminary pressure. A pressure control valve communicates with the feed device, a dosing pump, particularly a gear pump, is fluidically connected to the pressure control valve, a driving motor that drives the dosing pump, a discharge valve which communicates with the dosing pump and via which the medium is discharged as a volume flow modifiable over time. A control and regulation device feeds a control signal to the pressure control valve in accordance with a predefined setpoint volume flow value. A first pressure sensor detects the input pressure of the medium upstream from the dosing pump, a second pressure sensor detects the output pressure of the medium downstream from the dosing pump.

Abstract: A workpiece is gripped by a robot hand and an image of the workpiece is captured by a camera. An image processing device detects the position and posture of a characteristic portion of the workpiece. On the basis of the present position of the robot, the relative position and posture between a flange of the robot and the workpiece characteristic portion is detected. The relative position and posture is compared with that observed when the workpiece is gripped correctly, to determine a gripping error. If the gripping error exceeds a permissible error, the robot is stopped. If the gripping error is equal to or less than the permissible error, a taught position where the workpiece is to be released is corrected so as to cancel the adverse effect of the gripping error.

Abstract: Equipment for mechanical machining, especially the turning and drilling of mechanical workpieces, such as light alloy wheels and the like, includes at least one turning unit with a double chuck to support the workpieces being machined and a turning head designed to work in association with one or other of the chucks alternately. At least one first workpiece loading/unloading device can be used for moving the workpieces being machined on one or other of the chucks so as to bring about loading/unloading of the workpieces from one of the chucks at the same time as mechanical machining is being carried out on the other chuck. The equipment further includes at least one drilling unit operatively associated with the turning unit and including at least one first drilling head combined with at least one corresponding first workpiece-holding device and at least one second device for loading/unloading parts to move parts being machined in the drilling unit.

Abstract: A reference signal is transmitted from one of a plurality of robot control devices connected by communication connecting device to the other robot control device. The timing of generation of an operation basic period signal in each of the other robot control devices is synchronized with the timing of generation of an operation basic period signal in the one of the plurality of robot control devices, based on a time interval from generation of the operation basic period signal until transmission of the reference signal in the one of the plurality of robot control devices, a time interval from generation of the operation basic period signal until reception of the reference signal in each of the other robot control devices, and a communication delay time required for communication between the one of the plurality of robot control devices and each of the other robot control devices.

Abstract: A method, program embodied on a computer readable medium, and various systems are provided for generating a process trajectory. A normalized image of an object is displayed on a display device of a computer system, the object including a surface that is to be processed using an end effector. A number of predefined trajectories are stored in a memory of the computer system, each of the predefined trajectories defining a motion of the end effector to process a surface of one of a number of spatial definitions. A trajectory generation system is implemented to generate the process trajectory for the end effector to process the surface of the object by associating at least one of the predefined trajectories with the normalized image.

Abstract: A work loading method and a work loading apparatus with excellent productivity are provided. For this purpose, a work loading method includes the steps of: positioning the work with two centering devices (3a, 3b) every other press shot; and making pairs of two robots (4a, 4d) each, which are located diagonally from each other, out of four of the robots (4a, 4b, 4c, 4d) in total, the two robots of each pair holding the works, which are on two of the centering devices, and performing a loading operation into the pallets, each pair alternately holding the works and performing the loading operation each time two of the centering devices position the works.

Abstract: The invention relates to a device and to a method for handling objects, in particular items of luggage. The device has a supporting arm that is freely moveable in at least two axes and that is articulated on a central unit which is positioned at the end of a conveyor belt for conveying objects. The movement of the supporting arm is controlled in a predeterminable manner and a loading device is configured at the free end of the supporting arm. The loading device has a supporting platform for picking up objects and has a rear and a side boundary against which the object that has been picked up in each case rests. The device includes an unloading device which removes the object that has been picked up from the supporting platform.

Abstract: The device comprises a carrier for a workpiece which carrier can by means of drive means be moved along a vertical and a horizontal axis and has an approximately planar contact surface for the workpiece, whereby the workpiece can be held on the contact surface by means of contact means of the carrier, especially vacuum, a retaining ring on the carrier encircling the contact surface and projecting downwards beyond the contact surface and having an inner diameter which is slightly larger than the outer diameter of the workpiece. At least three centering cams are arranged on a circle, the centering cams can be moved synchronously and in a radial direction by means of a centering drive, the centering cams having a supporting surface oriented on the top.

Abstract: An interference avoiding device for determining occurrence of an interference in a robot operation in advance and automatically avoiding the interference, to be suitably applied to an automatic picking-up operation of randomly stored workpieces. A position/orientation of a workpiece and a position/orientation of a tool for getting hold of the workpiece in a teaching operation, and shapes/dimensions of the tool and the storage box are determined and stored in a storage device. A command position/orientation Ta of the tool for getting hold of an objective workpiece is determined based on a detected position/orientation Wa of the workpiece and it is determined whether or not an interference between the tool an the storage box will occur based on the position/orientation Ta and the stored information.

Abstract: A method and an apparatus for automatically loading and unloading piece goods of different shapes, consistencies and masses in a permanently installed conveying system. The relevant piece goods are picked up automatically by a remote controlled apparatus, by the piece goods being gripped by friction by the apparatus and moved onto a pick-up platform belonging to the apparatus. Moreover, the piece goods, after being picked up on the pick-up platform, are secured by force and/or shape against slipping off or falling down until they are unloaded, and the loaded goods being put down automatically by the apparatus at the intended location.

Abstract: Described is an arrangement for feeding and/or taking away magazines intended to receive individual articles, to and/or from an apparatus for treating and/or handling the articles, wherein the apparatus comprises a first transport element which receives a supply of magazines for feeding articles to be treated, and a second transport element which receives a supply of magazines for carrying away treated articles, with the transport elements being arranged in mutually juxtaposed relationship and movable in a horizontal plane. A third transport element is operatively associated with the first and second transport elements and movable between a first position in which it is towards the first and second transport elements and at least one second position in which it is away from the first and second transport elements. The third transport element has at least one movable carrier for at least one magazine.

Abstract: A method of teaching a robot off-line having a traveling axis, by which the final position and final posture are determined when a robot having a traveling axis stops at an arbitrary position on a traveling axis. The method is able to take an arbitrary posture at the arbitrary position, change from the arbitrary position and arbitrary posture, and move a control point of the robot until it agrees with a movement target point. This position on the traveling axis of the robot is determined so as to minimize the distance between a coordinate origin of the robot a movement target point.

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 robotic order picking system employing a plurality of pedestal robots is provided. The robotic order picking system also employs a specialized transfer car including a pallet stacker. In accordance with one embodiment of the present invention, a robotic order picking system is provided comprising a plurality of pallet stations, a conveyor network, a pedestal robot, and a robotic order assembly station. The pedestal robot and the conveyor network are arranged to define product transfer paths extending from respective ones of the plurality of pallet stations to the robotic order assembly station.

Abstract: A method of teaching a robot a desired operating path and a lead-through teach handle assembly are disclosed. A mounting mechanism mounts the entire handle assembly to an arm of the robot. The handle assembly also includes a handle that is supported by the mounting mechanism. A robot operator utilizes the handle assembly and grasps the handle to apply an external force to move the robot arm, or the operator, without the handle assembly, directly holds a tool connected to the robot arm to apply the external force at the tool. The handle assembly is characterized by a universal joint that interconnects the handle and the mounting mechanism and that accommodates orientation changes of the handle relative to the mounting mechanism that result from translational and rotational movement of the robot arm as the user is teaching the robot. The external force applied at the tool is estimated with either a force sensor disposed on the handle assembly or by monitoring the torque of motors used to move the robot.

Abstract: A take-out system for a shuttle-type blow moulding machine having two moulding assemblies has a single gripper head for taking out moulded articles from both moulding assemblies. The gripper head is carried by a vertical gripper arm which can be raised and lowered by a rack and pinion drive with respect to a carriage that moves in line with the two moulding assemblies. Electric servomotors are used to raise and lower the gripper head and move the carriage under software control so that the motion of the gripper head can be programmed to match a particular moulding machine. The articles may be moulded with tabs that can be gripped by the gripper head, and the take-out system may include a trimmer for removing those tabs, and a waste conveyor for the trimmed material.

Abstract: A debugging system in which, when any trouble occurs in robot program using variables and debugging is to be performed, a specific variable as the probable cause of the trouble and a relevant reference variable are specified, and presence or absence of the specific variable in the called-up robot program is detected. When any specific variable appears, the values of the specific variable and the reference variables are acquired and displayed together with the robot program information.

Abstract: A modular object handling system has a multi-level control architecture, which includes a system controller that coordinates the functions and/or operations of individual module controllers, that in turn control corresponding actuators, to provide a desired system function. The system controller performs the overall trajectory planning by taking the constraints of each of the module actuators into account. The system controller may compensate for deviations of objects from their planned trajectories by contemporaneously redetermining trajectories and trajectory envelopes to encode the various combinations of the system constraints and task requirements. The trajectory envelopes can denote regions around other trajectories to indicate control criteria of interest, such as control and collision boundaries.

Abstract: A control system for a needle singulation and infeed apparatus that automatically picks up surgical needles in random, un-oriented positions on a transport conveyor or like device, and places them in oriented positions for suture attachment at a fully automated needle swaging station. The apparatus employs one or more robot devices for picking up the needles and placing them in individual precision engagement devices for sequential conveyance to an automatic swaging machine. After gripping the needle, and, depending upon the orientation of the needle with respect to the robot gripper, the robot gripper can pick the needle and move to a location where a mechanical finger is fixedly positioned. The robot is programmed to move to the mechanical finger and tap the needle held by the robot gripper against the finger to orient or rotate the needle in the proper direction prior to placing the needle in the precision engagement device.

Abstract: A transportation method of individual objects and a means for sorting each object into a receiver is disclosed. In accordance with the method, each object is individually picked from a conveyor and delivered to a selected collecting cassette, the objects being centered on the conveyor before being transferred to a pick-up device. The individual objects are delivered to the cassette with the pick-up device which turns 90 degrees and which tilts toward the selected cassette to deliver the object.The apparatus for handling of the individual objects includes a conveyor, a pick-up device mounted to a conveyor belt intended to pick-up and move the individual objects, and a device for centering each object before transference to the pick-up device. The pick-up device is turnable by 90 degrees in each direction, and is tiltable in the direction of the object.

Abstract: A part tracking system comprised of an array of photoelectric sensors positioned at various angles with respect to a conveyor transporting parts such as pieces of poultry to create a field of detection. The angle arrangements of the array of photoelectric sensors circumscribes the parts with lines of varying angles to approximate the part outline or closed line integral with a polygon. As a part is conveyed through the array of photoelectric sensors each transition of the sensors provide a side of the polygon that circumscribes the part. From this the vertices of the polygon can be determined which allows the centroid and angle of the major axis of the part to be calculated thereby providing the coordinates for the part's location on the conveyor. The coordinates are then conveyed to a robotic controller which manipulates an end effector to grasp the part.

Abstract: A robot controller capable of performing the lead-through-teaching easily and safely. When an operator depresses a lead-through-teach enabling switch (12) provided at a main body of a control apparatus, power supply to a servo control unit (17) is stopped and mechanical brakes (18) are set effective. When a deadman switch (4) is depressed by the operator holding a teaching handle (3), an electromagnetic relay RL1 is energized and a normally-open contact (14) is closed. Consequently, the mechanical brakes (18) are rendered ineffective and an electromagnetic relay RL2 is energized to close a normally-open contact (15), whereby electric power is supplied to the servo control unit (17). Further, a signal for setting a torque command to zero is inputted to the servo control unit. Thus, the operator can move the robot in a desired direction. When the operator stops depressing the deadman switch (4), the mechanical brake is immediately set effective to lock the robot at its current position.

Abstract: A conveyor controller calculates a distance which a conveyor is to move to convey a workpiece, and a simulated model of the conveyor is moved by a conveyor moving circuit. The calculated distance is converted into conveyor movement pulses by an encoder circuit, and the conveyor movement pulses are stored in a memory. A robot controller operates a simulated model of a coating robot in synchronism with the movement of the conveyor, based on statuses of simulated models of limit switches which are set by a limit switch controller. Statuses of operation of the simulated models are displayed on a display unit.

Abstract: A surface of a 3-D object is digitized automatically and stored in a memory. Based on the signal representation of the 3-D object areas of the surface are defined for color and boundaries. Coatings application paths are defined within each area and various parameters for applying coatings for each point in each path are also defined including spray pattern, amount of coatings to be applied, speed of application along the path, among others; for each area, the points of the selected path are correlated with the angle of attack, spray pattern, amount of coatings and speed. A set of programmed instructions are compiled for execution in a general purpose computer. An assembly line of objects to be painted may then be set up and the retrieved instructions executed.

Abstract: A wheel assembling apparatus for assembling different types of wheels to different types of vehicle bodies conveyed along a vehicle assembling line has a robot hand for fastening a plurality of nuts to hub bolts provisionally affixed to the wheel so as to assemble the wheel held by the robot hand to the vehicle body. The robot hand is provided with a center pin attachment to which different types of center pins, having been prepared correspondingly to center holes of the different types of wheels, are selectively and detachably attached. The center pin attached to the robot hand is fitted into the center hole of the wheel hub and locates the wheel in position with respect to the robot hand.

Abstract: A system and method for providing a tactile virtual reality to a user is present. The position and orientation of the user is utilized to generate a virtual reality force field. Forces are in turn generated on the user as a function of this force field. A six-axis manipulator is presented for providing a user interface to such a system. This manipulator provides a unique kinematic structure with two constant force springs which provide gravity compensation so that the manipulator effectively floats.

Abstract: A shuttle transfer assembly is provided for transferring parts between at least two conveyor lines. The shuttle assembly includes a base and a transfer table which is mounted to the base via a carriage assembly. A conveyor section is in turn mounted to the transfer table. The transfer table under program control is both rotated about a vertical axis and linearly displaced by the carriage assembly so that the conveyor section on the transfer table is aligned with a first selected conveyor line. A loader assembly on the transfer table selectively moves a number of parts from the first conveyor line onto the conveyor section. The transfer table is then moved so that its conveyor section is aligned with a second conveyor line. A unloader assembly then pushes the parts on the conveyor section from the transfer table and onto the second conveyor line.

Abstract: An interactive control system for controlling the automatic packaging of contact lenses in a contact lens fabrication facility, the interactive control system consisting of a first robot device for periodically transferring individual arrays of a first predetermined amount of discrete contact lens packages each containing a contact lens therein from a first station to an intermediate conveyor where the individual arrays are conveyed to a second station, and a controller for initiating a time stamp for each individual array transferred from the first station and determining elapsed time data for each individual array and for generating position status data indicating a good array or a bad array of defective lenses for each individual array as it is conveyed to the second station, the controller shifting the elapsed time data and position status data for each individual array as it is conveyed on the intermediate conveyor for transfer to the second station.

Abstract: A control system for a needle infeed device for automatically transferring needles randomly positioned on an indexing conveyor to an engagement device for subsequent conveyance to a processing location. The needle infeed device comprises one or more robots each having a gripper means for picking and placing the needles in the engagement device.

Abstract: Apparatus for removing and transporting ophthalmic lens mold sections from a mold, and generally comprising first, second, and third assemblies. The first assembly removes the lens mold sections from the mold and transports the lens mold sections to a first location, the second assembly receives the lens mold sections from the first assembly and transports the lens mold sections to a second location, and the third assembly receives the lens mold sections from the second assembly and transports the lens mold sections to a third location. Preferably, the first assembly includes a hand to receive the lens mold sections from the mold and to releasably hold the lens mold sections, and a support subassembly connected to the hand to support the hand and to move the hand between the mold and the first location.

Abstract: A modular product assembly platform which includes a multiple number of industrial robots or other similar assembly devices. The product assembly platform also includes a programmable controller system housed in a logic control cabinet, a vision control system housed in a vision control cabinet and a set of robot controllers which operate together to control the robots or assembly devices for performing product assembly tasks. The layout and configuration of the platform and the control equipment provide for convenience and flexibility in configuring and reconfiguring the assembly platform for different assembly procedures associated with different products.

Abstract: A treatment system is disclosed, which has a treatment apparatus for performing a predetermined treatment for a planar workpiece contained in a carrier, and a first air-tight carrier storage chamber for storing the carrier. The treatment apparatus has an air-tight second carrier storage chamber. An inert gas supply pipe and an exhaust pipe are connected to each of the treatment apparatus, the first carrier storage chamber, and the second carrier storage chamber. An open/close valve and an open/close device are connected to each of the inert gas supply pipes and the exhaust pipes.

Abstract: A method for feeding articles to a robot comprises the steps of temporarily storing a plurality of containers in a temporary storing device including a rest on which the plurality of containers are stacked and a separator for simultaneously separating the stacked containers from each other, stocking a plurality of containers supplied from the temporary storing device in a stocker, and feeding the stocked containers to the robot one-by-one.

Abstract: A surface of a 3-D object is digitized automatically and stored in a memory. Based on the signal representation of the 3-D object areas of the surface are defined for color and boundaries. Coatings application paths are defined within each area and various parameters for applying coatings for each point in each path are also defined including spray pattern, amount of coatings to be applied, speed of application along the path, among others; for each area, the points of the selected path are correlated with the angle of attack, spray pattern, amount of coatings and speed. A set of programmed instructions are compiled for execution in a general purpose computer. An assembly line of objects to be painted may then be set up and the retrieved instructions executed.

Abstract: An system and method for providing a tactile virtual reality to a user is present. The position and orientation of the user is utilized to generate a virtual reality force field. Forces are in turn generated on the user as a function of this force field. A six-axis manipulator is presented for providing a user interface to such a system. This manipulator provides a unique kinematic structure with two constant force springs which provide gravity compensation so that the manipulator effectively floats.

Abstract: An automated food preparation system having a continuously rotatable annular segmented cooking area, a food feeding system, and an industrial robot, all of which are controlled by a pre-programmed programmable controller wherein an operator provides input to the programmable controller selecting each food item to be cooked and the programmable controller commands the industrial robot to select the food item, place the food item on the cooking area for cooking, turn the food item at the proper time, and remove the food item from the cooking area.

Abstract: The present invention relates to a parts supply system applied to a versatile production line, which strives to eliminate manual labor and prevent misdelivery. The parts supply system includes at least one of the product assembling sites (3) on the production line, at least one of the parts supplying sites (4), at least one of the unit assembling sites (5), at which units are assembled from parts delivered from a warehouse and a plurality of sets are arranged with the units, and a delivery means for delivering the set automatically between each of the product assembling sites (3) and each of the parts supplying sites (4) by an automatic carrier (2) or conveyors.

Abstract: An apparatus for loading cartons (11, 12) which arrive on feed conveyors (13, 14) onto pallets (10) is disclosed. A palletizer (15 ) is used for loading the catons (11, 12) arriving on feed conveyors (13, 14 ) onto the pallet (10). This palletizer (15) lifts the cartons (11, 12) off the feed conveyor (13, 14 ) with a suction head (27) and conducts upward and downward movements as well as pivoting movements in order to deposit the cartons (11, 12) on the pallet (10). To increase the capacity of the palletizer (15), it is equipped with two independently operating articulated arms (16, 17 ) which both load cartons (11, 12) onto a pallet (10). As a result, the capacity of the palletizer (15 ) is increased while the operating velocity of the articulated arms (16, 17) remains invariable.

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: 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: An apparatus for removing recyclable or other selected items from a load of mixed trash. An identifier generating a non-visual identifying signal is secured to the item and is used in conjunction with sensor devices to locate the position of the item anywhere within the load of mixed trash, to control the movement of the load along a conveyor to an extracting device, to control the movement of the extracting device and the operation of the extracting device so as to remove the selected item from the load without human intervention and under automated control.

Abstract: Method and system are provided wherein a process robot moves the door of a vehicle to an open position, performs a robotically controlled process within the vehicle and then moves the door back to a closed position. A separate, two-axis programmable arm holds the door in the open position. In particular, the process robot has attached thereto a tool extension whereby the process robot goes in through a window opening of the door of the vehicle, executes a door open path where the door contacts the inner panel of the door and opens the door over a magnetic holder positioned on the two-axis programmable arm below the bottom of the door. The magnet is of sufficient magnetic strength to accurately hold the door at the programmed holding position of the two-axis arm. The process robot then performs a production operation (i.e. painting, priming, sealing, etc.) within the vehicle.

Abstract: A stowage device for stowing workpieces of a plurality of kinds on pallets in accordance with inputted shipment information includes a supply conveyor system provided with a refuge track conveyor. A plurality of carrier means devices (e.g. containers) carrying workpieces of different kinds are supplied via the supply conveyor system. Pallets on which workpieces are stowed by an industrial robot are transferred via a transfer device. The stowing of workpieces on each pallet is effected in two cycles: In the first cycle, workpieces of each kind filling a complete layer or layers of workpieces on the pallet are stowed. In the second re-stowing cycle, remaining fractional numbers of workpieces of respective kinds are stowed on the pallet. During these stowing operations, the carrier devices may be temporarily taken into the refuge conveyor before being transferred away from the robot.

Abstract: A robot is controlled to move from a predetermined rest point to contact a moving target. The control parameters of the robot are not known. Control is effectuated by predetermining the time required for the robot to move from a rest position to each of a plurality of points within the region in which the target is expected to be found. When the target is identified, its location near the predetermined points at a future time is computed. The known time required from motion of the robot from the rest position to predetermined points adjacent the future location of the target is determined by reference to stored information. The exact time required for the motion may be interpolated between the predetermined points. The time for robot motion is subtracted from the future time to determine the time at which robot motion begins. In a particular embodiment of the invention, a robot coacts with a circular conveyor belt to retrieve objects from the conveyor and transport them to a dump point.

Abstract: Apparatus for the adjustment of the accommodation volume of a workpiece carrier supported on a line. A bottom plate is disposed in the side walls of the workpiece carrier and is loosely displaceable at different heights within the workpiece carrier to provide a different volume for the carrier, there being provided a positioner for picking-up and moving a plate to different level within a workpiece carrier.

Abstract: The efficiency and measuring accuracy of thermogravimetry are improved by performing sample conveyance and thermogravimetry alternately, interruptedly and automatically by the provision of apparatus composed of a thermobalance having a holder for holding a sample container and a heating oven, a sample container tray initially carrying the sample container, and an auto-sampler for automatically conveying the sample container from the sample container tray to the holder and vice versa, the devices being combined to effect conveyance of the sample container from the sample container tray to the holder automatically and continuously and thus to improve the measuring accuracy.

Abstract: A controller for a device moving along a complementary path to a conveyed object, derives basic speed input from the object conveyor and uses a non-invasive sensor system to detect the proximity of the object. The sensor system controls electronic logic which causes a drive unit to match the speed of the device to that of the object over the complementary path. The controller returns the device to the start of the path for iterative utilization.