Abstract: A force sensor and a robot that can suppress a load applied to load sensor elements are provided. A force sensor includes: a first base member one surface of which is fixed on a fixed member; a plurality of load sensor elements that is provided on another surface of the first base member to detect a load; a second base member that is disposed facing the other surface of the first base member to generate a preload to be applied to each of the load sensor elements toward the first base member; a preload adjusting unit that adjusts the magnitude of the preload generated by the second base member; and buffer bodies that receive a part of an external load to be applied to each of the load sensor elements from the outside.

Abstract: A teaching line correcting apparatus defines a first plane, which is determined by a first reference position of a preset first reference region, a second reference position of a preset second reference region, and a third reference position of a preset third reference region, defines a second plane, which is determined by a detected position of the first reference region, a detected position of the second reference region, and a detected position of the third reference region, calculates a corrective value for equalizing the first reference region to an origin, equalizing the first reference position of the first reference region as the origin to the detected position of the first reference region as the origin, and equalizing the first plane to the second plane, and correcting reference coordinates where operating points are taught based on the calculated corrective value.

Abstract: A method for extracting intended torque for a wearable robot includes a motor torque calculating step, a link rotation calculating step and an intended torque calculating step. In the motor torque calculating step, motor torque is calculated from the angular velocity of rotation of the motor. In the link rotation calculating step, the angular velocity of rotation of the link is calculated. In the intended torque calculating step, the motor torque and the angular velocity of rotation of the link are substituted into a disturbance observer, and an estimated value of the intended torque applied by a wearer is calculated.

Abstract: An arrangement for motorized assistance in movement of manually movable components of medical apparatuses is provided. The arrangement includes at least one torque sensor that is arranged in a drivetrain of a movable component of a medical apparatus. The at least one torque sensor detects the moments occurring in the drivetrain in a stationary state and in motion. Using an evaluation unit, the torque detected by the at least one torque sensor may be compared against a predefinable first threshold value. The first threshold value is predefined according to a possible position of the movable component. The arrangement includes a drive unit, by which the drive of the drivetrain may be provided with motorized assistance when the first threshold value is exceeded.

Abstract: A robot includes: an arm; a driving source that pivots the arm; an angle sensor that detects a pivot angle and outputs pivot angle information; an inertia sensor that is attached to the arm and outputs inertial force information; a control command generating unit that outputs a control command defining rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used when the driving source is controlled; and an arm operation control unit that performs a first control based on the control command, the pivot angle information, and the inertial force information, if the control conversion determining unit determines that the inertial force information should be used, and performs a second control based on the control command and the pivot angle information, if the control conversion determining unit determines that the inertial force information should not be used.

Abstract: A manipulator system includes a master manipulation unit that performs a manipulation input by an operator, a slave motion unit that operates in accordance with the manipulation input, an interlock control unit that analyzes the manipulation input and performs control to operate the slave motion unit, interlocking with the manipulation input, and an interlock permission input unit that is capable of being manipulated by the operator and transmits, to the interlock control unit, an interlock permission mode signal used to enter a mode in which interlock of the slave motion unit is permitted based on the manipulation input of the mater manipulation unit when the operator manipulates the interlock permission input unit.

Abstract: A method for determining a spray position for a spray tool includes accessing an image signal generated by a camera, the image signal corresponding to at least an udder of a dairy livestock. The method further includes processing the accessed image signal to determine a tangent to the rear and a tangent to the bottom of the udder of the dairy livestock. The method concludes by determining a spray position from which a spray tool may apply disinfectant to the teats of the dairy livestock, wherein the spray position is a position relative to the intersection of the two tangents.

Abstract: An operating mechanism of medical device includes a first shaft, a driving source which generates an auxiliary driving force, a second shaft which is operated by the auxiliary driving force, a connecting part which connects the first motion transmission part with the second motion transmission part, transmits the auxiliary driving force from the second motion transmission part to the first motion transmission part, wherein at least a part of the connecting part is capable of an elastic deformation; a detecting unit which detects at least one of a first operation amount of the first motion transmission part and a second operation amount of the second motion transmission part; a control unit that which controls the driving source based on the first operation amount and the second operation amount detected by the detecting unit; and a regulating unit which regulates so that an amount of the elastic deformation of the connecting part is equal to or more than a predetermined amount.

Abstract: A controller for use with a nondestructive inspection system communicates with the nondestructive inspection system and with a robot for moving an inspection probe of the nondestructive inspection system relative to an object under inspection. The controller is configured to periodically generate estimated position information of the probe moving relative to the object under inspection and communicate the estimated position information to the nondestructive inspection system as the nondestructive inspection system collects inspection data from the probe. The controller receives actual position information from the robot, the actual position information indicating an actual position of the probe, and corrects the estimated position information based on the actual position information.

Abstract: The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assisting a surgeon for removing volumes in the body of a patient using a robot attached to a passive structure and to a device to carry out said methods. The present invention further concerns a device suitable to carry out the methods according to the present invention.

Abstract: A robot control apparatus includes an actuator; a generator unit; a first detection unit; a first computation unit to compute current positional data of the arm; a second computation unit to compute an input value; a third computation unit to compute an estimation value of a driving torque for driving the actuator; a fourth computation unit to compute a difference between the estimation value of the driving torque and a true value of the driving torque; and a second detection unit to detect a disturbance applied to the arm, wherein the second detection unit includes an update unit to estimate a parameter of a time-series model and updating the time-series model of the first sampling period by applying the parameter, and a determination unit to determine whether a disturbance occurs, by comparing the time-series model of the first sampling period with a time-series model of a second sampling period.

Abstract: A robot lawnmower includes a body and a drive system carried by the body and configured to maneuver the robot across a lawn. The robot also includes a grass cutter and a swath edge detector, both carried by the body. The swath edge detector is configured to detect a swath edge between cut and uncut grass while the drive system maneuvers the robot across the lawn while following a detected swath edge. The swath edge detector includes a calibrator that monitors uncut grass for calibration of the swath edge detector. In some examples, the calibrator comprises a second swath edge detector.

Abstract: A robotic prosthesis alignment device is disclosed that may automatically move the alignment of a prosthesis socket in relation to a prosthesis shank. The robotic prosthesis alignment device provides automatic translation in two axes. The robotic prosthesis alignment device includes angulation mechanics that automatically provide for plantarflexion, dorsiflexion, inversion, and eversion of the foot and shank with respect to the prosthesis socket. A surrogate device is also disclosed that can replicate the alignment achieved with the robotic prosthesis alignment device.

Abstract: The working support robot system of the present invention includes: a robot arm (11); a measuring unit (12) for measuring the worker's position; a work progress estimation unit (13) for estimating the work progress based on data input from the measuring unit (12) while referring to data on work procedure, and for selecting objects necessary for the next task when the work is found to have advanced to the next procedure; and an arm motion planning unit (14) for planning the trajectory of the robot arm (11) to control the robot arm (11) based on the work progress estimated by the work progress estimation unit (13) and selected objects. The working support robot system can deliver objects such as tools and parts to the worker according to the work to be performed by the worker.

Abstract: A control device (1) for a robot arm (8) which, if a person approach detection unit (3) detects approach of a person, performs control according to an impact between the robot arm (8) and the person. The control performed according to the impact is performed through an impact countermeasure motion control unit (4) and by setting individual mechanical impedances for respective joint portions of the robot arm (8) based on a movement of the person detected by a human movement detection unit (2).

Abstract: A force sensing apparatus and an operating method of the force sensing apparatus may obtain and provide information about a force applied to an object, thereby enabling control of a force to be applied to manipulate the object.

Abstract: A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.

Abstract: A robot includes respective arms, respective drive sources, respective angle sensors, respective inertia sensors, a posture detection unit that detects the posture of a third arm, and a second drive source control unit that selects, on the basis of a detection result of the posture detection unit, any one of a second (A) correction component, which is derived from an angular velocity ?A3 of a second axis of a third arm obtained from a third inertia sensor, an angular velocity ?A2m of a second axis of a second arm obtained from a second angle sensor, and an angular velocity ?A3m obtained from a third angle sensor, and a second (B) correction component, which is derived from an angular velocity ?A2 obtained from a second inertia sensor and the angular velocity ?A2m, and feeds back the selected correction component to control the second drive source.

Abstract: A robot includes a first arm that rotates around the first axis, a second arm that rotates around a second axis in a direction different from the first axis, a third arm that rotates around a third axis parallel to the second axis, a first inertia sensor that is installed at the first arm, a second (a) inertia sensor that is installed at the third arm, first to third angle sensors, a posture detection unit that detects the posture of the third arm with the second arm as a reference and derives a feedback gain, and a second drive source control unit that feeds back a second correction component, which is obtained by multiplying a value, which is obtained by subtracting the angular velocity ?A2m and the angular velocity ?A3m from the angular velocity ?A3, by the feedback gain, and controls the second drive source.

Abstract: An automatic commodity transportation system, adapted for transporting glass substrate of a TFT-LCD of a liquid crystal display device, wherein the automatic commodity transportation system includes a plurality of storing cabinets, a plurality of storing trays removeably disposed within the cabinet, and a transporting apparatus, wherein the transporting apparatus is used to move the trays between different storing cabinets, the transporting device which includes a chassis. A robot arm is rotatably mounted onto the chassis. A protective arrangement is provided on the robot arm to stop the operation of the robot arm when the protective arrangement is triggered to sending out a signal. As the automatic commodity transportation system is arranged with an anti-collision device such that a collision with other moving or stationary part is therefore effectively lowered. As a result, the halt and maintenance resulted of a damaged rotary arm can be avoided, and the production will not be affected.

Abstract: According to one embodiment, a robotic control apparatus includes a physical parameter switching unit, an observer unit, and a state feedback unit. The physical parameter switching unit switches a physical parameter set in accordance with a value of a mass of an end effector load of a robotic arm. The observer unit estimates an angular velocity of a link based on a simulation model of a motor angular velocity control system which undergoes gain proportional-integral control equivalent to a proportional-integral control of the angular velocity control system. The state feedback unit calculates an axial torsional angular velocity based on a difference between the angular velocity of the motor, and the angular velocity of the link, and feed the calculated axial torsional angular velocity back to the angular velocity control system.

Abstract: A handling apparatus for automated or robot-supported contact tasks is disclosed. The handling apparatus has the following components: a mechanical interface for releasably or fixedly connecting the handling apparatus to a manipulator; a holder, which is movable in relation to the interface, for holding a tool; at least one static-frictionless adjusting element for positioning the holder in relation to the interface to the manipulator; a sensor device for directly or indirectly measuring the force acting on the at least one adjusting element; and a closed-loop controller which is configured to regulate the contact force depending on a predefinable force profile when there is contact between the handling apparatus and a surface.

Abstract: In a method for controlling a manipulator, in particular a robot, a reference path is stored and reference increments are automatically determined while following the path the reference increments are determined based on the dynamics of the manipulator while following the path.

Abstract: In accordance with various embodiments, a user-guidable robot appendage provides haptic feedback to the user.

Abstract: The control device of the present invention applies only a damping to a vehicle if a load angular position is in the vicinity of a load angular position reference input. In the preferred embodiment, a control portion has a control switching unit and a switching linear torque unit. The switching linear torque unit calculates a damping torque and a linear feedback torque, the damping torque being obtained by applying a negative sign to a product of the load angular speed and the damping parameter, the linear feedback torque being obtained by multiplying at least one of a position tracking error, a speed tracking error, and an acceleration tracking error by a predetermined gain. The control switching unit switches and outputs the damping torque and the linear feedback torque. The control switching unit outputs the damping torque if the load angular position is in the vicinity of the load angular position reference input, and outputs the linear feedback torque otherwise.

Abstract: The systems and methods are directed to mechanical arms and manipulators, and more particularly, to optical distance sensors in use for approach, grasping and manipulation. The system may include a manipulator having an arm and a multi fingered end-effector coupled to the distal end of the arm. The end-effector may include an optical proximity sensor configured to detect the distance to an object prior to contact with the object. The end-effector may include an optical proximity sensor configured detect a measurement of force applied to the object by the manipulator post contact with the object. The measurement of force may be a range of force measurements including a minimum, a maximum and a measurement between or within the minimum and the maximum.

Abstract: A system and method for adjusting the position and orientation of a feed arm associated with a wafer handling robot. In one embodiment, the system includes a positioning plate detachably carried by the feed arm and insertable therewith into a wafer carrier. The positioning plate includes graphic alignment indicia. An alignment apparatus is provided configured for insertion into wafer-holding slots in the wafer carrier. The apparatus includes at least one digital image sensor. With the positioning plate and alignment apparatus located in the wafer carrier, an image of the alignment indicia is displayed on a video monitor by the image sensor for comparison to a reference mark superimposed on the monitor for determining the relative position and orientation of the feed arm with respect to the wafer carrier. Some embodiments of the apparatus further include a distance detection device to measure the distance to the plate.

Abstract: A sensor relay control device generates feedback data based on sensor data including a plurality of components and being output by an external sensor installed at a portion of a joint of a robot and is connected to a robot control device that executes feedback control of the robot based on the feedback data. The sensor relay control device includes: a generating unit that imports sensor data output by the external sensor and performs coordinate conversion; a synchronizing unit that synchronizes the control data of each axis of the motors with a control cycle of the robot control device; and an outputting unit that outputs the control data of each axis of the motors synchronized with the control cycle of the robot control device to the robot control device as the feedback data.

Abstract: A computer program product and an apparatus for preparing a moving program for controlling the operation of a working robot which can move a known working apparatus relative to a workpiece and which can perform desired work on the workpiece. Movement information of the working apparatus may be input to a text entry screen on a character basis. Movement information of the working apparatus may also be input via a figure entry screen as a path on a two-dimensional plane in correlation with height information. The movement information that is input on the text entry screen is output in real time as the path on the two-dimensional plane and the height information thereof on the figure entry screen. The movement information that is input on the figure entry screen is output in real time to the text entry screen on the character basis.

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: A surgical system includes a manipulator, an implantable actuator and a controller. The manipulator includes a plurality of integrated sensor/actuators. The sensors of the sensor/actuators are adapted to detect movement about a plurality of axes of movement. The implantable actuator includes a plurality of joints providing a plurality of axes of movement. The controller is configured to receive information from the plurality of sensor/actuators that indicates movement of the manipulator about the plurality of axes and to cause the joints of the actuator to move along corresponding axes of movement. Each sensor/actuator of the manipulator detects movement about an axis of movement corresponding to a similar one of the joints of the actuator.

Abstract: In one aspect, the invention relates to a method for generating a haptic penalty force, including in one embodiment, the steps of: defining a primary proxy position; defining a secondary proxy position; defining a HIP position; generating a first force in response to the primary proxy position and the HIP position and generating a second force in response to the secondary proxy position and the HIP position.

Abstract: A method for changing a vehicle wheel held to the vehicle by nuts and retainer cleats comprising: using a mobile robot for removal and replacement of the wheel nuts and retainer cleats in combination with the use of a mobile mechanical wheel handler to grip and remove the wheel and to bring a replacement wheel into position before replacement of the wheel nuts and cleats by the robot.

Abstract: A robot system includes a movable component with a mark thereon, a control unit that controls the movable component in a three-dimensional coordinate system on the basis of control information, a digital camera that outputs image data by imaging a range of movement of the mark, and a calibrator that creates a transformation parameter for correlating a two-dimensional coordinate system of the image data with the three-dimensional coordinate system on the basis of the image data obtained by imaging the mark at different positions and the control information.

Abstract: The present disclosure is related to an exemplary robot manipulator system having a robot manipulator with a kinematic chain of stiff robot manipulator segments, which are linked together by hinged joints. A robot controller controls execution of a robot program. At least one temperature sensor provides measured temperature values. At least one heatable cover is attached onto at least one manipulator segment for applying heat energy thereon, with an amount of heat energy being controlled dependent on measured temperature values of the at least one temperature sensor.

Abstract: Embodiments of the present invention relate to a robotic assistant comprising a projector for projecting media on a surface, a sensor for sensing the media, and a motion control module for moving the robotic assistant.

Abstract: A robot includes: an arm; a driving source that pivots the arm; an angle sensor that detects a pivot angle and outputs pivot angle information; an inertia sensor that is attached to the arm and outputs inertial force information; a control command generating unit that outputs a control command defining rotational operation of the arm; a control conversion determining unit that determines whether the inertial force information is used when the driving source is controlled; and an arm operation control unit that performs a first control based on the control command, the pivot angle information, and the inertial force information, if the control conversion determining unit determines that the inertial force information should be used, and performs a second control based on the control command and the pivot angle information, if the control conversion determining unit determines that the inertial force information should not be used.

Abstract: A CPU of a robot control device calculates load torque based on the inertia force, centrifugal force or Coriolis force, gravity force, friction torque, and actuator inertia torque applied to a joint axis of each link, each time an orientation parameter indicative of the link position and orientation allowed by a redundant degree of freedom is sequentially changed, under a constraint of end-effector position and orientation as target values. The CPU obtains the link position and orientation at which the ratio of the load torque to the rated torque of a rotary actuator provided for each joint is minimized, while the orientation parameter is being changed, and provides a feed-forward value that gives rise to each load torque obtained when the ratio of the load torque to the rated torque of the rotary actuator is minimized, to a control command generated to the rotary actuator of each joint axis for achieving the end-effector position and orientation as target values.

Abstract: A work hanging apparatus includes a hanger line continuously conveying hangers each having a hook, a robot that has a hand with which a work having a hole is held and transfers the held work to a hanging location set in the hanger line, a controller controlling a movement of the hand to catch the hook of one of the hangers with the hole of the held work at the hanging location, a hole deviation detector that detects a positional deviation of the hole of the work, an attitude deviation detector that detects an attitudinal deviation of the hanger, and a corrector that corrects the movement of the hand according to the positional and attitudinal deviations.

Abstract: A safety device (1) for the safe use of industrial apparatuses and robots, includes a movable structure (2), or robot, composed of rigid bodies (3) which are mutually articulated and provided with movers (4) for moving them with respect to each other, the movers (4) being managed by a control and management system (5) for the movement of the movable structure (2) according to a series of nominal kinematic state values.

Abstract: A robot includes: an arm driven by a motor; an angle sensor that detects a pivoting angle of the motor; an inertia sensor that detects an inertial force acting on the arm; a noise detecting unit that detects a noise frequency of the inertia sensor from both an output of the angle sensor and an output of the inertia sensor; a filter-constant determining unit that determines a characteristic of a filter from information of the noise detecting unit; and the filter that removes noise of the inertia sensor on the basis of the filter-constant determining unit.

Abstract: A mobile robot including a robot body, a drive system supporting the robot body, and a controller in communication with the drive system. The robot also includes an actuator moving a portion of the robot body through a volume of space adjacent the mobile robot and a sensor pod in communication with the controller. The sensor pod includes a collar rotatably supported and having a curved wall formed at least partially as a surface of revolution about a vertical axis. The sensor pod also includes a volumetric point cloud sensor housed by the collar and observing the volume of space adjacent the robot from within the collar along an observation axis extending through the curved wall. A collar actuator rotates the collar and the volumetric point cloud sensor together about the collar axis.

Abstract: Disclosed are a robot and a method of controlling the robot, and more particularly are an autonomous robot and a method of controlling the autonomous robot. The autonomous robot includes a sensor for detecting a change of a situation; an actuator; and a controller for controlling the actuator based on information input through the sensor, wherein the controller controls the actuator in accordance with mode information including an act abstraction layer which defines a unit act by combining functions of the sensor and the actuator.

Abstract: Methods automatically and comprehensively self-test the operation, hardware, and programs of a robotic system to reveal problems in a robotic system. The system preferably evaluates repeatability of measurement by each distance sensor, an accuracy of measurement by each distance sensor, an accuracy of movement of any positioning joints used to position the robot arm, and an accuracy of at least one routine of the system control programs. The positioning joints may include one or more rotational joints or one or more translational joints. In some embodiments, the robotic system is a robotic pulse/echo layer thickness (PELT) system. When a robotic system has passed all of the tests, then the system performance has been verified. The inclusion of these self-tests allows a robotic PELT system owner to determine whether or not the robotic portion of a system is performing correctly.

Abstract: Methods and apparatus enable a robotic system to detect and determine the location, orientation, surface contours, and features of an object that are not otherwise accurately known in order to allow the robotic system to accurately place a pulse/echo layer thickness-gauge ultrasonic transducer gauge onto the surface of the object. The robotic system uses one or more distance measurement sensors to determine the position, orientation, local contour, and other features of the surface in relation to the robot. Another method calibrates an inaccurate distance sensor. Yet another method maintains overall system functionality in a system with multiple distance sensors in the event that one or more of the distance sensors fails. The robotic system may also determine when maintenance is required.

Abstract: A system for controlling a human-controlled proxy robot surrogate is presented. The system includes a plurality of motion capture sensors for monitoring and capturing all movements of a human handler such that each change in joint angle, body posture or position; wherein the motion capture sensors are similar in operation to sensors utilized in motion picture animation, suitably modified to track critical handler movements in near real time. A plurality of controls attached to the proxy robot surrogate is also presented that relays the monitored and captured movements of the human handler as “follow me” data to the proxy robot surrogate in which the plurality of controls are configured such that the proxy robot surrogate emulates the movements of the human handler.

Abstract: A desired joint torque output limiting unit limits operations of a desired joint torque output unit and a limit cancellation unit cancels the limitation by the output limiting unit. An actuator of a joint of a robot is controlled in accordance with modified desired joint torque outputted from the output limiting unit, so that the robot can be controlled even upon switching between dynamics parameters.

Abstract: A robotic surgical system for performing minimally invasive medical procedures includes a robot manipulator for robotically assisted handling of a laparoscopic instrument having a manipulator arm, a manipulator wrist supported by the arm and an effector unit supported by the wrist, wherein the manipulator arm provides three degrees-of-freedom by means of a first joint, a second joint and a third joint, each having an associated actuator, for robotically positioning the wrist, the wrist providing two degrees-of-freedom by means of a fourth joint and a fifth revolute joint having an associated actuator, for robotically setting the yaw angle and the pitch angle of the effector unit respectively; the effector unit includes a laparoscopic instrument actuator and provides one degree-of-freedom by means of a revolute sixth joint having an associated actuator for robotically setting the roll angle of the LIA which includes a seat, with an associated coupling mechanism for mounting an instrument stem adaptor to the ef

Abstract: A method for positioning a welding head or welding torch of a robot welding system over a workpiece sends microwaves as a measuring signal from a transmitter arranged on the welding head to the workpiece. The microwaves reflected on the workpiece are received by at least one receiver arranged on the welding head, and the received microwaves are evaluated by an evaluation module for determining the position of a workpiece edge. The microwaves are sent from at least one transmitter in different positions on the welding head, and the reflected microwaves are received, with a change of polarization, by the at least one receiver, having a polarization plane arranged at an angle to the polarization plane of the transmitter. The position of the edge is determined by the evaluation module at least on the basis of a phase change of the respective microwaves reflected on the different positions.

Abstract: A robot apparatus includes a gripping unit configured to grip a first component, a force sensor configured to detect, as detection values, a force and a moment acting on the gripping unit, a storing unit having stored therein contact states of the first component and a second component and transition information in association with each other, a selecting unit configured to discriminate, on the basis of the detection values, a contact state of the first component and the second component and select, on the basis of a result of the discrimination, the transition state stored in the storing unit, and a control unit configured to control the gripping unit on the basis of the transition information selected by the selecting unit.