Device to take a test on the lines run by the machines with compser

COLOUR TESTING FACILITY WITH A LOW PRESSURE ROLLER.

Verfahren und Vorrichtung zur Herstellung von positiven Probeabzuegen von Lithographien

Vacuum printing electric conductivity hot-proofing machine convenient to move

Tympan gauge

DEVICE FOR STORING A SHEET PILE IN A CONVERTING MACHINE AND CONVERTING MACHINE

Method for realization of tests for printing works, device for the implementation of this process or similar process

Printing decoration angle measuring instrument

Device and method used for printing on surface

The invention relates to a method used for printing on a surface (1)of an object (2) and a related device. The current object (2) can be measured with the help of an optical measuring device (4), and a computer model of the current object can be formed. The object is provided with a surface, and printing samples can be printed on the surface of the current object by at least a robot arm and a printing device fixedly disposed on the robot arm. The computer model, which is modified according to the printed object, can be formed by overlapping the virtual printing samples (9a-9c) corresponding to the printing samples. Based on the modified computer model, at least one control program capable of automatic moving and controlling of the printing device, which is fixedly disposed on the robot arm and is used for the robot arm, can be formed automatically and/or modified. At least one robot arm and the printing device can be used to carry out the printing on the surface of the current object according ...

FARBTONPRUEFEINRICHTUNG MIT EINER TIEFDRUCKWALZE

On the surface of the used for the method and apparatus for printing

DEVICE FOR STORING A SHEET PILE IN A CONVERTING MACHINE AND CONVERTING MACHINE

A device for storing a sheet pile in a converting machine (10) comprises a transfer mechanism (28) for delivering sheets (22) into a piling area (26) of the device (22), and a sampling plate (44) which is adjustable between a sampling position and an access position, wherein the top of the piling area (26) is covered by the sampling plate (44) when the sampling plate (44) is in the sampling position and the top of the piling area (26) is free when the sampling plate (44) is in the access position. Further, a converting machine is described.

Proof press

Means for producing proofs from the cast lines of type-bar casting machines

Novel sample making device

BIOLOGICAL REACTION APPARATUS WITH DRAINING MECHANISM

A biological reaction apparatus for receiving at least one substrate having a sample located in a sample region, and a separate cover, such that a reaction chamber is formed between the cover and substrate over the sample region, wherein the apparatus includes a locating means to locate the substrate; a cover locating means for locating and moving the cover with respect to the substrate; a fluid dispensing means for dispensing fluid into the reaction chamber; and a draining mechanism; wherein the draining mechanism includes wicking means. 1. An apparatus comprising:a controller;a robotic arm controlled by the controller;a tray receiving port which receives a slide tray comprising a plurality of slide receiving sections, wherein a plurality of slides are placed on the slide receiving sections, and the plurality of slides are respectively covered with a plurality of covers; anda rack receiving zone which receives a reagent rack comprising a plurality of reagent containers.2. The apparatus of claim 1 , wherein a reaction chamber is formed by each respective pair of a slide claim 1 , from among the plurality of the slides claim 1 , and a corresponding cover claim 1 , from among the plurality of covers claim 1 , which covers the slide.3. The apparatus of claim 2 , wherein the cover comprises an arm portion for moving the cover along the slide claim 2 , wherein a size of the reaction chamber changes in response to the arm portion being moved.4. The apparatus of claim 3 , wherein the slide tray comprises a pair of ramps claim 3 , and the cover comprises wings which engage the pair of ramps in response to movement of the arm portion.5. The apparatus of claim 4 , wherein the arm portion is moved by an actuator which engages a positioning member to position the cover over the slide.6. The apparatus of claim 4 , further comprising:a clamp which secures the cover to the slide during processing of a sample on the slide.7. The apparatus of claim 2 , wherein the tray receiving ...

ACTIVATION CONTROL DEVICE FOR ROBOTIC AUXILIARY DEVICES

Disclosed herein is a system for controlling “on”/“off” functionality of an auxiliary device including a circuit designed to monitor physical rotations. The device will activate or deactivate when predetermined rotations are sensed by the circuit within a specific time period. The circuit can be used on high vibration tooling such as grinders and saws due to its resistance to relatively large vibrational noise. The circuit also includes a current sensing device to determine when the auxiliary device draws too much current. When an over current situation is measured, the circuit will automatically shut down to protect the device's electronic components. This control system can be implemented in new device designs, or installed as a retrofit control mechanism to existing commercially available devices. 1. A controller for controlling an auxiliary device of a robotic system , the controller comprising:a motion sensing device for detecting an input signal to the robotic system, wherein the input signal is indicative of a rotational movement of the auxiliary device about an axis;a processor for determining direction and time of the rotational movement, wherein the rotational movement is a clockwise rotation or counter clockwise rotation about the axis;a current sensor for monitoring whether current passing through the auxiliary device is below a threshold value;a power circuit for regulating power supplied to the auxiliary device; anda microprocessor for monitoring signal detections from the motion sensing device.2. The controller of claim 1 , wherein the processor switches on a motor comprised in the auxiliary device when the rotational movement is clockwise direction and time of completion for the rotational movement is a predetermined value.3. The controller of claim 1 , wherein the processor switches off a motor comprised in the device motor when the rotational movement is counter clockwise direction and time of completion for the rotational movement is a ...

MANAGING SHARED ROBOTS IN A DATA CENTER

An embodiment includes identifying a robot that is available to perform a task involving an asset in a data center. The embodiment transmits a script to the robot that includes commands corresponding to actions to be executed by the robot in performing the task and transmits a dispatch command to the robot configured to enable the robot to travel from a robot resting place to the asset to begin the task. The embodiment relays a verification request received from the robot after the robot has completed a portion of the task to the vendor. The embodiment also relays, responsive to the verification request, an updated script based on updated instructions from the vendor for dynamically modifying the task to correcting an irregularity. The embodiment transmits, responsive to completion of the task, a recall command to the robot configured to enable the robot to travel from the asset to the robot resting place. 1. A computer implemented method comprising:identifying a robot that is available to perform a task involving an asset in a data center;transmitting a script based on instructions received from a vendor associated with the task to the robot, wherein the script includes commands corresponding to actions to be executed by the robot in performing the task;transmitting a dispatch command to the robot that causes the robot to travel from a robot resting place to the asset to begin the task;relaying a verification request received from the robot after the robot has completed a portion of the task to the vendor;relaying, responsive to the verification request, an updated script based on updated instructions from the vendor for dynamically modifying the task to correct an irregularity; andtransmitting, responsive to an indication from the robot of completion of the task, a recall command to the robot configured to enable the robot to travel from the asset to the robot resting place.2. The computer implemented method of claim 1 , wherein the verification request ...

TASK HIERARCHICAL CONTROL METHOD, AND ROBOT AND COMPUTER READABLE STORAGE MEDIUM USING THE SAME

A task hierarchical control method as well as a robot and a storage medium using the same are provided. The method includes: obtaining a task instruction for a robot, where the task instruction is for determining a target task card including an amount of selection matrices for dividing a target task into the amount of hierarchical subtasks and a controller name for executing each of the hierarchical subtasks; obtaining a null space projection matrix of each of the hierarchical subtasks based on the corresponding selection matrix; generating control finks of the amount according to the corresponding controller of each of the hierarchical subtasks and the corresponding null space projection matrix; calculating a control torque of each of the control links and obtaining a hierarchical control output quantity by adding ail the control torques; and controlling the robot to perform the target task using the hierarchical control output quantity. 1. A computer-implemented task hierarchical control method for a robot , comprising steps of:obtaining a task instruction for the robot; wherein the task instruction is for determining a target task card among a set of task cards, wherein the target task card comprises a first amount of selection matrices for dividing a target task into the first amount of hierarchical subtasks and a controller name for executing each of the hierarchical subtasks;obtaining a null space projection matrix of each of the hierarchical subtasks based on the corresponding selection matrix;generating control links of the first amount according to the corresponding controller of each of the hierarchical subtasks and the corresponding null space projection matrix by calling the corresponding controller in a controller library according to the controller name;calculating a control torque of each of the control links based on the corresponding selection matrix and an expected end control parameter and a measured joint parameter of the robot, and obtaining a ...

SYSTEM AND SAFETY GUIDE ROBOT FOR ACCESSING AUTOMATED ENVIRONMENTS

Techniques are disclosed to facilitate path planning safety guiding robots (SGR) for safely navigating and guiding humans through autonomous environments having other autonomous agents such as stationary and/or mobile robots. 1. A controller for an autonomous agent , comprising:a communication interface configured to receive sensor data; and determine, based on sensor data: a position of the autonomous agent, a position of a human being guided by the autonomous agent in an environment, and operational information of one or more other autonomous agents; and', 'control a movement of the autonomous agent based on the determined position of the autonomous agent, the determined position of the human being guided by the autonomous agent, and the operational information of one or more other autonomous agents., 'a processor configured to2. The controller of claim 1 , wherein the processor is further configured to generate a notification for the human to notify the human of a desired path claim 1 , the notification being generated based on the determined position of the autonomous agent claim 1 , the determined position of the human being guided by the autonomous agent claim 1 , and the operational information of one or more other autonomous agents.3. The controller of claim 1 , wherein the processor is further configured to control the one or more other autonomous agents to adjust an operation of the one or more other autonomous agents based on the determined position of the autonomous agent claim 1 , the determined position of the human being guided by the autonomous agent claim 1 , and the operational information of one or more other autonomous agents.4. The controller of claim 1 , wherein the processor is further configured to predict a future movement of the human based on the determined position of the human being guided by the autonomous agent.5. The controller of claim 4 , wherein the processor is configured to predict the future movement of the human based on the ...

ROBOTIC SYSTEMS WITH DYNAMIC MOVEMENT CONTROL

A robotic system for dynamic controlling the movement of a mobile robot is presented. The robotic system includes a multi-level transport system arranged in an xyz-space. The multi-level transport system includes a plurality of magnetic tracks configured to allow movement of the mobile robot in at least one direction in the xy-plane. The multi-level transport system further includes a plurality of transfer mechanisms configured to change the direction of the mobile robot in the xy-plane, and to allow the movement of the mobile robot in a direction along the z-axis, each transfer mechanism defining a transfer node in the multi-level transport system. The robotic system further includes a control system configured to dynamically control the movement of the mobile robot in the x,y,z direction at one or more transfer nodes of the multi-level transport system, by dynamically activating a corresponding magnetic track or a corresponding transfer mechanism. 1. A robotic system for dynamic controlling the movement of a mobile robot , comprising: a plurality of magnetic tracks configured to allow movement of the mobile robot in at least one direction in the xy-plane, and', 'plurality of transfer mechanisms configured to change the direction of the mobile robot in the xy-plane, and to allow the movement of the mobile robot in a direction along the z-axis, each transfer mechanism of the plurality of transfer mechanisms mechanically coupled to an end of a magnetic track of the plurality of magnetic tracks thereby defining a transfer node in the multi-level transport system,', 'wherein the plurality of magnetic tracks is configured to provide a path for the movement of the mobile robot between two or more transfer mechanisms of the plurality of transfer mechanisms; and, 'a multi-level transport system arranged in an xyz-space, comprisinga control system configured to dynamically control the movement of the mobile robot in the x,y,z direction at one or more transfer nodes of the ...

INSPECTION SYSTEM FOR INSPECTING OBJECT USING FORCE SENSOR

An inspection system includes a force sensor for detecting force acting between an inspection gauge and an object formed with a machined portion. The inspection system determines the quality of the machined portion, based on a positional relationship between the object and the inspection gauge when the inspection gauge and the machined portion are fitted to each other. The fitting operation between the inspection gauge and the machined portion is carried out by a robot which is operated in accordance with force control using a detection value of the force sensor. 1. An inspection system for inspecting accuracy of a size of a machined portion of an object , the machined portion having the same cross-section from one end face to an opposite end face , the inspection system comprising:an inspection gauge having a cross-section shaped supplementary to a cross-section shape of the machined portion;a robot configured to move the machined portion and the inspection gauge relative to each other;a force sensor configured to detect force acting between the object and the inspection gauge; anda controller configured to control the robot to fit the inspection gauge and the machined portion to each other,wherein the inspection gauge has a first inspection portion having the same cross-section shape as the machined portion and being sized so as to be smaller than a smallest allowable size of the machined portion, and a second inspection portion having the same cross-section shape as the machined portion and being sized so as to be larger than a largest allowable size of the machined portion, a force control part configured to perform force control based on a detection value of the force sensor; and', 'a quality determination part configured to determine that the object has either a good quality or a poor quality, based on a positional relationship between the machined portion and the inspection gauge when the inspection gauge and the machined portion are fitted to each other,', ' ...

ROBOT FOR MAKING COFFEE AND METHOD FOR CONTROLLING THE SAME

A robot for making coffee and a method for controlling the same are provided to couple or decouple a portafilter to or from an espresso machine without damage to the espresso machine or the portafilter due to a collision between the espresso machine and the portafilter. The robot includes a robot arm to move with a predetermined degree of freedom, a gripper provided in the robot arm to grip a portafilter, a torque sensor provided in the robot arm to detect repulsive force (Fr) when the portafilter makes contact with a group head of an espresso machine, and a controller configured to set a virtual spring having a predetermined elastic modulus (C) based on the repulsive force (Fr) detected by the torque sensor, and to control driving torque (T) of the robot arm depending on the restoring force (Fe) of the virtual spring. 1. A robot to make coffee , the robot comprising:a robot arm to move with at least one degree of freedom;a gripper connected to the robot arm, the gripper being configured to grip a portafilter;a torque sensor provided at the robot arm to detect a repulsive force when the portafilter makes contact with a group head of an espresso machine; and set a virtual spring having a predetermined elastic modulus based on the repulsive force detected by the torque sensor; and', 'control a driving torque of the robot arm based on a restoring force of the virtual spring., 'a controller configured to2. The robot of claim 1 , wherein the robot arm includes at least one joint claim 1 , and wherein the torque sensor is provided in a first joint of the at least one joint.3. The robot of claim 1 , wherein the robot includes a base claim 1 ,wherein the robot arm includes a proximal end adjacent to the base and a distal end spaced from the base, andwherein the torque sensor is provided at the distal end of the robot arm.4. The robot of claim 1 , wherein the virtual spring includes a first virtual spring positioned on a virtual horizontal plane relative to one of the ...

ROBOT

A robot includes a robot body, an ingredient feeder installed in the robot body to feed an ingredient, first and second robot arms each having an ingredient channel formed therein and connected to the robot body, the ingredient passing through the ingredient channel, and a dispenser disposed in the robot body to dispense the ingredient received from the ingredient feeder to the first and second robot arms. The dispenser includes a common channel connected to the ingredient feeder, a first branch channel communicating with the ingredient channel of the first robot arm, and a second branch channel communicating with the ingredient channel of the second robot arm, and the ingredient, which has passed through the common channel, is selectively fed to the first branch channel and the second branch channel by the dispenser. 1. A robot comprising:a robot body;an ingredient feeder installed in the robot body to feed an ingredient;first and second robot arms each having an ingredient channel formed therein and connected to the robot body, the ingredient passing through the ingredient channel; anda dispenser disposed in the robot body to dispense the ingredient received from the ingredient feeder to the first and second robot arms,wherein the dispenser includes:a common channel connected to the ingredient feeder,a first branch channel communicating with the ingredient channel of the first robot arm, anda second branch channel communicating with the ingredient channel of the second robot arm, andwherein the ingredient, which has passed through the common channel, is selectively fed to the first branch channel and the second branch channel by the dispenser.2. The robot according to claim 1 , wherein each of the first branch channel and the second branch channel includes:an inclined channel having an inlet formed therein, anda horizontal channel extending from the inclined channel in a horizontal direction.3. The robot according to claim 1 , wherein an inlet of each of the first ...

WORKING METHOD AND ROBOT SYSTEM

A working method of performing work with increase or decrease in weight on an object by a robot system having a robot, a first hand with an assist device, and a second hand without the assist device, includes switching between an assisted work state in which the first hand is coupled to the robot and work is performed with assistance by the assist device and a non-assisted work state in which the second hand is coupled to the robot and work is performed without assistance by the assist device according to a weight of the object. 1. A working method of performing work with increase or decrease in weight on an object by a robot system having a robot , a first hand with an assist device , and a second hand without the assist device , comprising switching between an assisted work state in which the first hand is coupled to the robot and work is performed with assistance by the assist device and a non-assisted work state in which the second hand is coupled to the robot and work is performed without assistance by the assist device according to a weight of the object.2. The working method according to claim 1 , further comprising:a first transport step of transporting the object to a working space by the robot;a working step of performing work with increase or decrease in weight on the object in the working space by the robot; anda second transport step of transporting the object after the working step out of the working space by the robot, whereinat the first transport step and the second transport step, the assisted work state and the non-assisted work state are switched according to the weight of the object.3. The working method according to claim 2 , whereinwhen the weight of the object increases at the working step, the first transport step is performed in the non-assisted work state and the second transport step is performed in the assisted work state.4. The working method according to claim 2 , whereinwhen the weight of the object decreases at the working step, the ...

SYSTEM AND METHOD FOR DETERMINING COMPONENT-RELATED DELAY TIMES FOR THE ROBOT-BASED SPRAY APPLICATION OF VISCOUS FLUIDS

A system and method are disclosed for determining component-related delay times for the spray application of viscous fluids, which includes an actuable application system for a viscous fluid having at least components of a metering device, fluid valve and application nozzle. The dynamic behaviour of the application system can be dependent, with respect to the volume flow profile of the viscous fluid during the application and component-related delay times, and an impacted object to be sprayed with the viscous fluid by the application nozzle. The system can include a vibration sensor for continuously sensing vibrations of the impacted object, and at least one computing device which is provided for actuating the application system with a sequence of predefinable input parameters, for bringing about a chronological correlation between the change in an input parameter and a change occurring thereafter in the vibration profile and determining therefrom, a respective component-related delay time.

MOVING ROBOT AND CONTROLLING METHOD

A moving robot system includes a moving robot which travels in a cleaning area, generates a map of the cleaning area, moves based on the map, and sucks foreign substances; and a terminal which inputs a cleaning command to the moving robot, based on the map, wherein the moving robot determines that the moving robot is in an isolation state, when the moving robot is unable to move due to a surrounding obstacle while traveling in the cleaning area, and sets a virtual wall in an isolation position where isolation is occurred and avoids the isolation position during a next cleaning operation. 1. A system comprising:an autonomous cleaner the travels in and performs cleaning within a cleaning area, the autonomous cleaner including a controller that generates a map of the cleaning area and manages a movement of the autonomous cleaner based on the map; anda terminal that provides a cleaning command to the autonomous cleaner based on the map, determines when the autonomous cleaner is in an isolation state in which the autonomous cleaner is unable to move from a region due to an obstacle while traveling in the cleaning area, and', 'sets a virtual wall at an isolation position associated with a location of autonomous cleaner where the isolation state occurs and avoids the isolation position during another travel operation based on setting the virtual wall., 'wherein the controller of the autonomous cleaner further2. The system of claim 1 , wherein the autonomous cleaner further includes a communication interface that transmits isolation position data including information on the isolation position and a surrounding area to at least one of the terminal or a server.3. The system of claim 2 , wherein the controller of the autonomous cleaner further determines at least one of a position of the obstacle claim 2 , a height of the obstacle claim 2 , or a floor material of the surrounding area when the autonomous cleaner is in the isolation state claim 2 , and includes information ...

TOOL PATH GENERATING METHOD, TOOL PATH GENERATING UNIT, PROGRAM FOR GENERATING TOOL PATH, AND RECORDING MEDIUM STORING PROGRAM

Provided is a tool path generating method for processing wood as a processing object by a multi-axis processing machine, including a plane extracting step of extracting at least one plane included in a processing objective region being a region at which the processing object is processable, a plane processing determining step of determining whether or not the plane extracted in the plane extracting step is processable by a disk blade attached to the multi-axis processing machine, a disk blade processing path generating step of generating a processing path for the disk blade on the plane determined as being processable in the plane processing determining step, and a tool path generating step of generating a tool path including the processing path for the disk blade. 1. A tool path generating method for processing wood as a processing object by a multi-axis processing machine , comprising:a plane extracting step of extracting at least one plane included in a processing objective region being a region at which the processing object is processable;a plane processing determining step of determining whether or not the plane extracted in the plane extracting step is processable by a disk blade attached to the multi-axis processing machine;a disk blade processing path generating step of generating a processing path for the disk blade on the plane determined as being processable in the plane processing determining step; anda tool path generating step of generating a tool path including the processing path for the disk blade.2. The tool path generating method according to claim 1 ,wherein, in the plane processing determining step, the disk blade is determined to be incapable of performing processing when a semi-plane on which a trajectory of the disk blade is assumed and a boundary of which is a trajectory of an outer peripheral edge of the disk blade is in contact with a processing prohibited region in which processing of the processing object is prohibited, and the disk ...

SYSTEM FOR REMOTELY SWINGING A GOLF CLUB

A method, system, and computer program product for remote golf club swinging is provided. The method can include receiving in a robotic golf club swing fixture from a remote operator over a computer communications network a set of swing parameters defining different aspects of a golf club swing. The method also can include directing a plurality of robotic arms of the fixture to swing a coupled golf club according to the received swing parameters. The method yet further can include sensing a result of the swinging of the coupled golf club. Finally, the method can include transmitting data derived from the sensed result to the remote operator over the computer communications network. 127.-. (canceled)28. A remote golf club swinging method comprising:receiving, by a processor executing in a memory of a computer and coupled to a robotic golf club swing fixture, from a remote operator over a computer communications network a set of swing parameters in response to the remote operator setting the set of swing parameters in a graphical user interface (GUI) in a web browser on a computing device remotely disposed from the robotic golf club swing fixture;directing, by the processor, a plurality of robotic arms of the robotic golf club swing fixture to swing a coupled golf club resulting in the remote operator remotely causing the robotic golf club swing fixture to swing the coupled golf club according to the set of swing parameters set via the GUI;sensing, by the processor, a result of the swinging of the coupled golf club; and,transmitting, by the processor, data derived from the sensed result to the remote operator for display in the web browser on the computing device over the computer communications network,wherein the result is a sensed performance of the golf club.29. The method of claim 28 , wherein the result further includes a resulting location of a golf ball struck by the coupled golf club subsequent to the swinging of the coupled golf club.30. The method of claim ...

Methods And Systems For Distributing Remote Assistance To Facilitate Robotic Object Manipulation

Methods and systems for distributing remote assistance to facilitate robotic object manipulation are provided herein. Regions of a model of objects in an environment of a robotic manipulator may be determined, where each region corresponds to a different subset of objects with which the robotic manipulator is configured to perform a respective task. Certain tasks may be identified, and a priority queue of requests for remote assistance associated with the identified tasks may be determined based on expected times at which the robotic manipulator will perform the identified tasks. At least one remote assistor device may then be requested, according to the priority queue, to provide remote assistance with the identified tasks. The robotic manipulator may then be caused to perform the identified tasks based on responses to the requesting, received from the at least one remote assistor device, that indicate how to perform the identified tasks. 1. A system , comprising:a remote assistor device; and identify a first task and a second task, wherein the first task involves a first object and the second task involves a second object;', 'determine a first expected time at which the robotic device is expected to perform the first task;', 'determine a second expected time at which the robotic device is expected to perform the second task;', 'based on the first expected time and the second expected time, determine an order in which to transmit a first request for remote assistance with the first task and a second request for remote assistance with the second task;', 'transmit the first request and the second request to the remote assistor device in accordance with the order;', 'receive, from the remote assistor device, a first response including data relating to performance of the first task;', 'receive, from the remote assistor device, a second response including data relating to performance of the second task; and', 'cause the robotic device to perform both the first task and ...

CONTROL DEVICE, CONTROL METHOD, AND NON-TRANSITORY COMPUTER READABLE STORAGE MEDIUM

A control device () according to the present application includes a limitation portion that is provided in a joint portion, which joins two or more links, of a robot and that physically limits motion of the links, and a control unit () that limits movable ranges of the links by controlling the limitation portion corresponding to a predetermined joint portion on the basis of a task executed by the robot. With this configuration, it becomes possible to secure safety of when the robot executes a task. 1. A control device comprising:a limitation portion that is provided in a joint portion, which joins two or more links, of a robot and that physically limits motion of the links; anda control unit that limits, on the basis of a task executed by the robot, movable ranges of the links by controlling the limitation portion corresponding to a predetermined joint portion.2. The control device according to claim 1 , whereinthe control unit controls the limitation portion corresponding, as the predetermined joint portion, to a joint portion determined on the basis of the task.3. The control device according to claim 1 , whereinthe control unit controls the limitation portion corresponding to the predetermined joint portion in such a manner as to move within a movable range determined on the basis of the task.4. The control device according to claim 2 , whereinthe control unit controls the limitation portion corresponding, as the predetermined joint portion, to a joint portion determined on the basis of information related to an object to be a target of the task.5. The control device according to claim 3 , whereinthe control unit controls the limitation portion corresponding to the predetermined joint portion in such a manner as to move within a movable range determined on the basis of information related to an object to be a target of the task.6. The control device according to claim 4 , whereinthe control unit controls the limitation portion corresponding to a joint portion ...

SYSTEM AND METHOD FOR ROBOTIC BIN PICKING USING ADVANCED SCANNING TECHNIQUES

A method and system for programming picking and placing of a workpiece is provided. Embodiments may include associating a workpiece with an end effector that is attached to a robot and scanning the workpiece while the workpiece is associated with the end effector. Embodiments may also include determining a pose of the workpiece relative to the robot, based upon, at least in part, the scanning. 1. A method for programming picking and placing of a workpiece comprising:associating a workpiece with an end effector that is attached to a robot;scanning the workpiece while the workpiece is associated with the end effector; anddetermining a pose of the workpiece relative to the robot, based upon, at least in part, the scanning.2. The method of claim 1 , further comprising:picking up the workpiece via the robot, wherein picking up the workpiece includes specifying one or more poses of the robot relative to the pose of the workpiece.3. The method of claim 1 , further comprising:placing the workpiece, wherein placing the workpiece includes determining a robot pose and inferring the pose of the workpiece from the robot pose.4. The method of claim 1 , further comprising:placing the workpiece, wherein placing the workpiece includes specifying one or more poses of the robot relative to the pose of the workpiece.5. The method of claim 1 , further comprising:displaying, at a graphical user interface, the pose of the workpiece relative to the robot to allow for visual verification.6. The method of claim 1 , wherein scanning and determining occur while the robot is in a fixed position.7. The method of claim 1 , further comprising:allowing a user to adjust the pose of the workpiece relative to the robot by entering one or more coordinates.8. The method of claim 7 , further comprising:displaying an adjusted pose of the workpiece at a graphical user interface for verification.9. A system for programming picking and placing of a workpiece comprising:an end effector that is attached to a ...

Spatiotemporal Controller for Controlling Robot Operation

A robot may include a spatiotemporal controller for controlling the kinematics or movements of the robot via continuous and/or granular adjustments to the actuators that perform the physical operations of the robot. The spatiotemporal controller may continuously and/or granularly adjust the actuators to align completion or execution of different objectives or waypoints from a spatiotemporal plan within time intervals allotted for each objective by the spatiotemporal plan. The spatiotemporal controller may also continuously and/or granularly adjust the actuators to workaround unexpected conflicts that may arise during the execution of an objective and delays that result from a workaround while still completing the objective within the allotted time interval. By completing objectives within the allotted time intervals, the spatiotemporal controller may ensure that conflicts do not arise as the robots simultaneously operate in the site using some of the same shared resource. 1. A method for autonomous robotic operation , the method comprising:receiving, at a controller of a robot, an objective and a time by which to complete the objective;determining, by operation of the controller, one or more actuators of the robot producing movements or operations associated with execution of the objective;partitioning, by operation of the controller, execution of the movements or operations to a plurality of instance objectives spanning the time; andadjusting, by the controller, movements or operations produced by the one or more actuators in response to the controller executing each instance objective of the plurality of instance objectives.2. The method of claim 1 , wherein the adjusting comprises changing power supplied to the one or more actuators during execution of each instance objective.3. The method of claim 1 , wherein the adjusting comprises issuing a new command from the controller to the one or more actuators during execution of each instance objective of the plurality ...

CONTROL DEVICE FOR ROBOT THAT PERFORMS WORK BY PRESSING TOOL AGAINST WORKPIECE

A robot control device includes a correction amount calculation unit that calculates a correction amount for collecting a deviation of a tip position of a tool attached to a tip of a robot due to an external force applied to the tool and a correction profile generation unit that generates a correction profile indicating a relationship between the correction amount calculated by the correction amount calculation unit and time. 1. A robot control device for controlling a robot that performs work by pressing a tool attached to a tip of the robot against a workpiece , the robot control device comprising:a correction amount calculation unit that calculates a correction amount for correcting a deviation of a tip position of the tool due to an external force applied to the tool; anda correction profile generation unit that generates a correction profile indicating a relationship between the correction amount calculated by the correction amount calculation unit and time.2. The robot control device according to claim 1 , wherein as the tool starts to be pressed against the workpiece and the external force applied to the tool increases claim 1 , the correction profile generation unit generates the correction profile so as to increase the correction amount.3. The robot control device according to claim 1 , wherein as the tool starts to be separated from the workpiece and the external force applied to the tool decreases claim 1 , the correction profile generation unit generates the correction profile so as to decrease the correction amount.4. The robot control device according to claim 1 , further comprising: an inversion determination unit that determines whether the motor has been inverted on the basis of a current value of a motor provided on the robot or the tool; and a backlash correction amount calculation unit that claim 1 , when the inversion determination unit determines that the motor has been inverted claim 1 , calculates a backlash correction amount for correcting a ...

Robot system

A robot system according to an aspect of the present embodiment includes a robot (a first robot) and a controller. The robot has a robot hand (hand) equipped with one set of gripping claws that grips a tape member stuck on a workpiece to be processed. The controller instructs the robot to perform operation of peeling off the tape member while gripping the end of the tape member with the gripping claws.

Robot system and product manufacturing method

A robot system includes a robot, a container, a determinator, a motion controller, a torque limitter, and a stirring operation controller. The robot includes a drive source for driving a joint part and an end effector. The determinator determines whether a workpiece capable of being held by the end effector exists among workpieces accommodated within the container. The motion controller controls a motion of the drive source. When the determinator determines that there is no workpiece capable of being held by the end effector, the torque limitter limits a motion torque of the drive source. The stirring operation controller allows the motion controller to perform a stirring operation, by which the workpieces accommodated within the container are stirred by the end effector, in a state where the motion torque is limited by the torque limitter.

ROBOTIC WATERING DEVICE FOR MAINTAINING LIVE PLANTS

Examples provide a robotic plant-watering device including a set of articulated robotic arms connected to a main body. One or more adjustable water sprinkler devices attach to one or more of the robotic arms for watering one or more selected plants. One or more gripper devices removably attach to one or more of the robotic arms to grip a portion of a plant or plant container. The gripper device is utilized to modify a plant's position or location. A set of sensor devices generate sensor data associated with the plants or the conditions within a live plant center. A plant maintenance component analyzes the sensor data using a set of plant maintenance rules to generate a dynamic plant watering schedules based on the plant status and ambient conditions. The plant-watering device autonomously sprays a predetermined amount of water specified in the dynamic plant watering schedule onto a selected plant. 1. A system for robotic plant watering based on dynamic context data , the system comprising:a plurality of plants associated with a plant display in a live plant center:a set of sensor devices generating sensor data associated with the plurality of plants, the sensor data comprising at least one of temperature data and image data;a plant maintenance component, implemented on at least one processor associated with a computing device, generates a dynamic per-plant watering schedule based on an analysis of the sensor data and real-time context data associated with the live plant center using a set of per-plant maintenance rules;a robotic plant-watering device configured to water at least one plant in the plurality of plants in accordance with the dynamic per-plant watering schedule, the robotic plant-watering device comprising:a water tank configured to store water;a set of water lines connecting the water tank to a set of articulating robotic arms;an adjustable watering apparatus removably attached to a first robotic arm in the set of robotic arms, the adjustable watering ...

ROBOTIC SELF-FILMING SYSTEM

In general, embodiments of the present invention relate to a robotic self-filming system. Specifically, the robotic self-filming system includes a base, robot arm, video recording device holder, a video recording device mounted on the video device holder, and a robot control unit. The robot control unit receives video data from the video recording device. Using the video data, the robot control unit detects an object and tracks the object as the object moves freely about the environment. The robotic self-filming system then produces a final video product based on the video data and predefined parameters. 1. A method for recording a video using a robotic self-filming , the method comprising:receiving video data from a video recording device;detecting an object based on the video data;determining a composition style;tracking the object based on the video data; andcommunicating a movement request to the robotic self-filming based on the tracking and the composition style.2. The method of claim 1 , wherein the robotic self-filming apparatus includes a robot arm and a base.3. The method of claim 2 , wherein the movement request includes at least one of: a robot arm actuation or a base repositioning.4. The method of claim 3 , wherein the object is detected using object recognition.5. The method of claim 1 , further comprising receiving a set of parameters as input from a user interface claim 1 , wherein the user interface is associated with the robotic self-filming.6. The method of claim 5 , further comprising generating a video output based on the video data and at least one of the set of parameters and composition style.7. The method of claim 5 , wherein the composition style is determined by at least one of downloading from a server or generating by a user.8. A robotic self-filming system claim 5 , comprising: a base;', 'a robot arm; and', 'a video recording device holder configured to hold a video recording device; and, 'a robotic self-filming apparatus having receive ...

MULTI-AXIS ROBOT AND METHOD FOR CONTROLLING THE SAME FOR PAINTING OBJECTS

A multi-axis robot having a kinematic chain with a tool member and at least one additional member, the tool member supporting a first tool. The associated robot control mechanism comprises a kinematic control mechanism designed to receive the movement path of the first tool using a parameterizable tool center point and to control members of the kinetic chain in such a way that the tool center point follows the movement path. The robot control mechanism maintains all the members along the kinematic chain of the tool member of another member which supports the second tool in a fixed position, it parameterizes the tool center point on a working point of the second tool, and transfers the movement path of the second tool to the kinematic control mechanism so that the latter, under the condition that the fixed position of the members is maintained, controls the remaining members of the kinematic chain using the newly parameterized tool center point so that the tool center point follows the movement path of the second tool. 1. A multi-axis robot comprising:a) a kinematic chain which has a tool member and at least one further member,b) the tool member carrying a first tool,a robot controller which, in order to control the first tool, comprises a kinematic controller which is set up to accept a movement path of the first tool using a parameterizable tool center point and thereupon to actuate the at least one further member of the kinematic chain in such a way that the tool center point follows the movement path,whereind) the at least one further member carries a second tool, and in that fixes any members along the kinematic chain from the tool member to the at least one further member which carries the second tool in a fixing position,', 'parameterizes the tool center point to a working point of the second tool, and', 'transfers a movement path of the second tool to the kinematic controller, with the result that said kinematic controller, under the secondary condition that ...

DEVICE AND METHOD FOR THE ELECTRICAL TESTING OF AN ELECTRICAL COMPONENT

The invention relates to a device and method for electrical testing of an electrical component, the component including at least one electrical contact point. The device includes: an interface for providing the electrical component; a first robot manipulator having an effector, which is configured and constructed for picking up, handling and releasing the electrical component; a mechanical receiving interface into which the electrical component is insertable; a contacting device having at least one electrical counter contact, the contacting device being positioned in a first state in such a manner that space is available for the first robot manipulator to be able to insert/remove the electrical component into/from the receiving interface, and the contacting device being positioned in a second condition in such a manner that the at least one counter contact is connected to the at least one contact point of the electrical component which has been inserted into the receiving interface; an analysis unit connected to the at least one counter contact, the analysis unit being configured and constructed to perform electrical testing of the electrical component using the electrical connection of the at least one counter contact and the at least one contact point in the second state and to provide and/or output a test result; and a control unit for automated control of the first robot manipulator and the contacting device. 1. A device for electrical testing of an electrical component , wherein the electrical component comprises at least one electrical contact point , the device comprising:an interface to provide the electrical component;a first robot manipulator having an effector, the effector configured and constructed to pick up, handle, and release the electrical component;a mechanical receiving interface into which the electrical component is insertable;a contacting device having at least one electrical counter contact, the contacting device being positioned in a first ...

CONTROL DEVICE, CONTROL METHOD, AND NON-TRANSITORY RECORDING MEDIUM

A control device controls a subject to be controlled that obtains a certain state by an action, and is configured to conduct: an obtaining process to obtain the state and the action of the subject to be controlled from the subject to be controlled; a generating process to generate a reward that causes a next action of the subject to be controlled to optimize a next state of the subject to be controlled, based on the state and the action of the subject to be controlled; a selecting process to select a next action of the subjected to be controlled, based on the state and the action of the subject to be controlled, and the reward; and a control process to give a control command value to the subject to be controlled, the control command value corresponding to the next action of the subject to be controlled. 1. A control device controlling a subject to be controlled that obtains a certain state by an action , the control device comprising:a processor configured to execute a program;a storage device configured to store the program; anda communication interface configured to communicate with the subject to be controlled,wherein the processor is configured to conduct:an obtaining process to obtain the state and the action of the subject to be controlled from the subject to be controlled;a generating process to generate a reward that causes a next action of the subject to be controlled to optimize a next state of the subject to be controlled, based on the state and the action of the subject to be controlled obtained in the obtaining process;a selecting process to select a next action of the subjected to be controlled, based on the state and the action of the subject to be controlled obtained in the obtaining process, and the reward generated in the generating process; anda control process to give a control command value to the subject to be controlled, the control command value corresponding to the next action of the subject to be controlled selected in the selecting process ...

AUTONOMOUS MOBILE ROBOT SYSTEM FOR IMPROVED DOCKING WITH A WHEELED CART

Autonomous or automated mobile robots can be configured for transport and logistics applications. Systems for docking of such robots with wheeled carts can be used in methods for operation of such robots. 1. An autonomous mobile robot (AMR) system for docking with a wheeled cart; a frame hitch;', 'at least two elongated grips, which are disposed equidistant from a centre of the frame hitch; and, 'the wheeled cart being provided with a coupling structure comprising a robot body comprising at least one optical unit, a driving system configured for moving said robot body, and a mobile drive unit configured for automated navigation of said robot body;', 'a cart coupling system comprising at least two robot arms extending from said robot body, each robot arm comprising at least one gripper hand configured for gripping of at least one gripping element;, 'the AMR comprising at least two pivotable grippers, which are arranged to pivot between an open and a closed position of said gripper hand;', 'a gripper bias for biasing said grippers towards the open position of said gripper hand;', 'a moveably arranged latch, which is arranged to lock said grippers in the closed position of said gripper hand; and', 'a latch bias for biasing said latch towards said grippers., 'wherein each gripper hand comprises'}2. The AMR system of claim 1 , wherein the gripper hand comprises a proximity sensor configured for detecting the presence of the grip within the gripper hand; wherein the proximity sensor is operatively connected to the latch and configured to prevent the latch from unlocking the grippers upon detection of the presence of said grip.3. The AMR system of claim 1 , wherein the gripper hand comprises a guiding structure extending from the grippers claim 1 , which is configured to guide the grip towards the grippers.4. The AMR system of claim 3 , wherein the guiding structure has a broader entry tapered towards the grippers at an angle of 45° to 80°.5. The AMR system of claim 1 , ...

REMOTE ROBOTIC WELDING WITH A HANDHELD CONTROLLER

This disclosure describes systems, methods, and devices related to robotic point capture and motion control. A robotic device may synchronize one or more first axes of the robotic device with one or more second axes of a handheld device. The device may determine a welding path using the handheld device. The device may perform a weld by the traversing of an end effector of the robotic across the welding path, wherein the end effector comprises a welding tip. 1. A robotic system , comprising:a handheld device configured to send signals that effectuate movements of an end effector of a robot an along a movement path defined by a plurality of points in space;a handheld interface of the handheld device to capture the plurality of points in space in a training mode;an interchangeable attachment that attaches to the handheld device; anda controller unit coupled to the handheld device to process input and output signals from the handheld device.2. The robotic system of claim 1 , wherein the movement path is saved into at least one memory by pressing at least one button on the handheld device when capturing a first point and a second point along the movement path.3. The robotic system of claim 1 , wherein the interchangeable attachment is used on the end effector of the robot during an execution of a play mode that is based on the training mode.4. The robotic system of claim 1 , wherein the input and output signals are associated with capturing the plurality of points in space and capturing orientation and location of the handheld device in space.5. The robotic system of claim 1 , wherein the handheld device is a wireless device or a wired device.6. The robotic system of claim 1 , wherein the robotic system utilizes magnetic claim 1 , optical claim 1 , or inertial measurement units (IMUs) to capture a location and orientation of the handheld device.7. The robotic system of claim 1 , wherein the interchangeable attachment is a tool claim 1 , a welding tip claim 1 , or a point ...

Robotic Vehicle Painting Instrument Including A Terahertz Radiation Device

A method comprising scanning a first painted surface of a first vehicle having two or more paint layers with a robotic terahertz radiation instrument to obtain a first painted surface thickness data and map for each of the two or more paint layers, comparing the first thickness map to a control map, and adjusting one or more paint application parameters based on a comparison of the first thickness map with the control map for painting a second surface of a second vehicle different than the first vehicle. 1. A method comprising:scanning a first painted surface of a first vehicle having two or more paint layers with a robotic terahertz radiation instrument to obtain a first painted surface thickness data and map for each of the two or more paint layers;comparing the first thickness map to a control map; andadjusting one or more paint application parameters based on a comparison of the first thickness map with the control map for painting a second surface of a second vehicle different than the first vehicle.2. The method of claim 1 , wherein the first and second surfaces are on the same body part.3. The method of claim 2 , wherein the same body part is a vehicle door or hood.4. The method of claim 1 , wherein the adjusting step includes adjusting a path of a robotic vehicle painting instrument.5. The method of claim 1 , wherein the scanning step includes directing the robotic terahertz radiation instrument at the first painted surface.6. The method of claim 1 , wherein the two or more paint layers include at least three paint layers having different chemical composition from each other.7. The method of claim 1 , wherein the two or more paint layers include at least three layers and the first painted surface includes interfaces between each pair of adjacent paint layers of the at least three paint layers.8. The method of claim 1 , wherein the scanning step includes recording reflections from each interface.9. The method of claim 8 , wherein the first thickness map is ...

HUMAN-TRACKING ROBOT

A robot, method and computer program product, the method comprising: receiving a collection of points in at least two dimensions; segmenting the points according to distance to determine at least one object; tracking the at least one object; subject to at least two objects of size not exceeding a first threshold and at a distance not exceeding a second threshold, merging the at least two objects; and classifying a pose of a human associated with the at least one object. 1. A robot comprising:a sensor for capturing providing a collection of points in at least two dimensions, the points indicative of objects in an environment of the robot; receiving a collection of points in at least two dimensions;', 'segmenting the points according to distance to determine at least one object;', 'tracking the at least one object;', 'subject to at least two objects of size not exceeding a first threshold and at a distance not exceeding a second threshold, merging the at least two objects into a single object; and', 'classifying a pose of a human associated with the single object;, 'a processor adapted to perform the steps ofa steering mechanism or changing a position of the robot in accordance with the pose of the human; anda motor for activating the steering mechanism.2. A method for detecting a human in an indoor environment , comprising:receiving a collection of points in at least two dimensions;segmenting the points according to distance to determine at least one object;tracking the at least one object;subject to at least two objects of size not exceeding a first threshold and at a distance not exceeding a second threshold, merging the at least two objects into a single object; andclassifying a pose of a human associated with the single object.3. The method of claim 2 , further comprising:receiving a series of range and angle pairs; andtransforming each range and angle pair to a point in a two dimensional space.4. The method of claim 2 , wherein segmenting the points comprises: ...

METHOD FOR CONTROLLING A MANIPULATOR FOR CARRYING OUT A WORKING PROCESS

A method for controlling at least one manipulator for carrying out a working process which is controlled by a process controller comprises the steps of: a) providing one or more working points to be approached by the manipulator, b) approaching a working point Aby the manipulator, c) checking whether a subsequent working point Ais present and, if a subsequent working point Ais present, d) retrieving one or more data sets for the subsequent working point Awhile the working process is being carried out at the working point A. 1. A method for controlling at least one manipulator for carrying out a working process , which is controlled by a process controller , wherein the method comprises following steps:a) providing one or more working points, which have to be approached by the manipulator;{'sub': 'n', 'b) approaching a working point Aby the manipulator;'}{'sub': 'n+1', 'c) checking, whether a subsequent working point Ais present; and'}{'sub': n+1', 'n+1', 'n, 'd) if a subsequent working point Ais present, retrieving one or more data sets for the subsequent working point A, while the working process is being earned out at the working point A.'}2. The method of claim 1 , wherein the one or more data sets are retrieved at step d) by the manipulator controller.3. The method of claim 1 , wherein the one or more data sets are retrieved at step d) from the process controller claim 1 , which controls the working process.4. The method of claim 1 , wherein the checking at step c) is carried out claim 1 , while the manipulator is at working point A.5. The method of claim 1 , further comprising the following step:{'sub': 'n+1', 'applying, by the manipulator controller, of the retrieved data sets from step d) on a path planning for approaching the subsequent working point A.'}6. The method of claim 1 , further comprising the steps of:{'sub': n', 'n', 'n, 'sending actual data of working point Aand/or actual data of the manipulator at working point Aby the manipulator controller to ...

SCREW FASTENING FAULT ASSESSMENT DEVICE, SCREW FASTENING DEVICE, SCREW FASTENING FAULT ASSESSMENT METHOD, AND CONTROL PROGRAM

The present invention provides technology with which it is possible to highly accurately assess the quality of fastening of a screw. The present invention comprises a position acquisition unit () that acquires the axial-direction position of a driver (), and a fault assessment unit () that assesses that a fault has occurred in fastening of a screw when the amount of change in the axial-direction position of the driver () from when temporary seating occurred is greater than a threshold value. The present invention provides a technology with which the quality of screw fastening can be assessed with high precision. 1. A screw fastening fault assessment device , comprising:a position acquisition unit that acquires an axial position of a driver; anda fault assessment unit which assesses that a fault has occurred in screw fastening when the amount of change in the axial position of the driver from the time of temporary seating is greater than a threshold value in a final fastening process after a screw is inserted into a screw hole and the screw is temporarily seated.2. The screw fastening fault assessment device according to claim 1 , wherein the time of the temporary seating is a time point at which a seat surface of the inserted screw is in contact with an object to be fastened.3. The screw fastening fault assessment device according to claim 1 , wherein a temporary seating process in which the screw is inserted into the screw hole and the screw is temporarily seated is performed until a rotation torque applied to the driver reaches a first torque smaller than a fastening torque of the screw.4. The screw fastening fault assessment device according to claim 3 , wherein the final fastening process after the temporary seating process is performed until the rotation torque applied to the driver reaches a second torque which is the fastening torque.5. The screw fastening fault assessment device according to claim 1 , comprising a notification unit which notifies claim 1 , ...

WORKPIECE CONTACT STATE ESTIMATING DEVICE AND WORKPIECE CONTACT STATE ESTIMATION METHOD

The present invention provides a workpiece contact state estimating device and a workpiece contact state estimation method to estimate an actual state of contact of a workpiece A with a peripheral object on the basis of a feasible contact acting force range, which is a feasible range of the value of a contact acting force (the force acting on a manipulator generated by contact) prepared in advance for each of a plurality of types of contact states that are feasible as the states of contact of the workpiece A with the peripheral object, and a measurement value of the contact acting force at the time of contact of the workpiece A with the peripheral object. 1. A workpiece contact state estimating device adapted to estimate , at a time of performing an operation for moving a workpiece held by a distal end portion of a manipulator to a desired position by the manipulator , a state of contact of the workpiece with a peripheral object , which is an object existing in a periphery of the desired position , comprising:a measurement value acquiring unit that acquires a measurement value of a contact acting force, which is a force acting on the manipulator according to a contact reaction force applied to the workpiece from the peripheral object at a time of contact of the workpiece with the peripheral object; andan estimation processing unit that estimates, as an actual state of contact of the workpiece with the peripheral object, one of a plurality of types of contact states based on a feasible contact acting force range, which is a feasible range of a value of the contact acting force prepared in advance for each of the plurality of types of contact states determined in advance as feasible states of contact of the workpiece with the peripheral object, and the measurement value of the contact acting force.2. The workpiece contact state estimating device according to claim 1 ,wherein the feasible contact acting force range for each of the plurality of types of contact states ...

APPARATUS FOR TRANSPORTING A ROTOR

Provided is an apparatus capable of transporting a rotor from a first location to a second location, including: a holding device for engaging with a portion of the rotor at the first location so as to hold the rotor relative to the apparatus; a position determination device for determining the position of at least one component part of the rotor relative to another component part of the rotor or another body; a positioning device for positioning or repositioning said at least one component part of the rotor relative to another component part of the rotor or another body; and a movement device for moving the rotor from the first location to the second location. Also described is a method of loading a rotor into a balancing machine. 1. A transporting apparatus for transporting an elongate rotor from a first location to a balancing machine at a second location , the rotor being rotatable about an elongate axis and having first and second moveable component parts which are moveable relative to each other , the transporting apparatus including:a first holding device capable of engaging with a portion of the rotor at the first location so as to hold the rotor relative to the transporting apparatus;a second holding device capable of engaging with a further portion of the rotor at the first location so as to hold the rotor relative to the transporting apparatus;a position determination device capable of determining the position of the first moveable component part of the rotor relative to the second moveable component part of the rotor or relative to the mounting apparatus of the balancing machine into which the elongate rotor may be loaded;a positioning device capable of positioning the first moveable component part of the rotor relative to the second moveable component part of the rotor or relative to a mounting apparatus of the balancing machine into which the elongate rotor may be loaded; anda movement device for moving the rotor from the first location to the second ...

METHODS AND APPARATUS FOR ROBOT CONTROL

Methods, apparatus, systems, and articles of manufacture are disclosed for robot control. An example apparatus includes a command generator to instruct a robot to move an end effector from a staging position to an estimated pre-task position to perform a first task based on a first pose of the robot, the first pose based on a model, adjust the robot to a first actual pre-task position to perform the first task when the robot is to move to a second actual pre-task position, the first actual pre-task position proximate the estimated pre-task position, and direct the robot to perform a second task based on a correction factor, the correction factor is to be determined by determining a second pose of the robot, the second pose corresponding to position information associated with a post-task position, and calculating the correction factor based on the first pose and the second pose. 1. An apparatus comprising: instruct a robot to move an end effector from a staging position to an estimated pre-task position to perform a first task based on a first pose of the robot, the first pose based on a model;', 'adjust the robot to a first actual pre-task position to perform the first task when the robot is to move to a second actual pre-task position, the first actual pre-task position proximate the estimated pre-task position; and', determining a second pose of the robot, the second pose corresponding to position information associated with the robot at a post-task position, the post-task position corresponding to position information associated with the robot after performing the first task; and', 'calculating the correction factor based on the first pose and the second pose., 'direct the robot to perform a second task based on a correction factor, the correction factor is to be determined by], 'a command generator to2. The apparatus of claim 1 , wherein the first task includes the robot coupling a first assembly item to a second assembly item.3. The apparatus of claim 1 , ...

ARTICLE SEARCHING METHOD AND ROBOT THEREOF

An article searching method includes: receiving a search task for searching for an article to be searched; acquiring, based on the search task, a 3D model corresponding to the article to be searched; determining a search task group for searching for the article to be searched; and searching for the article to be searched based on the acquired 3D model and in combination with the search task group, wherein the search task group shares a search result in the process of searching for the article to be searched. . 1. An article searching method , comprising:receiving a search task for searching for an article to be searched;acquiring, based on the search task, a 3D model corresponding to the article to be searched;determining a search task group for searching for the article to be searched; andsearching for the article to be searched based on the acquired 3D model and in combination with the search task group, wherein the search task group shares a search result in the process of searching for the article to be searched.2. The method according to claim 1 , wherein the acquiring the 3D model corresponding to the article to be searched comprises:finding the 3D model corresponding to the article to be searched in a local 3D model set; andusing the found 3D model as the 3D model corresponding to the article to be searched if the 3D model corresponding to the article to be searched is found in the local 3D model set.3. The method according to claim 2 , further comprising:searching for the 3D model corresponding to the article to be searched in a network if the 3D model corresponding to the article to be searched is not found in the local 3D model set;if the 3D model corresponding to the article to be searched is searched out in the network, using the searched 3D model as the 3D model corresponding to the article to be searched;storing the searched 3D model to the local 3D model set;searching for a picture corresponding to the article to be searched in the network if the 3D ...

DEVICE FOR RELEASING CATCH BETWEEN PRECUT SUBSTRATES, ROBOT, AND ROBOT SYSTEM THEREFOR

A device capable of separating a remnant from a product part irrespective of a shape of the remnant. The device includes a first attraction part which attracts a first part and is moved downward; a second attraction part provided movable relative to the first attraction part to attract a second part; a jig which comes into contact with a back surface of the second part to prevent the second part from moving downward; and further a position maintaining part which maintains a position of the second attraction part relative to the first attraction part when the first attraction part is moved downward to separate the first part from the second part. 1. A device for releasing a catch between a first part and a second part of a substrate precut into the first part and the second part , comprising:a first attraction part which attracts the first part and which is moved to a first direction;a second attraction part which is provided to be movable relative to the first attraction part and which attracts the second part;a jig which contacts the second part from a side opposite to the second attraction part so as to prevent the second part from moving in the first direction; anda position maintaining part which maintains a position of the second attraction part relative to the first attraction part when the first attraction part is moved in the first direction so as to separate the first part from the second part.2. The device according to claim 1 , wherein the substrate is a flat plate claim 1 , whereinthe first direction is perpendicular to a surface of the substrate, and whereinthe second attraction part is movable relative to the first attraction part in a direction parallel to the first direction.3. A robot comprising:{'claim-ref': {'@idref': 'CLM-00001', 'claim 1'}, 'the device according to ; and'}a robot arm to which the first attraction part is attached.4. A robot system comprising:{'claim-ref': {'@idref': 'CLM-00003', 'claim 3'}, 'the robot according to ; and'}a ...

NETWORKED ROBOTIC MANIPULATORS

Robotic manipulators may be used to manipulate objects. Manipulation data about manipulations performed on objects may be generated and accessed. This data may be analyzed to generate a profile indicating how an object may be manipulated. A portion of the profile may be transmitted to a particular robotic manipulator. For example, the portion may be based on a manipulation capability of the robotic manipulator. In turn, the robotic manipulator may use the portion of the profile to manipulate the object. 1. An inventory system , comprising: one or more processors, and', 'one or more computer-readable media comprising instructions;, 'a central station comprisinga first robotic manipulator in communication with the central station over a data network, the first robotic manipulator configured to perform a first action and a second action associated with manipulating an inventory item; anda second robotic manipulator in communication with the central station over the data network, the second robotic manipulator configured to perform the second action and a third action, the third action different from the first action and associated with manipulating the inventory item, receive, from the first robotic manipulator over the data network, first data about performing the first action and the second action to manipulate the inventory item;', 'generate a manipulation profile based at least in part on the first data, the manipulation profile comprising instructions about manipulating the item in association with performing the first action and the second action;', 'transmit a portion of the manipulation profile to the second robotic manipulator over the data network, the portion comprising a subset of the instructions associated with the second action;', 'receive, from the second robotic manipulator over the data network, second data about performing the second action and the third action to manipulate the inventory item; and', 'update the manipulation profile based at least in ...

MOBILE UNIT

A mobile unit which suppresses an increase in weight and/or costs and/or a decrease in reliability is disclosed. In a mobile unit capable of turning movement, a right-hand part and a left-hand part are involute shaped, and a center point of a base circle of the involute shape passes through at least one axis among center axes of turning movement. 1. A mobile unit capable of turning movement , the mobile unit comprising:an involute shape on an outer side surface of the mobile unit, whereina center point of a base circle of the involute shape passes through at least one axis among center axes of the turning movement.2. The mobile unit according to claim 1 , further comprising:a plurality of driving sections that independently rotate on an identical rotation axis to perform the turning movement, whereinthe center point of the base circle of the involute shape is on a plane passing through the identical rotation axis of the plurality of driving sections and being perpendicular to the ground.3. The mobile unit according to claim 1 , further comprising:arm parts extending from right and left positions in a width direction of the mobile unit, whereinthe arm parts are combined at a center portion in the width direction of the mobile unit by hand parts provided in a forward direction of the arm parts, andan outer side of each of the arm parts is the involute shape.4. The mobile unit according to claim 3 , further comprising:shoulder parts that turn the arm parts about a rotation shaft parallel to the width direction of the mobile unit, whereinpositions of the hand parts in a forward and backward direction and a height direction are adjusted by the shoulder parts. This application is entitled to and claims the benefit of Japanese Patent Application No. 2017-181677, filed on Sep. 21, 2017, and Japanese Patent Application No. 2018-122683, filed on Jun. 28, 2018, the disclosure of which including the specifications, drawings and abstracts are incorporated herein by reference in ...

AUTOMATION OF BIOPSY SPECIMEN HANDLING

The current disclosure is directed to the field of pathology, and the automated handling of biological specimens from containers containing clear solutions wherein the biological specimens reside. A computer-implemented method is disclosed for extracting specimens from such containers via an extraction device attached to a robotic arm. The robotic arm is controlled by a robotic system controller. The three-dimensional location of all specimens are estimated using image analysis techniques using images obtained from a plurality of imaging systems. Image analysis is used to simultaneously guide the extraction device and track the location of specimens inside the container. 1(i) obtaining one or more intrinsic and extrinsic properties of a first imaging system and a second imaging system,(ii) periodically imaging the container using the first imaging system and the second imaging system,(iii) simultaneously guiding an extraction device and tracking a target biological specimen from a plurality of biological specimens in the container using a plurality of images obtained from the first imaging system and the second imaging system, and(iv) extracting the target biological specimen from the container using the extraction device,. A method for automatically extracting biological specimens from a container, comprising: FieldThe present disclosure relates generally to automatic handling of biological specimens with the aid of signal processing.Related ArtThe application of automation techniques in handling pathology specimens that are collected in containers such as vials is expected to facilitate and expedite pathological practice, such as histologic examination, by reducing the turn-around time, and improving the consistency and efficiency of the operations, e.g. by reducing the frequency of operation errors, and even reducing contaminations. Additionally, automation is expected to free laboratory personnel from repetitive and monotonous tasks; decrease the costs ...

SAMPLE PROCESSING APPARATUS

Disclosed is a sample processing apparatus, comprising: a first mechanism unit having a first operation range of movement and that carries out a first process on a container with a sample, the first operation range comprising an overlap region and a non-overlap region; a second mechanism unit having a second operation range of movement and that carries out a second process on the container after completion of the first process, the second operation range comprising the overlap region but not the non-overlap region; an operation detector that senses operation of the first mechanism unit; and a controller that causes the first mechanism unit to stop the first process and retreat from the overlap region and that causes the second mechanism unit to continue the second process upon detection of abnormality in the first mechanism unit based on the detection result by the operation detector. 1. A sample processing apparatus , comprising:a first mechanism unit having a first operation range of movement and that carries out a first process on a container with a sample, the first operation range comprising an overlap region and a non-overlap region;a second mechanism unit having a second operation range of movement and that carries out a second process on the container after completion of the first process, the second operation range comprising the overlap region but not the non-overlap region;a detector that senses operation of the first mechanism unit; anda controller that causes the first mechanism unit to stop the first process and retreat from the overlap region and that causes the second mechanism unit to continue the second process upon detection of abnormality in the first mechanism unit by the detector.2. The sample processing apparatus according to claim 1 , whereinthe first mechanism unit includes a first reagent dispenser, andthe second mechanism unit includes a container transfer that moves the container after operation of the first reagent dispenser.3. The ...

EQUIPMENT FOR HANDLING PARCELS USING SHUTTLE ROBOTS THAT MOVE BAGS OR THE LIKE

Equipment for handling parcels between loading points at which said parcels are loaded and drop-off points at which the parcels are dropped off in a logistics center, the equipment having sorting receptacles placed at the loading points and into which the parcels are poured loosely in bulk, further having trolleys, each of which is configured to carry a removable receptacle, and shuttle robots configured to dock with the trolleys and to move them automatically, and a monitoring and control unit for automatically and remotely controlling the movement of the shuttle robots as a function of a sorting plan so as to place trolleys with empty receptacles at the loading points and so as to place each of the trolleys with a receptacle loaded with parcels at a drop-off point where the receptacle loaded with parcels is replaced with an empty receptacle. 1. An equipment for handling parcels between loading points at which said parcels are loaded and drop-off points at which said parcels are dropped off in a logistics center , said equipment comprising:trolleys, each trolley configured to carry a removable receptacle,at least one shuttle robot designcd configured to dock with any one of said trolleys and to move it automatically, anda monitoring and control unit configured to automatically and remotely control the movement of said shuttle robot as a function of a sorting plan,wherein said equipment further comprises sorting receptacles placed at said loading points and into which said parcels are poured loosely in bulk as a function of sorting indications associated with said loading points, and wherein the monitoring and control unit is configured to control the movement of said shuttle robot in such a manner as to place at said loading points trolleys with empty receptacles into which the parcels are poured loosely in bulk, and in such a manner as to place each of said trolleys with a receptacle loaded with parcels at a drop-off point where the receptacle loaded with parcels ...

ROBOT CONTROL APPARATUS, ROBOT, AND ROBOT SYSTEM

A robot control apparatus includes a processor that is configured to execute computer-executable instruction so as to control a robot including a force detection section, wherein the processor is configured to reset the force detection section before a first target object is inserted into a second target object and after the first target object has been inserted into the second target object. 1. A robot control apparatus comprising:a processor that is configured to execute computer-executable instruction so as to control a robot including a force detection section,wherein the processor is configured to reset the force detection section before a first target object is inserted into a second target object and after the first target object has been inserted into the second target object.2. The robot control apparatus according to claim 1 , wherein points of time after the first target object is inserted into the second target object are points of time after the insertion but before the first target object is pulled out of the second target object.3. The robot control apparatus according to claim 1 , wherein points of time after the first target object is inserted into the second target object are points of time after the first target object is pulled out of the second target object but before the first target object is inserted into the second target object again.4. The robot control apparatus according to claim 1 ,wherein the processor is configured to, after performing the insertion, control an action of the robot in such a way that the first target object is caused to pivot relative to the second target object in a first direction while performing a pressing action of pressing the first target object against the second target object in a direction in which the first target object is inserted into the second target object, andperform force control with target force set in a direction of the insertion based on an output from the force detection section in the pressing ...

SELF-CONTAINED MODULAR MANUFACTURING TOOL

A system and method for a self-contained modular manufacturing device having modular tools and parts configured to collectively accomplish a specific task or function. In an embodiment, the modular device includes a housing that has a mount configured to engage a robotic arm or other form of maneuvering actuator (such a crane or gantry). The housing may provide a base by which additional modules may be mounted and coupled. The modular device also includes an interface configured to communicate with a remote control system capable of controlling the robotic arm. The modular device also includes one or more other modules that are configured to accomplish a particular task or function. Such modules are sometimes called end-effectors and work in conjunction with each other to accomplish tasks and functions. In a self-contained modular manufacturing device, a processor disposed in the housing may be configured to control the functional tools (e.g., each end-effector) independent of the overall manufacturing control system. 1. A device , comprising:a housing having an actuator mount configured to removably engage an actuator suited to maneuver any housing coupled thereto;an interface disposed in the housing and configured to communicate with a master control system remote from the housing that is capable of controlling the actuator;an end-effector disposed in the housing and configured to accomplish a manufacturing function; anda local controller disposed in the housing and configured to control the end-effector independent of the master control system.2. The device of claim 1 , further comprising a motion actuator assembly disposed in the housing and configured to maneuver the end-effector under control of the local controller.3. The device of claim 1 , wherein the end-effector comprises one from the group comprised of: a drill assembly claim 1 , a camera assembly claim 1 , a hole-depth determining assembly claim 1 , a counter-sink-depth determining assembly claim 1 , a ...

STORAGE MATERIAL HANDLING SYSTEM

A storage fill and retrieval system includes fixed storage locations distributed in a storage space and defining at least one human pick zone having at least one collection tote location, at least one autonomous mobile robot configured for holding and transporting a tote within the storage space and having an end effector arranged for autonomous transfer of the tote between the at least one robot and a tote holding station and a collection tote location, and a storage management system communicably connected to the at least one robot and configured to associate each robot with a human pick zone, wherein the at least one robot is configured to transport the tote to the collection tote location of each associated human pick zone, and wherein each collection tote location is arranged for human picker access and defines an interface between a human picker and the at least one robot. 1. A storage fill and retrieval system for a storage space , the system comprising:a multiplicity of fixed storage locations distributed in the storage space in a predetermined ordered configuration and defining at least one human pick zone arranged for human picker access to pick, or place, items from the fixed storage locations arrayed in the at least one human pick zone, each of the at least one human pick zones having at least one collection tote location;at least one autonomous mobile robot configured for holding and transporting a tote within the storage space and having an end effector arranged for autonomous transfer of the tote between the at least one autonomous mobile robot and a tote holding station and between the at least one autonomous mobile robot and a collection tote location; anda storage management system communicably connected to the at least one autonomous mobile robot and configured to associate each autonomous mobile robot of the at least one autonomous mobile robots with a human pick zone from the at least one human pick zones, each of the related human pick zones ...

Techniques and Architectures for Managing Heterogenous Robots to Manage Deliveries

Architectures and techniques to control heterogeneous teams of robots. Input is received from a remote device with a control platform. The control platform provides a control mechanism for a team of heterogenous robots having at least two different control structures. Control signals are generated for at least two different types of robots communicatively coupled with the control platform. A first type of robot is independent of a second type of robot and the first and second type of robot have different control mechanisms. The first type of robot receives a request for an item to be delivered. At least one of the first type of robot operates to identify the item and to move the item to an intermediate location and to generate a request to at least one of the second type of robot. At least one of the second type of robot operates to move the item from the intermediate location to a new location. 1. A system comprisinga control platform configured to receive input from a remote device, the control platform to provide a control mechanism for a team of heterogenous robots having at least two different control structures;at least two different types of robots communicatively coupled with the control platform, wherein a first type of robot is independent of a second type of robot and the first and second type of robot have different control mechanisms, the first type of robot to receive a request for an item to be delivered, wherein at least one of the first type of robot operates to identify the item and to move the item to an intermediate location and to generate a request to at least one of the second type of robot, wherein at least one of the second type of robot operates to move the item from the intermediate location to a new location.2. The system of wherein at least one of the first type of robot and the second type of robot utilizes artificial intelligence to accomplish its associated task.3. The system of wherein indications of at least a portion of operations ...

ROBOT SYSTEM, METHOD FOR CONTROLLING A ROBOT SYSTEM, AND PROCESSING SYSTEM

The invention relates to a robot system, to a corresponding method, and to a processing system, wherein, along a process line, which is formed by guide rails, or on a conveyor belt, objects or workpieces are optionally moved or transported on carrier devices having gripping elements. The robot arm removes the objects from the process line by pulling or pushing the objects from a plane or surface of the process line into a working chamber compliantly, i.e., in a non-rigid manner by means of force control, wherein the objects are positioned and oriented in the working chamber by means of guiding elements. After the processing of the objects in the working chamber, the objects are pushed or pulled back onto the process line by means of the robot arm. The process line can comprise passive, non-driven rollers or the like instead of an actively driven conveyor belt, wherein the robot arm nudges or pushes the objects in order to transport the objects. 1. Robotic system having at least one robot arm and a control unit for controlling the movement of the robot arm , which has at least one effector , the robotic system being positionable and orientable in the region of a process line along which an object or a carrier device , on which the object is arranged , can be moved , the control unit and the robot arm being configured such thatthe robot arm can interact with the object in the region of a working space assigned to the robotic system such that the effector processes the object, andthe robot arm can guide the object or the carrier device into and/or out of the working space by means of the effector;wherein the robotic system has a compliance control and the control unit is further configured such that the robot arm displaces the object or the carrier device relative to at least one guide means of the working space for guiding the object or the carrier device in such a way that the object or the carrier device is automatically positioned in the correct position relative ...

ROBOT DEVICE AND NON-TRANSITORY COMPUTER READABLE MEDIUM

A robot device includes a detector and a controller. The detector detects a surrounding situation. If the robot device is unable to execute a solution for solving a problem in the surrounding situation by using a function of the robot device, the controller performs control so that the solution will be executed by using an element other than the robot device. 1. A robot device comprising:a detector that detects a surrounding situation; anda controller that performs control, if the robot device is unable to execute a solution for solving a problem in the surrounding situation by using a function of the robot device, so that the solution will be executed by using an element other than the robot device.2. The robot device according to claim 1 , wherein the element includes at least one of a person and a device other than the robot device.3. The robot device according to claim 2 , wherein the controller controls a device other than the robot device by communicating with the device so as to cause the device to execute the solution.4. The robot device according to claim 2 , wherein the controller controls a device other than the robot device by directly operating an operation unit of the device so as to cause the device to execute the solution.5. The robot device according to claim 4 , wherein claim 4 , if the controller is unable to control a device other than the robot device by communicating with the device claim 4 , the controller controls the device by directly operating the operation unit of the device.6. The robot device according to claim 2 , wherein the solution is executed by a collaborative work between at least two of the robot device claim 2 , a device other than the robot device claim 2 , and a person.7. The robot device according to claim 1 , wherein the controller performs control so that information indicating the solution will be displayed.8. The robot device according to claim 7 , wherein the controller also performs control so that a device image ...

ROBOTIC KITTING MACHINE

A robotic kitting machine is disclosed. In various embodiments, a robotic arm is used to move an item to a location in proximity to a slot into which the item is to be inserted. Force information generated by a force sensor is received via a communication interface. The force sensor information is used to align a structure comprising the item with a corresponding cavity comprising the slot, and the item is inserted into the slot. 1. A robotic kitting system , comprising:a communication interface; and move an item to a location associated with a slot into which the item is to be inserted;', 'receive via the communication interface a force information generated by a force sensor;', 'use the force sensor information to align a structure comprising the item with a corresponding cavity comprising the slot; and', 'insert the item into the slot., 'a processor coupled to the communication interface and configured to2. The system of claim 1 , wherein the processor is further configured to grasp the item from a source receptacle.3. The system of claim 1 , wherein the processor is further configured to receive a high-level is objective and generate and implement a plan to achieve the high-level objective claim 1 , including by moving the item to the location.4. The system of claim 1 , wherein the processor is configured to move the item to the location using position control.5. The system of claim 1 , wherein the slot is included in a destination receptacle.6. The system of claim 5 , wherein the corresponding cavity comprises a cavity defined in a substrate.7. The system of claim 6 , wherein the substrate comprises a foam or other insert.8. The system of claim 1 , wherein the cavity comprises a first cavity and the slot includes one or more other cavities.9. The system of claim 8 , wherein one or more of the cavities has a shape or dimension that differs from one or more other of the cavities.10. The system of claim 1 , wherein the processor is configured to invoke a force ...

ROBOT, METHOD OF OPERATING SAME, AND ROBOT SYSTEM INCLUDING SAME

A first robot may include: a communication circuit configured to transmit and receive a signal; a sensor configured to detect a surrounding environment; a driving device configured to implement movement of the first robot; and a processor configured to control the first robot. The processor may determine a second voice recognition range of a second robot on the basis of a confirmation signal transmitted from the second robot. When a user is positioned outside the determined second voice recognition range, the processor may control the driving device so that the first robot follows the user. 1. A first robot comprising:a communication device configured to transmit and receive wireless signals;a sensor configured to detect a surrounding environment, and to provide detection data based on the detected environment;a driving device configured to provide a driving force to move the first robot; and control the first robot,', 'determine a second voice recognition range of a second robot based on a signal received from the second robot,', 'determine whether a user is positioned outside the determined second voice recognition range of the second robot, and', 'when a user is determined to be positioned outside the determined second voice recognition range of the second robot, the processor controls the driving device such that the first robot is to move with respect to the user., 'a processor configured to2. The first robot of claim 1 , wherein when the signal is received at the first robot claim 1 , the processor is to determine the second voice recognition range based on a current position of the first robot.3. The first robot of claim 1 , further comprising:a microphone configured to receive a user voice of the user,wherein in response to receiving the user voice, the processor is to control the first robot to perform an operation based on the received user voice.4. The first robot of claim 3 , wherein when the user is determined to not be positioned outside the second ...

System for Autonomous Maintenance of a Motor Control Center and Switchgear Equipment

An autonomous machine is wirelessly controlled by a system controller in an industrial control environment, such as a factory with industrial processes and machines, to move to a coordinate location corresponding to a unit of a Motor Control Center (MCC) or Switchgear equipment supporting the industrial control system to maintain, repair, monitor and/or troubleshoot the equipment without the need to place a human operator in harm's way of energized circuits. The system controller, which could be a Programmable Logic Controller (PLC) controlling the industrial control system, can monitor operational statuses with respect to each unit, and can dispatch the autonomous machine as required. The autonomous machine can include a mechanical arrangement operable to connect and disconnect power with respect to a unit and/or to withdraw and replace a unit with respect to the equipment. 1. A system for maintaining a Motor Control Center (MCC) or Switchgear equipment , the equipment comprising a plurality of units for industrial control , each units being configured to receive power from a common bus in the equipment , the system comprising:an autonomous machine configured to move in three dimensions with respect to the equipment, the autonomous machine having a processor, a wireless communication system, a location tracking system and a mechanical arrangement operable to disconnect power with respect to a unit of the equipment; anda system controller executing a program stored in non-transient medium to:monitor an operational status with respect to each unit; andcommand the autonomous machine through the wireless communication system to move to a coordinate location corresponding to a unit of the equipment undergoing service and to disconnect power to the unit undergoing service.2. The system of claim I , wherein the mechanical arrangement is further operable to withdraw the unit at least partially from the equipment.3. The system of claim 2 , wherein the system controller ...

Customer service robot and related systems and methods

A robot for providing customer service within a facility includes a locomotion platform, an upper sensor for detecting objects within an upper field of view of the robot, a lower sensor for detecting objects within a lower field of view of the robot, a display and a robot computer in communication with the locomotion platform, the upper sensor and the lower sensor. The robot computer is configured to detect the presence of a customer within the facility based on information received from at least one of the upper sensor and lower sensor, and the robot computer is further configured to access one or more databases storing information associated with products available to customers within the facility and to provide customer service to the customer based on the accessed information.

ACCURATE POSITION CONTROL FOR FIXTURELESS ASSEMBLY

A part manufacturing system and a method of manufacturing are provided. The system includes one or more part-moving robots, each having an end effector that grips a part. An operation robot performs an operation on the part while the part-moving robot holds the part. A fixed vision system is located apart from the robots and has at least one fixed vision sensor that senses an absolute location of the part and/or the end effector and generates a fixed vision signal representative of the absolute location. A controller collects the fixed vision signal and compares the absolute location with a predetermined desired location of the part and/or the end effector. The controller sends a repositioning signal to the part-moving robot if the absolute location varies from the predetermined desired location by at least a predetermined threshold, and the part-moving robot is configured to move the part upon receiving the repositioning signal. 1. A part assembly system comprising:a first robot having a first end effector configured to grip a first part and to move the first part;a second robot having a second end effector configured to grip a second part and to move the second part;a third robot configured to perform an operation on the first and second parts, the first and second robots being configured to hold the first and second parts while the third robot performs the operation;a remote vision system located apart from the first, second, and third robots, the remote vision system having at least one remote vision sensor configured to sense a first absolute location of at least one of the first part and the first end effector and to generate a first remote vision signal representative of the first absolute location, the at least one remote vision sensor being configured to sense a second absolute location of at least one of the second part and the second end effector and to generate a second remote vision signal representative of the second absolute location; anda controller ...

PORTABLE PETTING DEVICE FOR PETTING OR SCRATCHING OF PETS, SUCH AS DOGS OR CATS

A portable petting device for petting or scratching of pets, such as dogs or cats. The abstract of the disclosure is submitted herewith as required by 37 C.F.R. §1.72(b). As stated in 37 C.F.R. §1.72(b): A brief abstract of the technical disclosure in the specification must commence on a separate sheet, preferably following the claims, under the heading “Abstract of the Disclosure.” The purpose of the abstract is to enable the Patent and Trademark Office and the public generally to determine quickly from a cursory inspection the nature and gist of the technical disclosure. The abstract shall not be used for interpreting the scope of the claims. Therefore, any statements made relating to the abstract are not intended to limit the claims in any manner and should not be interpreted as limiting the claims in any manner. 14-. (canceled)5. A portable petting device configured for petting or scratching pets comprising:a stabilized base;a pillar extending from said base;a petting arrangement comprising an arm extending substantially radially with respect to said pillar;said petting arrangement comprising a petting structure being disposed at a first end of said arm;a motorized moving arrangement being configured to move said petting arrangement in a petting motion to pet an animal;said moving arrangement being mounted on said pillar;said petting arrangement being connected to and supported by said moving arrangement at a second end of said arm opposite said first end;said pillar comprising a resilient portion;said resilient portion being configured to permit displacement of said petting arrangement from an initial position, and to return said petting arrangement to said initial position upon termination of displacement; andsaid petting arrangement being biased by said resilient portion to said initial position upon displacement of said petting arrangement from said initial position by an animal, to thereby exert a pressure on the animal and maintain substantial contact ...

SMART HOME SYSTEM WITH EXISTING HOME ROBOT PLATFORMS

Methods and systems are described for communicating action instructions between a home automation system and a mobile robotic device. In some embodiments, the action instructions may be communicated by receiving, at the home automation system, input data, and processing the input data to obtain action instructions. In some embodiments, the action instructions may be communicated to the mobile robotic device, and the mobile robotic device may execute the received action instructions. 1. A method for communicating action instructions between a home automation system and a mobile robotic device , comprising:receiving, at the home automation system, input data;processing, at the home automation system, the input data to obtain action instructions; andcommunicating the action instructions to the mobile robotic device, wherein the mobile robotic device executes the received action instructions.2. The method of claim 1 , further comprising:receiving, at the home automation system, one or more data patterns, the one or more data patterns comprising user patterns of behavior.3. The method of claim 2 , wherein processing the input data further comprises:obtaining, at the home automation system, an operation rule based on the received one or more data patterns, the operation rule comprising set action instructions determined based on the received one or more data patterns.4. The method of claim 3 , further comprising:communicating the operation rule comprising set action instructions to the mobile robotic device, wherein the mobile robotic device executes the set action instructions.5. The method of claim 1 , further comprising:receiving, at the mobile robotic device, input data; andcommunicating the input data to the home automation system.6. The method of claim 1 , wherein the action instructions executed by the mobile robotic device are selected from any one of opening and closing a bather of a home claim 1 , vacuuming claim 1 , mowing a lawn claim 1 , activating and ...

ROBOT SYSTEM, ROBOT SYSTEM CONTROL METHOD, AND ACTION COMMAND GENERATION DEVICE

Provided is a robot system including: a robot including a hand; a unit job storage section configured to store a unit job; a linking job generation section configured to generate a linking job being a command to move the hand from an end position at which a first unit job has ended to a start position at which a second unit job to be executed subsequently after the first unit job is started; an action command generation section configured to generate an action command for the robot by connecting the unit jobs and the linking job in series, based on arrangement of a plurality of processing symbols; and a required time calculation section configured to calculate a required time of the action command by adding required times of the unit jobs and a required time of the linking job. 1. A robot system , comprising:a robot comprising at least one hand;a unit job storage section configured to store, based on a processing symbol representing one processing procedure, a unit job being a command issued to the robot to execute the one processing procedure;a linking job generation section configured to generate a linking job being a command to move the at least one hand from an end position at which a first unit job has ended, to a start position, at which a second unit job to be executed subsequently after the first unit job is started;an action command generation section configured to generate an action command for the robot by connecting the first unit job, the linking job, and the second unit job in series, based on arrangement of a plurality of processing symbols;a required time calculation section configured to calculate a required time of the action command by adding required times of the first and second unit jobs and a required time of the linking job; anda robot control section configured to control the robot based on the action command that is generated by the action command generation section.2. The robot system according to claim 1 ,wherein the unit job storage ...

ROBOT CLEANER

Disclosed is a robot cleaner which adjusts a suction area of air suctioned into a suction port through a shutter and a shutter driving device configured to operate the shutter, so that a flow rate of air is adjusted, thus more effectively suctioning dust in the air by using a fan motor having a fixed capacity. 1. A robot cleaner comprises:a suction unit provided at a lower surface thereof with a suction port to suction air;a shutter installed at a front side of the suction port so as to be movable up and down;a shutter driving device configured to move the shutter up and down, anda controller configured to control upward and downward movements of the shutter driving device.2. The robot cleaner according to claim 1 , wherein the suction unit is provided on a lower surface thereof with a plurality of suction guide grooves to guide air introduced into the suction port claim 1 , the suction guide grooves provided at a front side of the suction port claim 1 , andthe shutter opens or closes rear sides of the plurality of the suction guide grooves by moving up and down.3. The robot cleaner according to claim 2 , wherein the suction port extends in a widthwise direction of the suction unit claim 2 , andthe shutter includes a plurality of shutter portions corresponding to the plurality of suction guide grooves, respectively.4. The robot cleaner according to claim 3 , wherein the shutter includes an elevation guide portion configured to guide upward and downward movements of the shutter claim 3 , andthe plurality of the shutter portions extend downward from the elevation guide portion.5. The robot cleaner according to claim 4 , wherein the suction unit further comprises a suction portion formed in a hollow semi-cylindrical shape claim 4 , an axis of which extends in the horizontal direction and a lower side of the suction portion forms the suction port claim 4 ,the elevation guide portion has an arc-shaped cross section to correspond to an outer circumferential surface of the ...

METHOD OF CONTROLLING ROBOT BODY, METHOD OF MANUFACTURING PRODUCT, ROBOT APPARATUS, AND RECORDING MEDIUM

A method includes controlling a robot body performed by a controller. The robot body includes a finger, a driving unit, and a detection unit. The driving unit is configured to move the finger. The detection unit is configured to output a signal corresponding to a state of the finger moved by the driving unit. The method includes causing the finger to hold a workpiece, causing the robot body to start a predetermined operation while causing the finger to keep holding the workpiece, if a detected value based on the signal outputted from the detection unit is within a first range, and causing the robot body to continue to perform the predetermined operation until completion of the predetermined operation, if the detected value is within a second range in the predetermined operation. The second range is different from the first range. 1. A method of controlling a robot body performed by a controller , the robot body comprising a finger , a driving unit configured to move the finger , and a detection unit configured to output a signal corresponding to a state of the finger moved by the driving unit , the method comprising:causing the finger to hold a workpiece;causing the robot body to start a predetermined operation while causing the finger to keep holding the workpiece, if a detected value based on the signal outputted from the detection unit is within a first range; andcausing the robot body to continue to perform the predetermined operation until completion of the predetermined operation, if the detected value is within a second range in the predetermined operation, wherein the second range is different from the first range.2. The method according to claim 1 , wherein the controller stops the predetermined operation of the robot body claim 1 , if the detected value is out of the second range in the predetermined operation.3. The method according to claim 1 , wherein the second range includes the first range claim 1 , and is wider than the first range.4. The method ...

CONVEYANCE SYSTEM, TRAINED MODEL GENERATION METHOD, TRAINED MODEL, CONTROL METHOD, AND PROGRAM

The present disclosure provides a conveyance system and the like capable of preferably conveying a conveyed object in accordance with a state of the conveyed object. The conveyance system includes a conveyance robot, a drive controller, which is a controller, an image data acquisition unit, and a setting unit. The conveyance robot conveys the conveyed object. The drive controller controls an operation of the conveyance robot. The image data acquisition unit acquires image data obtained by capturing images of the conveyed object. The setting unit sets an operation parameter of the conveyance robot in the drive controller based on the acquired image data. 1. A conveyance system comprising:a conveyance robot for conveying a conveyed object;a controller configured to control an operation of the conveyance robot;an image data acquisition unit configured to acquire image data obtained by capturing images of the conveyed object;a storage unit configured to store a database for associating the image data of the conveyed object with an operation parameter of the conveyance robot; anda setting unit configured to set the operation parameter of the conveyance robot in the controller based on the image data of the conveyed object that has been acquired and the database.2. The conveyance system according to claim 1 , whereinthe database comprises a trained model that accepts the image data of the conveyed object as an input and outputs the operation parameter of the conveyance robot in accordance with the image data of the conveyed object that has been accepted, andthe setting unit inputs the image data of the conveyed object into the trained model and sets the operation parameter, which is an output for the image data of the conveyed object that has been input, in the controller.3. The conveyance system according to claim 1 , whereinthe database stores each of reference image data of the conveyed object and the operation parameter that corresponds to the reference image data of ...

ASSEMBLY APPARATUS AND STRUCTURE FABRICATING METHOD

An assembly apparatus is for assembling a first member and a second member. The assembly apparatus includes a first gripping section, a second gripping section, and a driving section. The first gripping section includes a contact member and an elastic member. The second gripping section includes a contact member and an elastic member. The driving section drives the first and second gripping sections. The driving section drives the first and second gripping sections such that the contact member of the first gripping section and the contact member of the second gripping section make contact with the second member. The first and second gripping sections grip the second member through the two elastic members urging the respective contact members. The driving section drives the first and second gripping sections such that the first member and the second member are assembled. 1. An assembly apparatus for assembling a first member and a second member , the assembly apparatus comprising:a first gripping section including a first contact member and a first elastic member;a second gripping section including a second contact member and a second elastic member; anda driving section configured to drive the first gripping section and the second gripping section, whereinthe driving section drives the first gripping section and the second gripping section such that the first contact member and the second contact member make contact with the second member,the first gripping section and the second gripping section grip the second member through the first elastic member urging the first contact member and the second elastic member urging the second contact member, andthe driving section drives the first gripping section and the second gripping section such that the first member and the second member are assembled.2. The assembly apparatus according to claim 1 , whereinthe first gripping section and the second gripping section grip the first member, andthe driving section drives the ...

MACHINING ROBOT AND MACHINING METHOD

A robot control system according to an embodiment is a control system for a robot comprising an arm, the arm being capable of holding a tool while rotating the tool and capable of moving the tool in at least two-dimensional directions, the arm being equipped with a rotating mechanism provided for the tool. The robot control system comprises a load-acquiring unit and a control-signal-generating unit. The load-acquiring unit is configured to acquire a force measured by a force sensor configured to measure a force applied from the tool to the arm during profile copying performed on a machining object by moving the arm while a copying guide attached to the arm and a copying mold placed on the machining object are kept in contact with each other. The control-signal-generating unit is configured to automatically control the arm by generating a control signal for the arm in accordance with the force acquired by the load-acquiring unit and with control information for the arm regarding the profile copying, and by outputting the control signal to the arm. 1. A robot control system for a robot comprising an arm , the arm being capable of holding a tool while rotating the tool and capable of moving the tool in at least two-dimensional directions , the arm being equipped with a rotating mechanism provided for the tool , the robot control system comprising:a load-acquiring unit configured to acquire a force measured by a force sensor configured to measure at least a force applied from the tool to the arm during profile copying performed on a machining object by using the tool and by moving the arm while a copying guide attached to the arm and a copying mold placed on the machining object are kept in contact with each other; anda control-signal-generating unit configured to automatically control the arm such that the profile copying is performed, by generating a control signal for the arm regarding the profile copying in accordance with the force acquired by the load-acquiring ...

ROBOTIC BIN MANAGEMENT SYSTEM AND METHOD

One embodiment is directed to a personal robotic system, comprising: an electromechanical mobile base defining a cross-sectional envelope when viewed in a plane substantially parallel to a plane of a floor upon which the mobile base is operated; a torso assembly movably coupled to the mobile base; a head assembly movably coupled to the torso; a releasable bin-capturing assembly movably coupled to the torso; and a controller operatively coupled to the mobile base, torso assembly, head assembly, and bin-capturing assembly, and configured to capture a bin with the bin-capturing assembly and move the torso assembly relative to the mobile base so that the captured bin fits as closely as possible within the cross-sectional envelope of the mobile base. 1. A personal robotic system , comprising:a. an electromechanical mobile base defining a cross-sectional envelope when viewed in a plane substantially parallel to a plane of a floor upon which the mobile base is operated;b. a torso assembly movably coupled to the mobile base;c. a head assembly movably coupled to the torso;d. a releasable bin-capturing assembly movably coupled to the torso; ande. a controller operatively coupled to the mobile base, torso assembly, head assembly, and bin-capturing assembly, and configured to capture a bin with the bin-capturing assembly and move the torso assembly relative to the mobile base so that the captured bin fits as closely as possible within the cross-sectional envelope of the mobile base.2. The system of claim 1 , further comprising a sensor operatively coupled to the controller and configured to sense one or more factors regarding an environment in which the mobile base is navigated.3. The system of claim 2 , wherein the sensor comprises a sonar sensor.4. The system of claim 3 , wherein the sonar sensor is coupled to the mobile base.5. The system of claim 2 , wherein the sensor comprises a laser range finder.6. The system of claim 5 , wherein the laser rangefinder is configured to ...

SORTING APPARATUS AND METHOD

A system for sorting comprising an x-y-z stage including a suction cup attached thereto, a camera, a computer connected to the x-y-z stage and the camera, and a translucent platform for sorting with the platform mounted below the camera and the x-y-z stage. 1. A system for sorting comprising:An x-y-z stage including a suction cup attached thereto;A camera;A computer connected to said x-y-z stage and said camera; andA translucent platform for sorting, said platform mounted below said camera and said x-y-z stage.2. The system of wherein said camera comprises two or more cameras above said platform.3. The system of further comprising a camera mounted below said platform.4. The system of further comprising a light source mounted below said platform.5. The system of further comprising light sources mounted above and below said platform.6. The system of wherein said platform comprises HDPE.7. The system of wherein said platform includes a fiducial marker that is visible to said camera.8. The system of wherein said suction cup is a bellows type suction cup.9. The system of further comprising a utensil wrapper.10. The system of wherein said suction cup is connected to a rotation motor.11. A system for sorting comprising:A computer connected to an x-y-z stage, said x-y-z stage including a vacuum gripper;A camera connected to said computer; andA surface including a fiducial marker within the field of view of said camera.12. The system of wherein said camera comprises two or more cameras above said surface.13. The system of further comprising a camera mounted below said surface.14. The system of further comprising a light source mounted below said surface and wherein said surface is translucent.15. The system of further comprising light sources mounted above and below said surface wherein said surface is translucent.16. The system of wherein said surface comprises HDPE.17. The system of wherein said vacuum gripper is a bellows type suction cup.18. The system of further ...

METHOD AND SYSTEM FOR ALIGNING A TERAHERTZ SENSOR SYSTEM

The present disclosure is directed toward a method for aligning a radiation head of a terahertz sensor system with a target surface. The method includes: scanning a selected area of the target surface with a terahertz radiation beam emitted by the radiation head; sensing a peak amplitude for each reflected radiation signal from a plurality of reflected radiation signals received by the radiation head during the scanning of the selected area; and identifying a normal position of the radiation head with respect to the target surface based on a maximum peak amplitude from among the peak amplitudes of the reflected radiation signals. 1. A method for aligning a radiation head of a terahertz sensor system with a target surface , the method comprising:scanning a selected area of the target surface with a terahertz radiation beam emitted by the radiation head;sensing a peak amplitude for each reflected radiation signal from a plurality of reflected radiation signals received by the radiation head during the scanning of the selected area; andidentifying a normal position of the radiation head with respect to the target surface based on a maximum peak amplitude from among the peak amplitudes of the reflected radiation signals;moving the radiation head to the identified normal position;emitting a subsequent terahertz radiation beam while the radiation head is aligned at the identified normal position, the subsequent terahertz radiation beam being incident on the target surface at a location of the target surface that is within the selected area that was previously scanned; anddetermining the thickness of one or more coatings on the target surface based on reflected radiation signals from the subsequent terahertz radiation beam.2. The method of further comprising determining an estimated normal of the radiation head with respect to the target surface claim 1 , wherein the selected area surrounds the estimated normal.3. The method of claim 2 , wherein the scanning of the ...

ROBOT DEVICE, METHOD OF CONTROLLING THE SAME, COMPUTER PROGRAM, AND ROBOT SYSTEM

Provided is a robot device including an image input unit for inputting an image of surroundings, a target object detection unit for detecting an object from the input image, an object position detection unit for detecting a position of the object, an environment information acquisition unit for acquiring surrounding environment information of the position of the object, an optimum posture acquisition unit for acquiring an optimum posture corresponding to the surrounding environment information for the object, an object posture detection unit for detecting a current posture of the object from the input image, an object posture comparison unit for comparing the current posture of the object to the optimum posture of the object, and an object posture correction unit for correcting the posture of the object when the object posture comparison unit determines that there is a predetermined difference or more between the current posture and the optimum posture. 1. (canceled)2. A mobile apparatus , comprising:circuitry configured toacquire current posture data of an object from an image data including the object and target posture data of the object based on surrounding environment information of the object, andperform a process of correcting the posture of the object as condition that at least a predetermined difference exists between the current posture data of the object and the target posture data of the object by comparing the current posture data of the object with the target posture data of the object.3. The apparatus according to claim 2 , wherein the circuitry is further configured to obtain posture change data as condition that the predetermined difference exists claim 2 , andperform the process of correcting the posture of the object based on the posture change data.4. The apparatus according to claim 3 , wherein the circuitry is further configured to cause an end effector to move as the process of correcting the posture of the object according to the posture ...

OPERATION COMMAND GENERATION DEVICE, OPERATION COMMAND GENERATION METHOD, NON-TRANSITORY COMPUTER READABLE STORAGE MEDIUM, AND PROCESS SYSTEM

Provided is an operation command generation device configured to generate an operation command, which is a collection of jobs to be carried out by a process system including a robot based on a protocol chart including a process symbol representing a process to be carried out on a container containing a process subject, the operation command generation device including: a process job generation unit configured to generate, based on the process symbol, a job for causing the process system to carry out the process on the container at a work area; and a transfer job generation unit configured to generate, when the process represented by the process symbol is not a process to be carried out on the same container, a job to transfer the container from the work area to a retreat area after the process represented by the process symbol has been carried out. 1. An operation command generation device configured to generate an operation command , which is a collection of jobs to be carried out by a process system comprising at least a robot based on a protocol chart comprising at least a process symbol representing a process to be carried out on a container containing a process subject , the operation command generation device comprising:a process job generation unit configured to generate, based on the process symbol, a job for causing the process system to carry out the process on the container at a work area; anda transfer job generation unit configured to generate, when the process represented by the process symbol is not a process to be carried out on at least the same container, a job for causing the process system to transfer the container from the work area to a retreat area after the process represented by the process symbol has been carried out.2. The operation command generation device according to claim 1 , further comprising a same-container determination unit configured to determine whether or not a plurality of the process symbols represent processes to be ...

ROBOT TASK SYSTEM

A robot task system includes: a robot; a transfer device configured to be driven to transfer a plurality of workpieces thereon by a specific distance at a time, the plurality of workpieces being placed within the specific distance; a driving management unit configured to manage a driving distance and a driving start timing of the transfer device for driving the transfer device each time; a task position generation unit configured to generate a plurality of task positions at the driving start timing managed by the driving management unit, the plurality of task positions being positions for the robot to execute a predetermined task on the plurality of workpieces; a task unit configured to update, according to the driving of the transfer device, the plurality of task positions generated by the task position generation unit and generate a task command to cause the robot to execute the predetermined task on the plurality of workpieces while following the plurality of workpieces; and a control unit configured to control the transfer device based on the driving distance and the driving start timing of the transfer device, and control the robot based on the task command generated by the task unit. 1. A robot task system comprising: a transfer device configured to be driven to transfer a plurality of workpieces thereon by a specific distance at a time, the plurality of workpieces being placed within the specific distance;', 'a driving management unit configured to manage a driving distance and a driving start timing of the transfer device for driving the transfer device each time;', 'a task position generation unit configured to generate a plurality of task positions at the driving start timing of the transfer device managed by the driving management unit, the plurality of task positions being positions for the robot to execute a predetermined task on the plurality of workpieces;', 'a task unit configured to update, according to the driving of the transfer device, the ...

ROBOTIC SYSTEM WITH COORDINATION MECHANISM AND METHODS OF OPERATING THE SAME

A system and method for operating a robotic system to coordinate and integrate multiple tasks for performing operations is disclosed. The robotic system may identify a set of tasks associated with a triggered operation. Accordingly, the robotic system may coordinate and control actions across subsystems, robotic units, task stations, or a combination thereof to sequentially perform the set of tasks and complete the operation. 1. A method for operating a robotic system , the method comprising:identifying a set of two or more available operations, each operation including a unique sequence of two or more tasks that include at least a group manipulation task and/or a racking task arranged adjacent to each other and/or adjacent to a unique task in comparison to other operations in the set;obtaining a target condition representative of an end state of completing an operation selected from the set of two or more available operations;based on the target condition, identifying a sequence of tasks from the set of two or more available operations;obtaining an access sequence based on the identified sequence of tasks, wherein the access sequence represents an order for placing target storage containers at a first source location of a first task station; andimplementing the identified sequence of tasks according to the unique sequence for (1) accessing a task target from one of the target storage containers at the first source location and transferring the task target to a destination location at the first task station and (2) accessing the task target from the second source location and for manipulating the task target in completing the operation.2. The method of claim 1 , wherein:the set of two or more operation includes a receiving operation for receiving and storing a set of incoming objects in a storage area, andthe obtained target condition is representative of the receiving operation and includes a storage location for a set of the incoming objects.3. The method of claim ...

ROBOTIC USER INTERFACE PUCK SUPPORT APPARATUS AND METHOD OF USE

In some embodiments, apparatuses and methods are provided herein useful to test user interfaces of systems. Some embodiments provide a puck support apparatus comprising: a base; a first support and a second support both supported by the base and extending away from the base in generally a first direction; wherein the first support comprises a first channel formed at an angle relative to the first direction; and wherein the second support comprises a second channel formed at the angle relative to the first direction and mirroring the first channel; and wherein the first support at the first channel is separated from the second support by at least a robotic effector threshold distance. 1. A robotic user interface puck support apparatus , comprising:a base;a first support and a second support both supported by the base and extending away from the base in generally a first direction;wherein the first support comprises a first channel formed at an angle relative to the first direction; andwherein the second support comprises a second channel formed at the angle relative to the first direction and mirroring the first channel; andwherein the first support at the first channel is separated from the second support by at least a robotic effector threshold distance.2. The apparatus of claim 1 , wherein:the first support comprises a first funnel opening cooperated with and extending from the first channel wherein a width of the first funnel opening generally increases further from the first channel; andthe second support comprises a second funnel opening mirroring the first funnel opening and cooperated with and extending from the second channel wherein a width of the second funnel opening generally increases further from the second channel.3. The apparatus of claim 2 , wherein the width of the first funnel opening furthest from the first channel is at least twice a width of the first channel claim 2 , and the width of the second funnel opening furthest from the second channel ...

FLEXIBLE INSPECTION SYSTEM

A flexible inspection system includes a robot with a plurality of scanners and a robot controller. The robot controller is configured to receive a vehicle inspection protocol (VIP) for a vehicle being assembled on an assembly line. The VIP includes checkpoints to be scanned on the vehicle and the checkpoints correspond to components installed on the vehicle and connections between components installed on the vehicle. The robot controller commands the robot to move the plurality of scanners per the VIP such that the checkpoints are scanned. A characteristic of each checkpoint is recorded and compared to a reference characteristic such that a pass or no-pass determination of each checkpoint is provided. A vehicle inspection report with the pass/no-pass determinations is provided to an operator such that operator inspections and/or repairs of the checkpoints are made. 1. An inspection system comprising:at least one robot with at least one scanner; receive a vehicle inspection protocol (VIP) for a vehicle being assembled, the VIP comprising checkpoints to be scanned on the vehicle and the checkpoints corresponding to at least one of components installed on the vehicle and connections between components installed on the vehicle;', 'command the robot to move the at least one scanner per the VIP for the vehicle being assembled such that the checkpoints are scanned and at least one characteristic of each checkpoint is recorded; and', 'a scanner controller configured to compare the at least one recorded characteristic of each checkpoint with at least one reference characteristic of each checkpoint., 'a robot controller configured to2. The inspection system according to claim 1 , wherein the VIP corresponds to a vehicle identification number (VIN) and a vehicle configuration number (VCN) for the vehicle being assembled.3. The inspection system according to claim 1 , wherein the plurality of checkpoints is greater than or equal to ten (10) checkpoints.4. The inspection system ...

Control of A Robot

A method for controlling a robot having a drive arrangement with at least one drive includes determining an actual velocity of the robot, determining a target velocity for the robot, and determining a damping drive parameter based on a difference between the target velocity and the actual velocity. The target velocity is determined based on at least one of a predetermined maximum velocity, a predetermined minimum velocity, or a first distance of the robot from at least one predetermined boundary. The drive arrangement of the robot is then controlled based on the damping drive parameter.

Robot and method for controlling same

Disclosed are a robot and a method for controlling the robot. The robot includes: a plurality of sensors; a memory which stores a plurality of services and controls commands corresponding to the plurality of services; and a processor which, when the occurrence of an event is sensed on the basis of at least one of the plurality of sensors, determines a service corresponding to the event on the basis of information sensed by the at least one sensor, and controls the robot to provide a user with the determined service. The processor sets a sensing target corresponding to the service determined on the basis of the sensed information, determines a sensor combination for achieving the sensing target set on the basis of the information about the plurality of sensors, and obtains additional information on the basis of the determined sensor combination, and provides the user with the service.

VACUUM TRANSFER DEVICE AND METHOD FOR CONTROLLING VACUUM TRANSFER DEVICE

A vacuum transfer device, which is arranged between a process chamber and a load lock chamber and transfers a substrate between the process chamber and the load lock chamber, includes a container, a transfer device, an exhaust device, a dew-point meter, and a control device. The container is connected to each of the process chamber and the load lock chamber via a gate valve. The transfer device is provided inside the container and transfers the substrate between the process chamber and the load lock chamber. The exhaust device exhausts a gas in the container. The dew-point meter measures a dew-point temperature of the gas in the container. The control device determines whether a process is ready to be executed, based on the dew-point temperature measured by the dew-point meter, and when the process is ready to be executed, notifies that fact to a user of the vacuum transfer device. 1. A vacuum transfer device that is arranged between a process chamber and a load lock chamber and transfers a substrate between the process chamber and the load lock chamber , comprising:a container connected to each of the process chamber and the load lock chamber via a gate valve;a transfer device provided inside the container and configured to transfer the substrate between the process chamber and the load lock chamber;an exhaust device configured to exhaust a gas in the container;a dew-point meter configured to measure a dew-point temperature of the gas in the container; anda control device configured to determine whether or not a process is ready to be executed, based on the dew-point temperature measured by the dew-point meter, and when the process is ready to be executed, notify a user of the vacuum transfer device that the process is ready to be executed.2. The vacuum transfer device of claim 1 , wherein the control device includes:a determination part configured to determine whether or not the dew-point temperature is equal to or lower than a predetermined first temperature ...

Device for calculating stowage pattern and robot controller

A calculation device for calculating an appropriate stowage pattern of articles, and a robot controller including the calculation device. The calculation device has: a model generating section configured to generate first physical models of the articles based on dimensions of respective types of the articles, and generate a second physical model of a containing region in which the articles are stacked, based on a dimension of the containing region; a locating section configured to locate the first models in the second model, in descending order of priority predetermined with respect to the types of the articles; and a physical calculating section configured to add vibration or a shock to the second model each time when the first models is located in the second model, and calculate a change in a position and/or orientation of the first model in the second model due to the vibration or the shock.

SMART HOME ROBOT ASSISTANT

Methods and systems are described for robot transportation of objects into or out of a home automation system. One example may include determining, by a mobile robotic device, that an object is available to cross a boundary of the home automation system. The method may include deactivating at least a portion of the home automation system. The method also include retrieving, by the mobile robotic device, the object and transporting, by the mobile robotic device, the object across the boundary. The method further includes leaving, by the mobile robotic device, the object at a drop-off location. The method may also include reactivating at least the portion of the home automation system. 120-. (canceled)21. A method for robotic delivery in a home automation system , comprising:determining, by a mobile robotic device, that an object is available to cross a boundary of the home automation system;transmitting, by the mobile robotic device, a request to retrieve the object based at least in part on determining that the object is available to cross the boundary;deactivating, by the mobile robotic device, at least a portion of the home automation system based at least in part on the transmitting the request; andretrieving, by the mobile robotic device, the object based at least in part on deactivating at least the portion of the home automation system.22. The method of claim 21 , wherein the object is a delivery package claim 21 , the method further comprising:determining a time window for delivery of the delivery package.23. The method of claim 22 , further comprising:scanning a delivery area for the delivery package during the time window based at least in part on determining the time window.24. The method of claim 22 , wherein determining that the object is available to cross the boundary comprises:identifying that the delivery package is located outside the boundary of the home automation system during the time window.25. The method of claim 21 , wherein deactivating at ...

Test System And Robot Arrangement For Carrying Out A Test

A test system is includes a management server which is configured to provide predefined test instructions, a monitoring system, and at least one execution entity. The monitoring system is configured to convert test instructions provided by the management server into operating instructions for setting a test configuration on a control unit of a system using predefined assignment logic. The at least one execution entity is configured to set the test configuration on the control unit of the system on the basis of operating instructions transmitted by the monitoring system to the at least one execution entity. 1. A test system for testing a control unit of a system , wherein the test system comprises:a management server configured to provide predefined test instructions;a monitoring system configured to convert test instructions provided by the management server into operating instructions for setting a test configuration on a control unit of a system using predefined assignment logic, wherein the monitoring system is also configured to forward operating instructions to at least one execution entity; andat least one execution entity configured to set the test configuration on the control unit of the system on the basis of operating instructions transmitted by the monitoring system to the at least one execution entity.2. The test system according to claim 1 , wherein the at least one execution entity comprises at least one robot arm.3. The test system according to claim 2 , wherein the test system comprises a system interface configured to set the system on the basis of test instructions predefined by the management server claim 2 , to capture a state of the system and to transmit the captured state of the system to the management server claim 2 , and wherein the management server is also configured to check the test configuration set on the control unit using the state of the system captured by the system interface.4. The test system according to claim 1 , wherein the ...

Robot and Control Method for Robot

A robot includes a first arm and a second arm. The robot molds a box body including a first plate body, a second plate body, a third plate body, and a fourth plate body, the first plate body and the second plate body being coupled in a first part, the second plate body and the third plate body being coupled in a second part, the third plate body and the fourth plate body being coupled in a third part, and the fourth plate body and the first plate body being coupled in a fourth part. 1. A robot comprising a first arm and a second arm ,the robot molding a box body including a first plate body, a second plate body, a third plate body, and a fourth plate body, the first plate body and the second plate body being coupled in a first part, the second plate body and the third plate body being coupled in a second part, the third plate body and the fourth plate body being coupled in a third part, and the fourth plate body and the first plate body being coupled in a fourth part, whereinwhen a first angle formed by the first plate body and the second plate body is larger than a second angle formed by the second plate body and the third plate body,when a state at time when the first angle is an angle of a folded-up state of the box body is represented as a first state and a state in which the first angle is smaller than the angle in the folded-up state is represented as a second state, the robot brings a first contact section provided in the first arm into contact with the fourth part, brings a second contact section provided in the second arm into contact with the second part, and applies torque to a joint of the robot to change the first state to the second state.2. The robot according to claim 1 , wherein the angle in the folded-up state of the box body is 180 degrees.3. The robot according to claim 1 , whereinthe first contact section and the second contact section are respectively planes, andthe robot sets a surface of the first contact section and a surface of the second ...

INCREASED NUMBER OF LOAD PORTS ON FACTORY INTERFACE WITH ROBOT THAT MOVES ON TRACK

A factory interface includes a housing, a front surface of the housing having multiple load ports, a robot having an arm and an end effector, and a track attached to a floor within the housing. The robot is adapted to move horizontally along the track to multiple positions from which the arm can reach the end effector of the robot into a front opening unified pod attached to any of the multiple load ports. 1. A factory interface comprising:a housing;a front surface of the housing comprising a plurality of load ports;a robot having an arm and an end effector; anda track attached to a floor within the housing, wherein the robot is adapted to move horizontally along the track to multiple positions from which the arm can reach the end effector of the robot into a front opening unified pod attached to any of the plurality of load ports.2. The factory interface of claim 1 , wherein the track extends along a subset of the plurality of load ports that excludes at least the outermost load ports of the plurality of load ports.3. The factory interface of claim 1 , wherein the plurality of load ports comprise six load ports claim 1 , and wherein the multiple positions exclude at least the outermost two load ports of the six load ports.4. The factory interface of claim 1 , further comprising:a gas recirculation system;a track plenum surrounding the track; anda duct attached between the track plenum and a return duct of a gas recirculation system.5. The factory interface of claim 4 , further comprising at least one of a fan or a filter integrated within the duct to filter out contaminants that are created locally to the track plenum.6. The factory interface of claim 4 , further comprising:a pressure sensor to measure a pressure of an inside of the track plenum; and detect, using the pressure sensor, that the pressure within the track plenum does not meet a threshold pressure; and', 'deactivate the robot and the plurality of load ports in response to detecting the pressure., 'a ...

ROBOTIC LOAD HANDLER COORDINATION SYSTEM, CELL GRID SYSTEM AND METHOD OF COORDINATING A ROBOTIC LOAD HANDLER

A robotic load handler coordination system includes a robotic load handler configured for traversing, when in use, a plurality of cells arranged in a grid formation. The load handler is arranged to receive an instruction associated with execution of a selected determined route from a starting cell to a destination cell. A processing resource is arranged to support a movement optimiser, the movement optimiser being arranged to determine a plurality of routes iteratively using an A* pathfinding algorithm in order to determine a number of sets of routes respectively from a number of the plurality of cells to the destination cell. The number of the plurality of cells includes the starting cell, and the movement optimiser is arranged to select an optimum route to the destination cell from the set of routes in respect of the starting cell. 1. A robotic load handler coordination system , comprising:a robotic load handler configured for traversing, when in use, a plurality of cells arranged in a grid formation, the load handler being arranged to receive an instruction associated with execution of a subsequently selected determined route from a starting cell to a destination cell; anda processing resource configured to support a movement optimiser, the movement optimiser being configured to determine a plurality of routes iteratively using an A* pathfinding algorithm in order to determine a number of sets of routes respectively from a number of the plurality of cells to the destination cell; whereinthe number of the plurality of cells includes the starting cell and the destination cell; andthe movement optimiser is configured to select an optimum route to the destination cell from the set of routes in respect of the starting cell.2. A system as claimed in claim 1 , whereinthe A* pathfinding algorithm is configured to employ a cost function based upon acceleration of a load handler parameter.3. A system as claimed in claim 1 , whereinthe A* pathfinding algorithm is configured ...

ROBOTIC FINGERTIP DESIGN AND GRASPING ON CONTACT PRIMITIVES

Techniques for fingertip design are disclosed that leverage how most grasp contacts can share a few classes of local geometries. In order to maximize the contact areas for achieving more robust grasps, contact primitives, which represent a set of contacts of similar local geometries, are identified. A uniform cost algorithm, which can be formulated as a decision making process in a tree structure, can be utilized to cluster a set of example grasp contacts into a finite set of one or more contact primitives. Fingertips can be designed by optimization to match the local geometry of each contact primitive, and then fingertips can be 3D printed using soft materials to compensate for optimization residuals. For novel objects, an approach to generate grasp contacts that match the fingertip geometries while together forming stable grasps can be utilized. 1. A method , comprising:determining, by a system comprising a processor, a plurality of contact geometries;clustering, by the system, at least two contact geometries of the plurality of contact geometries into a first contact primitive of a set of contact primitives; andgrasping, by the system, an object with at least two fingertips of a set of fingertips of a grasping device, based on the first contact primitive.2. The method of claim 1 , wherein the set of contact primitives is based on results of past grasps of example objects.3. The method of claim 1 , wherein the determination of the set of contact primitives comprises:determining the contact primitives based on a point cloud determined for at least one contact area associated with the set of contact primitives.4. The method of claim 3 , further comprising:parameterizing, by the system, the contact primitive using a continuous three-dimensional (3D) surface.5. The method of claim 3 , further comprising:determining, by the system, a geometrical difference between a first contact geometry and a second contact geometry; anddetermining, by the system, a grasp plan ...

REBAR AUTOMATING ROBOT

Disclosed is a rebar automating robot for rebar tying on at least one rebar intersection. The rebar automating robot includes a control box and a processing device . The control box includes at least one intersection detection sensor and at least one positioning sensor . The at least one intersection detection sensor and the at least one positioning sensor identifies a location of the at least one rebar intersection of a work area. The method include (a) navigating, the rebar automating robot to a first rebar intersection for tying the first rebar intersection, (b) tying, by a rebar tying tool, the first rebar intersection of the work area, and (c) navigating, the rebar automating robot, from the first rebar intersection to a second rebar intersection for performing rebar tying at the second rebar intersection of the work area. 1. A rebar automating robot for rebar tying at at least one rebar intersection , the rebar automating robot comprising:a control box comprising at least one intersection detection sensor and at least one positioning sensor,wherein the at least one intersection detection sensor and the at least one positioning sensor identifies a location of the at least one rebar intersection of a work area; and navigating, the rebar automating robot to a first rebar intersection for tying the first rebar intersection;', 'tying, by a rebar tying tool, the first rebar intersection of the work area; and', 'navigating, the rebar automating robot, from the first rebar intersection to a second rebar intersection for performing rebar tying at the second rebar intersection of the work area., 'a processing device that is controlled by the control box to perform a method of the rebar tying at the at least one rebar intersection, the method comprising2. The rebar automating robot of claim 1 , wherein the method comprisesmoving, by at least one of (i) a parallel style manipulator or (ii) a serial style manipulator, the rebar tying tool at the first rebar intersection; ...

TRANSPORTATION SYSTEM

A transportation system includes map information storage means configured to store map information including travel road additional information about travel roads of an autonomous traveling transporter for transporting a load and inclination of the travel roads, collected information acquisition means configured to acquire collected information collected through autonomous traveling of the transporter on the travel roads, map information update means configured to update the travel road additional information of the map information corresponding to the travel roads autonomously traveled by the transporter based on the collected information, and a travel plan unit configured to identify a travel plan of the transporter autonomously traveling to transport the load, based on the map information including the travel road additional information and travel tolerance PB indicating tolerance of the load with respect to traveling. 1. A transportation system which includes an autonomous traveling transporter configured to transport a load , the system comprising:map information storage means configured to store map information including travel road additional information about travel roads of the transporter and inclination of the travel roads;collected information acquisition means configured to acquire collected information collected through autonomous traveling of the transporter on the travel roads;map information update means configured to update the travel road additional information of the map information corresponding to the travel roads autonomously traveled by the transporter based on the collected information; anda travel plan unit configured to identify a travel plan of the transporter autonomously traveling to transport the load, based on the map information including the travel road additional information and travel tolerance indicating tolerance of the load with respect to traveling.2. The transportation system according to claim 1 , whereinthe travel plan ...

ARTIFICIAL INTELLIGENCE CLEANING ROBOT AND METHOD THEREOF

Provided are an artificial intelligence cleaning robot which establishes a cleaning plan in consideration of a previous cleaning history, and a method thereof. A method of operating a cleaning robot comprises dividing a cleaning area into a plurality of areas, storing a history of previous cleaning performed by the cleaning robot in a memory, establishing a cleaning plan based on the previous cleaning history stored in the memory and controlling the cleaning to be performed according to the established cleaning plan. Accordingly, it is possible to establish a cleaning plan with the reflection of a previous cleaning history, so that the cleaning efficiency of the cleaning robot can be improved. 1. A robot comprising:an input unit configured to obtain commands and setting information;a memory configured to store a previous cleaning history of the robot; andat least one processor configured todivide an area into a plurality of areas,establish a plan including at least a cleaning priority for each divided plurality of areas based at least in part on the stored previous cleaning history; andcontrol a cleaning to be performed according to the established plan.2. The robot of claim 1 , wherein the plan is established by:analyzing a user preferred cleaning method for each of the divided plurality of areas based on the stored previous cleaning history,determining a degree of contamination for each of the divided plurality of areas based at least in part on a portion of the stored previous cleaning history,determining a cleaning priority based at least in part on the determined degree of contamination for each of the divided plurality of areas, anddetermining a cleaning method for each of the divided plurality of areas based at least in part on the stored previous cleaning history for each of the divided plurality of areas.3. The robot of claim 2 , wherein the user preferred cleaning method for each of the divided plurality of areas is analyzed through a frequency analysis ...

SPACE MONITORING ROBOT BY 360-DEGREE IMAGE PHOTOGRAPHING FOR SPACE

A space monitoring robot by 360-degree image photographing for a space includes: a camera obtaining a 360-degree image; a sensor unit sensing an obstacle; a moving means moving the space monitoring robot; and a processor extracting and analyzing information on an omni-directional space using the image obtained through the camera and confirming abnormality of a space and a target. 1. A space monitoring robot by 360-degree image photographing for a space , comprising:a camera obtaining a 360-degree image;a sensor unit sensing an obstacle;a moving means moving the space monitoring robot; anda processor extracting and analyzing information on an omni-directional space using the image obtained through the camera and confirming abnormality of a space and a target.2. The space monitoring robot by 360-degree image photographing for a space of claim 1 , wherein the processor controls the moving means so that the space monitoring robot moves to a specific zone in order to care for the space and the target.3. The space monitoring robot by 360-degree image photographing for a space of claim 1 , wherein the processor analyzes a moving path of the target through a 360-degree omni-directional image obtained through the camera.4. The space monitoring robot by 360-degree image photographing for a space of claim 1 , wherein the processor transmits the obtained image to a server and a user terminal claim 1 , and transmits an abnormal state related message to the user terminal and a manager terminal when an abnormal state of the space and the target is confirmed. The present disclosure relates to a space monitoring robot by 360-degree image photographing for a space, and more particularly, to a space monitoring robot by 360-degree image photographing for a space capable of recognizing or monitoring a space or caring for a care target through a processor capable of allowing a moving robot to simultaneously monitor various spaces such as a home or an office at 360 degrees.Recently, ...

ROBOT PLANNING FOR ENVELOPE INVARIANTS

This specification describes how a system can detect that an envelope invariant with a corresponding condition has been violated and, in response to the detection, perform an automatic recovery action. 1. A method comprising:receiving an initial plan for performing a particular task with a robot having a sensor, wherein the initial plan includes a sequence of two or more actions, and wherein the sequence of the two or more actions comprises a first action followed by a second action;processing the initial plan to determine that the initial plan includes an envelope invariant, wherein the envelope invariant comprises a condition that holds between the first action of the sequence and the second action of the sequence;executing the initial plan including performing the first action in the sequence;determining that the envelope invariant has been violated before performing the second action in the sequence; andin response to determining that the envelope invariant has been violated before performing the second action in the sequence, performing a recovery operation.2. The method of claim 1 , wherein the initial plan comprises a third action which follows the second action claim 1 , and wherein the condition holds between the second action of the sequence and the third second action of the sequence.3. The method of claim 2 , wherein determining that the envelope invariant has been violated before performing the third action in the sequence comprises determining that the robot is not in an expected position.4. The method of claim 2 , wherein determining that the envelope invariant has been violated before performing the third action in the sequence comprises determining that a precondition of the third action in the sequence has been violated.5. The method of claim 1 , wherein determining that the envelope invariant has been violated before performing the third action in the sequence comprises determining that a particular effect was not achieved.6. The method of claim 5 ...

Spatiotemporal Controller for Controlling Robot Operation

A robot may include a spatiotemporal controller for controlling the kinematics or movements of the robot via continuous and/or granular adjustments to the actuators that perform the physical operations of the robot. The spatiotemporal controller may continuously and/or granularly adjust the actuators to align completion or execution of different objectives or waypoints from a spatiotemporal plan within time intervals allotted for each objective by the spatiotemporal plan. The spatiotemporal controller may also continuously and/or granularly adjust the actuators to workaround unexpected conflicts that may arise during the execution of an objective and delays that result from a workaround while still completing the objective within the allotted time interval. By completing objectives within the allotted time intervals, the spatiotemporal controller may ensure that conflicts do not arise as the robots simultaneously operate in the site using some of the same shared resource. 1. A method comprising:receiving, at a controller of a robot, a task and a time by which to complete the task;determining, by operation of the controller, a plurality of adjustments to apply to one or more actuators of the robot in order to produce a plurality of expected movements or operations of the robot with which to complete the task within the time, wherein each adjustment of the plurality of adjustments changes a movement or operation performed by the one or more actuators during a different operational cycle of the controller;controlling, by operation of the controller, the one or more actuators during a first operational cycle of the controller according to a first adjustment from the plurality of adjustments;determining, by operation of the controller, actual movement or operation produced by the one or more actuators during the first operational cycle;controlling, by operation of the controller, the one or more actuators during a second operational cycle that is after the first ...

ROBOTIC SYSTEM AND DETECTION METHOD

A robotic system includes: an arm configured to carry a substrate to a mounting base; a hand disposed at a tip portion of the arm, the hand being configured to hold the substrate when the substrate is carried; a detector disposed on the hand, the detector being configured to detect the substrate; and an acquirer configured to recognize heights of the detector when the substrate is detected at a first position and a second position by the detector as heights of the substrate at respective positions and acquire a mounted-state of the substrate mounted on the mounting base based on the height of the substrate at the first position and the height of the substrate at the second position. 1. A robotic system comprising:an arm configured to carry a substrate to a mounting base;a hand disposed at a tip portion of the aim, the hand being configured to hold the substrate when the substrate is carried;a detector disposed on the hand, the detector being configured to detect the substrate; andan acquirer configured to recognize heights of the detector when the substrate is detected at a first position and a second position by the detector as heights of the substrate at respective positions, and acquire a mounted-state of the substrate mounted on the mounting base based on the height of the substrate at the first position and the height of the substrate at the second position.2. The robotic system according to claim 1 , whereinthe detector is configured to detect a housed-state of the substrate in a housing container.3. The robotic system according to claim 1 , whereinthe first position and the second position are positions on a horizontal surface, andthe robotic system further includes a robot controller configured to place the hand including the detector at the first position or the second position, and move the hand in a height direction.4. The robotic system according to claim 1 , whereinthe acquirer is configured to compare the height of the substrate at the first position ...

METHODS AND SYSTEMS FOR IN-ROUTE ITEM SORTING AND PACKAGING

Methods and systems for in route mail sorting and packaging are disclosed. One aspect disclosed is a vehicle including a freight bay. The freight bay includes a plurality of item storage bins. The freight bay also includes a robot. The robot includes a means for grasping items and moving them between the item storage bins. For example, the robot may include an item manipulating attachment that in some aspects may include two or more extending portions for grasping items. The robot may assemble item packages from a plurality of individual items based on addresses of the items. The robot may also manipulate shrink wrap around the item package and position the item package within a station that heats the package and causes the shrink wrap to shrink around the items in the package, thereby forming the items into a package that is easy to deliver to a single address. 1. A vehicle , comprising:a freight bay;a plurality of item storage bins disposed within the freight bay;a storage rack containing items to be delivered along a delivery route;a robot, disposed within the freight bay, the robot comprising an item manipulating attachment; andan electronic hardware processor, operably connected to the robot, wherein the processor is configured to:identify a location of the vehicle along the delivery route;identify a specific delivery point based on the location of the vehicle;identify a location of the items to be delivered to a specific delivery point along the delivery route;control the robot to retrieve the items to be delivered to the identified specific delivery point; andmove the items to be delivered to the identified specific delivery point to one of the plurality of item storage bins.2. The vehicle of claim 1 , wherein the freight bay comprises an opening claim 1 , and the robot is configured to move the item from the item storage bin through the opening to a delivery location.3. The vehicle of claim 2 , wherein the vehicle further comprises a cab and an access portal ...

SYSTEMS AND METHODS FOR A PASSIVE GRASPING SURFACE ON AN ACTIVE GRASPING ROBOTIC MANIPULATOR

One or more embodiments of the present disclosure relate generally to the field of robotic grasping systems, and in particular to an active robotic manipulator that includes a passive grasping component so that the robotic manipulator can grasp a wide variety of objects and simultaneously providing soft grasping features which reduce the risk of damage to objects. 1. A system for a robotic manipulator having an active grasping component that allows for passive grasping of an object , comprising:a controller;at least two fingers configured to provide an active grasp of the object;a passive grasping surface coupled to each of the fingers, wherein each of the passive grasping surfaces includes a deformable shell having an interior containing a medium;an actuator communicatively coupled to the controller, the actuator configured to control movement of the fingers; anda pump communicatively coupled to the controller, the pump configured to deliver fluid pressure to the interior of the shell, the pump further configured to suction fluid from the interior of the shell.2. The system of claim 1 , wherein the fluid is selected from a group consisting of a liquid and a gas.3. The system of claim 1 , wherein the medium is configured to compress when the pump suctions fluid from the interior of the shell.4. The system of claim 1 , wherein the medium is selected from a group consisting of coffee grounds claim 1 , sand claim 1 , rice claim 1 , metal fragments claim 1 , rubber fragments claim 1 , sawdust claim 1 , flour claim 1 , salt claim 1 , and rocks.5. The system of claim 1 , wherein the medium is selected from a group consisting of polymers claim 1 , foam claim 1 , elastomers claim 1 , and silicone.6. The system of claim 1 , wherein the controller is configured to control the actuator and the pump based on learned data generated from a machine learning model that has processed sensor data from the robotic manipulator.7. The system of claim 1 , wherein the controller is ...

ROBOT AND CONTROL METHOD THEREOF

A robot and a control method thereof are provided. The method includes the following steps: receiving a manual control command from a remote control device, and accumulating a duration of issuing the manual control commands; estimating an estimated moving velocity corresponding to the manual control command; detecting a surrounding environment of the robot and generating an autonomous navigation command based on the surrounding environment; determining a first weighting value associated with the manual control command based on the duration, the estimated moving velocity and the distance to obstacles; determining a second weighting value associated with the autonomous navigation command based on the first weighting value; linearly combining the manual control command and the autonomous navigation command based on the first weighting value and the second weighting value to generate a moving control command; and moving based on the moving control command. 1. A control method adapted for a robot , comprising:receiving a manual control command from a remote control device and accumulating a duration of issuing the manual control command, wherein the manual control command is adapted to move the robot;estimating an estimated moving velocity corresponding to the manual control command;detecting a surrounding environment of the robot and generating an autonomous navigation command based on the surrounding environment;determining a first weighting value associated with the manual control command based on the duration, the estimated moving velocity, and a distance to obstacles;determining a second weighting value associated with the autonomous navigation command based on the first weighting value;linearly combining the manual control command and the autonomous navigation command based on the first weighting value and the second weighting value, so as to generate a moving control command; andmoving based on the moving control command.2. The method as claimed in claim 1 , ...

CONTROL MODES AND PROCESSES FOR POSITIONING OF A ROBOTIC MANIPULATOR

A method for controlling a robotic arm in a robotic surgical system includes defining a reference plane at a predetermined reference location for a robotic arm, where the robotic arm includes a plurality of joints, and driving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane. 1. A method for controlling a robotic arm in a robotic surgical system , the method comprising:defining a reference plane at a predetermined reference location for a robotic arm, wherein the robotic arm comprises a plurality of joints; anddriving at least one of the plurality of joints to guide the robotic arm through a series of predetermined poses substantially constrained within the reference plane.2. The method of claim 1 , wherein the series of predetermined poses comprises an ordered sequence of progressively unfolded predetermined poses.3. The method of claim 1 , wherein the series of predetermined poses comprises an ordered sequence of progressively folded predetermined poses.4. The method of claim 1 , further comprising driving at least one of the plurality of joints to guide the robotic arm through the series of predetermined poses to transition from a storage pose.5. The method of claim 4 , further comprising driving at least one of the plurality of joints to guide the robotic arm through the series of predetermined poses to transition to a storage pose.6. The method of claim 1 , wherein driving at least one of the plurality of joints comprises enforcing a task space virtual fixture at the reference plane claim 1 , to bias the robotic arm toward the reference plane.7. The method of claim 1 , wherein driving at least one of the plurality of joints comprises enforcing a uni-directional joint space virtual fixture on the at least one joint claim 1 , to bias the robotic arm toward the reference plane.8. The method of claim 1 , wherein driving at least one of the plurality of ...

CONTROL APPARATUS, WORK ROBOT, NON-TRANSITORY COMPUTER-READABLE MEDIUM, AND CONTROL METHOD

A control apparatus for controlling operation of a work robot for performing work inside a target region using a manipulator includes a trajectory information acquiring unit for acquiring N−1 or N pieces of trajectory information respectively indicating N−1 or N trajectories connecting N work regions where the work robot performs a series of work operations in order of a series of work operations; a classifying unit for classifying the N−1 or N trajectories as (i) trajectories that need correction or (ii) trajectories that do not need correction; and a trajectory planning unit for planning a trajectory of a tip of the manipulator between two work regions relating to the each of the one or more trajectories, for each of the one or more trajectories classified as a trajectory that needs correction by the classifying unit. 1. A control apparatus for controlling operation of a work robot for performing work inside a target region using a manipulator , the control apparatus comprising:a change information acquiring unit for acquiring at least one of (i) first change information concerning at least one of one or more bodies arranged inside the target region and represents occurrence of a change concerning at least one of a position, orientation, shape, and size of the at least one body and (ii) second change information representing that a new body is to be arranged inside the target region;a model information acquiring unit for acquiring at least one of (i) first model information representing the position, orientation, shape, and size of each of the one or more bodies after the change has occurred and (ii) second model information representing the position, orientation, shape, and size of the new body;a trajectory information acquiring unit for acquiring N−1 or N pieces of trajectory information respectively representing N−1 or N trajectories connecting N work regions where the work robot performs a series of work operations in order of the series of work operations;a ...

METHOD AND DEVICE FOR CONTROLLING A ROBOT, AND ROBOT

A method and device for controlling a robot, and a robot. The device detects whether there is an article being put into or taken out from a storage container of a robot, and if it is detected that an article is put into or taken out from the storage container, an information list is updated according to the article being put into or taken out, the information list recording relevant information about articles in the storage container. 1. A method for controlling a robot , comprising:detecting whether there is an article being put into or taken out from a storage container of the robot; andupdating an information list according to the article being put into or taken out from the storage container if it is detected that an article is put into or taken out from the storage container, wherein the information list records relevant information about articles in the storage container.2. The method according to claim 1 , whereinupdating an information list according to the article being put into or taken out from the storage container comprises:extracting relevant information about the article being put into the storage container if it is detected that an article is put into the storage container; andrecording the relevant information about the article being put into the storage container in the information list.3. The method according to claim 1 , whereinupdating an information list according to the article being put into or taken out from the storage container comprises:extracting relevant information about the article being taken out from the storage container if it is detected that an article is taken out from the storage container; anddeleting the relevant information about the article being taken out from the storage container from the information list.4. The method according to claim 1 , further comprising:sending the information list to a charging platform after a shopping end instruction is received.5. The method according to claim 4 , further comprising: ...

MAGNETIC FIELD CONTROL SYSTEM

A magnetic field control system according to an embodiment of the present invention may comprise: a structure forming part for forming a three-dimensional structure having an inner space; a magnetic field generating part for generating a magnetic field, the magnetic field generating part being formed to extend from a predetermined position of the structure forming part and being disposed to face a target region defined in the inner space; and a power source part for supplying electric power to the magnetic field generating part. 1. A magnetic field control system comprising:a structure forming part configured to form a three-dimensional structure having an inner space;a magnetic field generating part extending from a specific location of the structure forming part, disposed to face a target area defined in the inner space, and configured to generate a magnetic field; anda power source part configured to supply electric power to the magnetic field generating part.2. The magnetic field control system of claim 1 , wherein the magnetic field generating unit includes a first magnetic field generating part and a second magnetic field generating part claim 1 ,wherein the power source part includes a first power source part and a second power source part,wherein the first magnetic field generating part includes:a first magnetic core extending from a specific location of the structure forming part;a first coil wound on the first magnetic core; anda first variable capacitor, one end of which is connected to an opposite end of the first coil and an opposite end of which is connected to the first power source part; andwherein the second magnetic field generating part includes:a second magnetic core extending from a specific location of the structure forming part;a second coil wound on the second magnetic core; anda second variable capacitor, one end of which is connected to an opposite end of the second coil and an opposite end of which is connected to the second power source.3 ...

Method and Device for Charging Service Robot and Service Robot

A method for charging a service robot and a service robot are disclosed. The method comprises: collecting an audio signal generated by a sound source of a charging pile; determining a direction of the sound source according to the collected audio signal; controlling a robot main body to move toward the direction of the sound source, to shorten a distance between the robot main body and the charging pile; judging whether the infrared receiver array has received an infrared pulse signal emitted by the infrared emitter array of the charging pile; and when the infrared receiver array has received the infrared pulse signal, controlling the robot main body to move toward a direction of the charging pile according to the infrared pulse signal, to engage a charging component of the robot main body with a charging contact element of the charging pile. 1. A method for charging a service robot , comprising:collecting an audio signal generated by a sound source of a charging pile;determining a direction of the sound source according to the collected audio signal;controlling a robot main body to move toward the sound source direction, to shorten a distance between the robot main body and the charging pile;judging whether an infrared receiver array on the robot main body has received an infrared pulse signal emitted by an infrared emitter array of the charging pile; andwhen the infrared receiver array has received the infrared pulse signal, controlling the robot main body to move toward a direction of the charging pile according to the infrared pulse signal, to engage a charging component of the robot main body with a charging contact element of the charging pile.2. The method according to claim 1 , further comprising:when the infrared receiver array has not received the infrared pulse signal, collecting again an audio signal generated by the sound source of the charging pile, and determining again the direction of the sound source according to the audio signal, and controlling ...

SYSTEMS AND METHODS FOR CLOUD EDGE TASK PERFORMANCE AND COMPUTING USING ROBOTS

Systems and methods for cloud edge task performance and computing using robots are disclosed herein. According to at least one non-limiting exemplary embodiment, a cloud server may utilize a robotic network, comprising a plurality of robots, communicatively coupled to the cloud server to collect data, perform physical tasks, perform a computational function, or a combination thereof in a distributed fashion. 1. A non-transitory computer readable storage medium having computer readable instructions stored thereon , that when executed by at least one controller , configure the at least one controller to ,receive an operator input comprising instructions for a robot network, the robot network comprising a plurality of independently operable robots that are communicatively coupled to each other in an environment;transmit the instructions to at least a first sub-set of robots in the robot network such that the first sub-set of robots execute the instructions in the environment, the instructions comprising a plurality of tasks to be performed by the first sub-set of robots such that a respective task of the plurality of tasks is assigned to a respective robot of the first sub-set of robots based on bandwidth of the respective robot;receive data collected by the first sub-set of robots during simultaneous performance of the plurality of tasks by the first sub-set of robots in the environment; andgenerate an operator output based on the data collected by the first sub-set of robots.2. The non-transitory computer readable storage medium of claim 1 , wherein the at least one controller is further configurable to execute the computer readable instructions to claim 1 ,transmit the instructions to the first sub-set of robots in the robot network only if response to the operator input is not previously stored in the memory.3. The non-transitory computer readable storage medium of claim 1 , wherein the transmission of the instructions to the first sub-set of robots configures the ...

Robot Cleaner and Controlling Method Thereof

A robot cleaner based on wall following and a controlling method thereof are provided. The robot cleaner includes a first detector configured to generate a wall detection signal by detecting a wall, a second detector configured to generate a first contact signal through contact with the wall, a cleaner main body in which the first and second detectors are disposed and which includes a driver configured to drive on a surface to be cleaned, and a controller which is mounted on the cleaner main body and to which the first and second detectors and the driver are electrically coupled. The controller controls the driver so that the robot cleaner moving to one direction moves along the wall by the wall detection signal, the robot cleaner rotates to a first direction to be in contact with the wall in response to the first contact signal not being generated within a preset time, and the robot cleaner rotates to a second direction opposite to the first direction to be spaced from the wall in response to the generated first contact signal. 1. A robot cleaner comprising:a first detector configured to generate a wall detection signal by detecting a wall;a second detector configured to generate a first contact signal through contact with the wall;a cleaner main body in which the first and second detectors are disposed and which includes a driver configured to drive on a surface to be cleaned; anda controller which is mounted on the cleaner main body and to which the first and second detectors and the driver are electrically coupled,wherein the controller controls the driver so that the robot cleaner moving to one direction moves along the wall by the wall detection signal, the robot cleaner rotates to a first direction to be in contact with the wall in response to the first contact signal not being generated within a preset time, and the robot cleaner rotates to a second direction opposite to the first direction to be spaced from the wall in response to the first contact signal ...

METHOD AND SYSTEM FOR ASSISTING IN ROBOT CONTROL, HAVING A FUNCTION FOR DETECTING THE INTENTION OF AN OPERATOR

A method for assisting in the control of a collaborative robot is provided, comprising a grasping member capable of holding a part at a grasping point, by an operator acting on control means disposed on the part at at least one holding point, the assistance method allowing the robot to execute a plurality of types of assistance, corresponding to a plurality of predetermined characteristic movements of the grasping member, comprises at least: a first step of detecting the intention of the operator determining the intention of the operator to execute a predetermined type of assistance from an analysis of haptic data of the operator; and a second step of determining the commands that the robot must execute as a function of the detected intention in order to provide the appropriate assistance. 1. A method for assisting in the control of a robot , comprising a grasping member capable of holding a part to be manipulated at a grasping point , by an operator acting on the part at at least one holding point , the assistance method allowing the robot to execute a plurality of types of assistance corresponding to a plurality of predetermined characteristic movements of the grasping member , the method comprising:{'sub': mes', 'mes, 'a first step of detecting the intention of the operator to execute a type of assistance determined from among the plurality of types of assistance, from an analysis of a force torsor (T) and of a kinematic torsor (W) reduced at a specified point and from the knowledge of a current type of assistance executed by the robot;'}a second step of activation of an assistance that the robot must execute as a function of the intention detected in the first step, the second step retrieving control commands intended for the robot.2. The control assistance method as claimed in claim 1 , wherein the operator acts on the part using control means disposed on the part.3. The control assistance method as claimed in claim 1 , wherein the predetermined point of ...

VISION-GUIDED ELECTROMAGNETIC ROBOTIC SYSTEM

Embodiments of the disclosure comprise a vision-based robotic manipulation system that identifies, singulates, and removes an individual surgical instrument from a cluttered environment. A computer-vision algorithm incorporated with the system is robust against optical challenges such as changing light conditions, specularities, and inter-reflections among various surgical instruments. The system estimates 2D pose (as opposed to a more challenging 3D pose) using a camera with normal room lighting to identify each object, including its specified data matrix barcode; and incorporates the use of a robotic arm with a compliant electromagnetic gripper to handle objects having large shape variance. The system can then relocate the objects as desired. The robot manipulator is utilized in hospital and research settings, manufacturing, and sterile environments. 2. The computer-implemented method of claim 1 , wherein each of the template images includes one or more segmented images of the instrument to create a foreground mask.3. The computer-implemented method of claim 1 , wherein the identification tag is a two-dimensional (2D) data matrix barcode.4. The computer-implemented method of claim 3 , wherein the reference points in said step of identifying are four corner points of the 2D data matrix barcode.5. The computer-implemented method of claim 3 , wherein the step of identifying includes localizing the position of a selected instrument in relation to the plurality of instruments which are remaining in a cluttered environment.6. The computer-implemented method of claim 1 , wherein the step of aligning the initial affine transformation is subsequently refined using a non-linear optimization.7. The computer implemented method of claim 1 , further comprising a step of refining the initial affine transformation using non-linear optimization by determining edges of the template image and edges of the input image to create a distance transform that computes the distance between ...

TAPE LIBRARY APPARATUS AND INFORMATION MANAGEMENT METHOD

A tape library apparatus includes a tape drive, a robot unit, and a second processor. The tape drive includes a first access mechanism and a first processor. The first access mechanism is configured to read position information from a non-contact type memory within a tape cartridge. The position information indicates a position of data recorded in a magnetic tape within the tape cartridge. The first processor is configured to perform positioning for the data. The robot unit includes a robot arm and a second access mechanism configured to access the non-contact type memory. The robot arm is configured to store the tape cartridge in the robot unit, and move the tape cartridge to the tape drive. The second processor is configured to control the second access mechanism to read the position information from the non-contact type memory, and store the position information in a non-volatile memory. 1. A tape library apparatus , comprising: [ 'access a non-contact type memory within a tape cartridge to read position information from the non-contact type memory, the position information indicating a position of data recorded in a magnetic tape within the tape cartridge, and', 'a first access mechanism configured to'}, 'perform positioning for the data;', 'a first processor configured to'}], 'a tape drive including [ store the tape cartridge in the robot unit, and', 'move the tape cartridge to the tape drive, and, 'a robot arm configured to'}, 'access the non-contact type memory; and', 'a second access mechanism configured to'}], 'a robot unit including control the second access mechanism to read the position information from the non-contact type memory, and', 'store the position information in a non-volatile memory., 'a second processor configured to'}2. The tape library apparatus according to claim 1 , wherein 'transmit a transfer request to the second processor when the first access mechanism fails to read the position information from the non-contact type memory, the ...