This invention relates to a method for determining a wear state of a chisel, a chisel holder, and/or a chisel holder replacement system equipped with a chisel and chisel holder. For this method to give the user qualitative and quantitative information about the wear, according to one embodiment of this invention, a position of at least one point of the chisel and/or the chisel holder is determined by a contactless measurement method and a corresponding measurement result is compared in a switching unit to a reference value stored in a memory device.

A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, determines a reference robot base position, calculates an end effector path extending to the end effector destination and repeatedly determines a current robot base position using signals from the tracking system, calculates a correction based on the current robot base position, the correction being indicative of a path modification, and controls the robot arm in accordance with the correction to move the end effector towards the end effector destination.

A machine for processing a stone or stone-like slab includes a frame. A bridge extends across a slab processing area and mounted for movement on the frame. A carriage is mounted for movement on the bridge to define movement of a lower end of the carriage along the X, Y and Z coordinate axes. A machine yoke is rotatably mounted at the lower end of the carriage and configured for C-axis rotation. A machining head is rotatably mounted between support arms of the machine yoke and configured for A-axis rotation. The machine yoke is rotated about the C-axis when routing or cutting on the slab. A controller is configured to rotate the machine yoke and maintain a support arm leading along the path of advancement of the finger bit to relieve stress on the A-axis when routing or cutting on the slab.

A hydraulic arrangement (HA) for an apparatus (AV) for deblocking optical workpieces (L), from associated block pieces (B), includes a nozzle arrangement (DA) for delivery of high pressure jets of pressure means for deblocking the workpiece from the associated block piece at a first pressure and for cleaning the blocked workpiece and/or block piece at least one second pressure which is different from the first pressure. Furthermore, there is a pump device (PE) which applies pressure in a defined manner to the pressure means and conveys it under pressure to the nozzle arrangement. The pump device has at least one high pressure pump (HP1, HP2) which is drivable by an associated rotary drive (SM1, SM2), the speed of which is modifiable in order to adjust the first pressure or the second pressure.

A hydraulic arrangement (HA) for an apparatus (AV) for deblocking optical workpieces (L), from associated block pieces (B), includes a nozzle arrangement (DA) for delivery of high pressure jets of pressure means for deblocking the workpiece from the associated block piece at a first pressure and for cleaning the blocked workpiece and/or block piece at least one second pressure which is different from the first pressure. Furthermore, there is a pump device (PE) which applies pressure in a defined manner to the pressure means and conveys it under pressure to the nozzle arrangement. The pump device has at least one high pressure pump (HP1, HP2) which is drivable by an associated rotary drive (SM1, SM2), the speed of which is modifiable in order to adjust the first pressure or the second pressure.

A system for performing interactions within a physical environment including a robot base, a robot base actuator that moves the robot base relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a tracking target position indicative of a position of a target mounted on the robot base. A control system acquires an indication of an end effector destination, determines a tracking target position at least in part using signals from the tracking system, determines a virtual robot base position offset from the robot base and calculates a robot base path extending from the virtual robot base position to the end effector destination, using this to control the robot base actuator to cause the robot base to be moved along the robot base path.

A machine processes a stone or a stone-like slab having side edges and a finished face and bottom surface. A slab is positioned with the finished face down on vacuum pods positioned on a work table and oriented with a mirror imaged slab cut layout that is based upon a slab cut layout on the finished face of the slab. The slab is cut with a circular saw blade mounted on a spindle to cut the side edges of the slab upside down while positioned on the vacuum pods by following the mirror imaged slab cut layout to form a substantially finished slab. Relief supports, such as foam blocks, may support outside edge trim relief strips during cutting.

A machine processes a slab that is positioned with the finished face down on vacuum pods on a work table. The side edges of the slab are cut with the slab upside by following a mirror imaged slab cut layout to form a slab corresponding substantially to the shape of a countertop. Without removing the cut slab from the vacuum pods and maintaining the finished face down, the machine routes a sink hole using a finger bit that had been switched onto the spindle, the routing path based upon the mirror imaged slab cut layout. The slab is finished by forming an edge profile on the inside of any sink holes and edging and polishing the sides of the finished slab.

A system processes a stone slab having a top polished face and bottom surface. An imaging device receives and displays a digital image of the top polished face of the slab. A controller overlays a slab cut layout on the digital image of the top polished face, generates a digital slab layout file containing digital data representative of the top polished face and its slab cut layout referenced to the top end of adhered reference markers, mirror images the digital slab layout file, and projects the mirror imaged locations of the reference markers to facilitate alignment of the bottom ends of the adhered laser markers with the respective projected reference marker locations when the slab is upside down for cutting in a slab cutting position.

A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, determines a reference robot base position, calculates an end effector path extending to the end effector destination and repeatedly determines a current robot base position using signals from the tracking system, calculates robot arm kinematics using the current robot base position and the end effector path and controls the robot arm to cause the end effector to be moved towards the end effector destination.