A method for determining coordinates of a mechanical arm includes taking a first picture of a marker on a target object on a first jig, obtaining first position coordinates of the marker, calculating reference position coordinates, controlling the mechanical arm to move to the reference position coordinates, moving the mechanical arm from the reference position coordinates to an intermediate position, setting current position coordinates as intermediate position coordinates, moving the mechanical arm from the intermediate position to a target position, setting current position coordinates as target position coordinates, moving the target object onto a second jig, taking a second picture of the marker to obtain second position coordinates, calculating reference position coordinates based on the second position coordinates, controlling the mechanical arm to move to the reference position coordinates, calculating intermediate position coordinates corresponding to the second jig, and calculating target position coordinates corresponding to the second jig.

A robot system includes a robot, a vision sensor, a controller, and an input unit. The vision sensor configured to measure a feature point and obtain a measured coordinate value. The controller configured to control the robot. The input unit configured to receive an input from a user toward the controller. The controller obtains, via the input unit, setting information data on a determination point which is different from the feature point. The robot system uses a coordinate value of the determination point and the measured coordinate value, and determines whether the robot is taking a target position and orientation.

A drawing apparatus according to the embodiment includes a chamber configured to house a processing target; a drawing part configured to draw a predetermined pattern on the processing target with a charged particle beam; a resistance measuring part configured to measure a resistance value of the processing target via a grounding member grounding the processing target in the chamber; a receiver configured to receive earthquake information; a controller configured to stop a drawing process in the chamber when the receiver receives the earthquake information; and an arithmetic processor configured to determine whether the processing target is grounded on a basis of the resistance value from the resistance measuring part, wherein the controller resumes the drawing process when the arithmetic processor determines that the processing target is grounded after the drawing process is stopped.

The present invention is provided with: a first processing position (A1) and a second processing position (A2) at which rough processing is performed on a workpiece (W); a third processing position (B1) at which final finishing processing is performed on the workpiece (W) that was processed at the second processing position (A2); flexible vices (7) provided to the first processing position (A1) and the second processing position (A2), the flexible vices (7) securing the workpiece (W) by clamping the same; and a quick clamping device (20) provided to the third processing position (B1), the quick clamping device (20) securing the workpiece (W) by means of a pin. The present invention is also provided with a control unit that controls a rough processing tool for performing rough processing and a final finishing processing tool for performing final finishing processing.

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.

Methods, apparatuses, systems, and computer readable media for determining a position of a tracking device. The tracking device includes a vision sensor and an inertial sensor. A first position of the tracking device in relative to a reference marker is obtained based on an image of the reference marker that is collected by the vison sensor. A second position of the tracking device in relative to the first position is obtained by the inertial sensor after a movement of the tracking device. A position of the tracking device in relative to the reference marker is determined based on the first and second positions.

A method for automated positioning of a toothed workpiece, having the following method steps:

providing a toothed workpiece, which has a machine-readable, workpiece-specific marking, such as a QR code, a barcode, an RFID tag, or the like; attaching the toothed workpiece on a spindle of a CNC-controlled multiaxis machine; automatically acquiring the marking of the workpiece; ascertaining an actual position of the workpiece in relation to the multiaxis machine on the basis of the marking; transferring the workpiece from the actual position into a setpoint position in relation to the multiaxis machine, before a machining and/or measuring method is carried out in the multiaxis machine.

A system includes a moveable element adapted to move relative to a coordinate system defined for a robot, an object detection transceiver unit adapted to be mounted on the moveable element, and a controller. The controller controls the object detection transceiver unit to emit a signal and obtain a return signal for an operational cell of the robot at each of a series of predetermined positions to emulate a transceiver aperture larger than an aperture of the object detection transceiver unit. A location corresponding to a marker present in the operational cell is determined from the return signals. A predetermined operation is carried out where the predetermined operation includes using the determined location to guide movement of the robot.

An automation apparatus includes a mechanism having a machine coordinate system and configured to work on a work which moves in the machine coordinate system, a sensor configured to successively detect positions of the work as the work moves, and a processor. The processor is configured to calculate a plurality of machine coordinate positions of the work in the machine coordinate system successively based on the positions successively detected by the sensor, and is configured to determine, based on the plurality of machine coordinate positions of the work, a working position at which the mechanism is configured to work on the work.

A robot device includes an optical detection device configured to detect a surrounding area image of an area surrounding the robot device. The robot device further includes a control device storing a predetermined reference marking and a predetermined reference position of the reference marking. The control device is configured to detect an image detail that shows the reference marking of the interaction machine in the surrounding area image of the area surrounding the robot device, detect the predetermined reference marking in the image detail, determine a distortion of the predetermined reference marking in the image detail, determine a spatial position of the reference marking, determine an interaction machine position of at least one element of the interaction machine with respect to the robot device from the spatial position of the reference marking, and subject the robot device to closed-loop control and/or open-loop control.