The present invention relates to devices and methods for controlled motion of a tool. In one embodiment, the device can support a tool needed to perform an activity requiring a highly-precise, stable motion, while also accommodating a person's hand for the purposes of moving the tool. In another embodiment, the device of the present invention allows for rotational motion of a tool independently of the directive motion of the tool. In yet another embodiment, the present invention relates to the design of a force transducer useful in a cooperative robot. The device and methods of the present invention are particularly useful for microsurgery or other tasks that are typically performed using cooperative robotics.

A robot arm processing system includes a robot arm, a processing module, and a control module. The robot arm is for providing a mechanical holding force. The processing module is disposed on the robot arm to process a workpiece. The control module is connected to the robot arm or the processing module. The control module outputs an anti-vibration signal according to the reaction force of the workpiece or the displacement of the robot arm to counteract the reaction force of the workpiece or the displacement of the robot arm.

A mobile manipulator includes a moving apparatus, a manipulator that is connected to the moving apparatus, a controller configured to control the moving apparatus and the manipulator, and an environment acquisition sensor configured to acquire predetermined environmental data originating from an environment at the movement destination to which the mobile manipulator is moved by the moving apparatus in association with a position at the movement destination, and the controller controls at least one of the moving apparatus and the manipulator based on the environmental data.

A vibration suppression device that suppresses vibration of an operation unit in a mechanical system having a natural vibration mode including the operation unit, an actuator unit that operates the operation unit, and an elastic body that couples the operation unit and the actuator unit, the vibration suppression device including a generation means for generating a drive signal for driving the actuator unit, an estimation means for estimating a measurement amount related to the mechanical system, a correction means for correcting the drive signal generated by the generation means on the basis of the measurement amount estimated by the estimation means, and a change means for changing a gain used by the estimation means so that an influence of an increase in a modeling error becomes small in a period in which the modeling error of the mechanical system increases.

A stationary vibration isolation system including a plurality of isolators by way of which a load which is mounted in a vibration isolated manner is supported. The vibration isolation system includes a plurality of actuators by way of which vibrations of the load are actively countered. Each isolator respectively has its own separate control unit with a digital-analog converter for controlling the actuators.

The present invention relates to devices and methods for controlled motion of a tool. In one embodiment, the device can support a tool needed to perform an activity requiring a highly-precise, stable motion, while also accommodating a person's hand for the purposes of moving the tool. In another embodiment, the device of the present invention allows for rotational motion of a tool independently of the directive motion of the tool. In yet another embodiment, the present invention relates to the design of a force transducer useful in a cooperative robot. The device and methods of the present invention are particularly useful for microsurgery or other tasks that are typically performed using cooperative robotics.

A robot system includes a work apparatus, a robot, and control circuitry. The work apparatus is configured to move a work module relatively to the work apparatus. The work module is configured to perform work. The work apparatus is connected the robot. The control circuitry is configured to control the robot to move so as to reduce a force generated by moving the work module by the work apparatus.

A drive system includes an actuator that is driven by a motor to generate displacement, a driver that drives the motor, and a controller that gives a control instruction to the driver. The controller includes a model creation unit that creates a physical model based on displacement caused by application of an external load to the actuator and an instruction generating unit that generates a control instruction such that the actuator generates displacement according to the physical model.

The problem of addressing vibrational disturbances in mechanical positioning systems is addressed by systems and methods that use a combination of active vibration dampening and passive vibration dampening. A system described herein generally comprises a mechanical positioning system; a payload; and a vibration dampening module coupled to the mechanical position system and to the payload. The vibration dampening module generally comprises an active vibration dampener and/or a passive vibration dampener.

A method performed by one or more processing devices for ensuring that a vehicle seat top is qualified for use with a seat base for a vehicle seat, the method comprising: receiving information that identifies a type of vehicle seat top for coupling to the seat base; verifying that the vehicle seat top is authorized for use with the seat base; and in response to verifying, retrieving, based on the received information that identifies the type of vehicle seat top, pre-determined values of controller parameters of a closed loop control system for isolating vibrations from the vehicle seat top, wherein the predetermined values of the controller parameters are specifically tuned for the vehicle seat top.