An approach to positioning one or more robotic arms in an assembly system may be described herein. For example, a system for robotic assembly may include a first robot, a second robot, and a control unit. The control unit may be configured to receive a first target location proximal to a second target location. The locations may indicate where the robots are to position the features. The control unit may be configured to calculate a first calculated location of the first feature of the first subcomponent, measure a first measured location of the first feature of the first subcomponent, determine a first transformation matrix between the first calculated location and the first measured location, reposition the first feature of the first subcomponent to the first target location using the first robot, the repositioning based on the first transformation matrix.

A computing system for generating optimal tracking control (TC) policies for controlling a machine to track a given time-varying reference (GTVR) trajectory. An updated augmented state of the machine is obtained. Stored in memory is the GTVR trajectory, a constraint-admissible invariant set (CAIS) of machine states satisfying machine state constraints and a corresponding TC policy mapping a machine state within the CAIS to a control input satisfying control input rate constraints. A processor jointly controls the computing system to control the operation to drive an augmented state of the machine to zero, and update the CAIS and TC policy. Joint control includes using a sequence of control inputs and a sequence of augmented machine states within CAIS corresponding to the sequence of tracking control inputs. Execute a constrained tracking approximate dynamic programming (TADP) using the received data to update the value function, update the CAIS and the corresponding TC policy.

A method is disclosed for estimating a trajectory of an object on a map given a sequence of traces for the moving object. Each trace of the object including information defining a position measured at a given time for the object, as well as information as to an area of accuracy around the measured position. The method processes pairs of successive traces, corresponding to two positions successive in time in the sequence of measured positions for the moving object. For each trace of a pair of successive traces, the method defines road segments on the map within the area of accuracy of the trace. For each road segment within the area of accuracy of a first trace of a pair of traces and each road segment within the area of accuracy of the second trace of the pair, the method determines at least one candidate path between the two road segments. A neural network and a neural graph model are used to compute the most probable sequence of candidate paths to estimate the trajectory of the object on the map.

A full-state control method for a master-slave robot system with flexible joints and time-varying delays is provided. In a teleoperation system formed by connecting a master robot and a slave robot through network, a proportional damping controller based on a position error and velocities, and a full-state feedback controller based on backstepping are designed for the master robot and the slave robot, respectively. High-dimension uniform accurate differentiators are designed to realize an exact difference to the virtual controllers. Delay-dependent stability criteria are established by constructing Lyapunov functions. Therefore, the criteria for selecting controller parameters are presented such that the global stability of the master-slave robot system with flexible joints and time-varying delays is realized. For the master-slave robot system with flexible joints, the global precise position tracking performance is realized by adopting a full-state feedback controller based on the backstepping method and the high-dimensional uniform accurate differentiators. Moreover, the global asymptotic convergence of the system is guaranteed and the robustness of the system is improved.

A Full-Body Inverse Kinematic (FBIK) module for use in tracking a user in a virtual reality (VR) environment. The FBIK module has an enclosure containing a power source, a plurality of active tags with lights for use by a motion tracking system to track the user, and a controller that flashes the lights in distinct patters to identify the user of the FBIK module.

An approach to positioning one or more robotic arms in an assembly system may be described herein. For example, a system for robotic assembly may include a first robot, a second robot, and a control unit. The control unit may be configured to receive a first target location proximal to a second target location. The locations may indicate where the robots are to position the features. The control unit may be configured to calculate a first calculated location of the first feature of the first subcomponent, measure a first measured location of the first feature of the first subcomponent, determine a first transformation matrix between the first calculated location and the first measured location, reposition the first feature of the first subcomponent to the first target location using the first robot, the repositioning based on the first transformation matrix.

A numerical control apparatus includes a command argument determination unit which determines whether a vector is included in an argument of a circular arc interpolation command which is included in command data and a circular arc shape forming unit which forms a circular arc shape based on a machining program, and a start point, an end point, and the vector, which are specified by the argument of the circular arc interpolation command, when the command argument determination unit determines that the vector is included in the argument of the circular arc interpolation command.

A numerical control apparatus includes a command argument determination unit which determines whether a vector is included in an argument of a circular arc interpolation command which is included in command data and a circular arc shape forming unit which forms a circular arc shape based on a machining program, and a start point, an end point, and the vector, which are specified by the argument of the circular arc interpolation command, when the command argument determination unit determines that the vector is included in the argument of the circular arc interpolation command.

A mobile robot configured to travel across a residential floor or other surface while cleaning the surface with a cleaning pad and cleaning solvent is disclosed. The robot includes a controller for managing the movement of the robot as well as the treatment of the surface with a cleaning solvent. The movement of the robot can be characterized by a class of trajectories that achieve effective cleaning. The trajectories include sequences of steps that are repeated, the sequences including forward and backward motion and optional left and right motion along arcuate paths.

A numerical control apparatus includes a command argument determination unit which determines whether a vector is included in an argument of a circular arc interpolation command which is included in command data and a circular arc shape forming unit which forms a circular arc shape based on a machining program, and a start point, an end point, and the vector, which are specified by the argument of the circular arc interpolation command, when the command argument determination unit determines that the vector is included in the argument of the circular arc interpolation command.