An arrangement including a machine tool with a chuck, a measuring device, a robot arm as well as a control device. The chuck is rotatable about a chuck axis. The robot arm carries at its free end a gripping device for reception of a workpiece. The measuring device has two sensor units. The measuring device has two sensor units. By means of the control device an automatic adjustment method can be carried out. First the robot arm is controlled for gripping a workpiece and subsequently the workpiece is positioned in the range of the measurement locations of the sensor units depending on measurement signals such that the deviation in the inclination and the offset between the workpiece axis and the chuck axis is within a predefined tolerance range. This procedure is at least carried out in two different rotation positions and is iteratively repeated if necessary.

A device and method for collaborative servo control of motion vision of a robot in an uncalibrated agricultural scene is provided. The device includes a robot arm, a to-be-gripped target object, an image sensor and a control module. An end of a robot arm is provided with a mechanical gripper, and a to-be-gripped target object is within a grip range of the robot arm. A control module drives the mechanical gripper to grip the to-be-gripped target object, and controls an image sensor to perform image sampling on a process of gripping the to-be-gripped target object by the robot arm. The image sensor sends sampled image data to the control module. The device does not need to perform precise spatial calibration on the to-be-gripped target object and the related environment in the scene. The robot arm is guided to complete the gripping task according to trained networks.

A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to perform operations. The robot includes an articulated arm having an end effector engaged with a constrained object. The operations include receiving a measured task parameter set for the end effector. The measured task parameter set includes position parameters defining a position of the end effector. The operations further include determining, using the measured task parameter set, at least one axis of freedom and at least one constrained axis for the end effector within a workspace. The operations also include assigning a first impedance value to the end effector along the at least one axis of freedom and assigning a second impedance value to the end effector along the at least one constrained axis. The operations include instructing the articulated arm to move the end effector along the at least one axis of freedom.

A robot gripper includes: a drive unit to drive a powertrain with active elements, wherein each element has a working region arranged in a body-fixed manner relative to the robot gripper, a respective element being moveable in and capable of reaching the working region; a control unit to control the drive unit; and a sensor system connected to the control unit to ascertain forces/moments applied externally to individual elements, the control unit configured such that collision monitoring is capable of being carried out for the elements, and when a collision is detected for an element, the drive unit is actuated according to a specified operation, including: providing a defined region within the working region for the elements, and collision monitoring for the elements only when the elements are located outside the assigned region, and deactivating collision monitoring when the elements are located at least partly within the assigned region.

A method of monitoring movement of a robotic arm, the robotic arm being arranged to be moved by an actuator, the method comprising: determining an expected robotic arm condition based on a known robotic condition and a torque applied to the robotic arm by the actuator; measuring an actual robotic arm condition during movement of the arm caused by the applied torque; and determining whether a collision has occurred by comparing the actual robotic arm condition with the expected robotic arm condition and generating a collision signal if a difference between the actual robotic arm condition and the expected robotic arm condition exceeds a threshold.

A control system and method locates a partially or fully occluded target object in an area of interest. The location of the occluded object may be determined using visual information from a vision sensor and RF-based location information. Determining the location of the target object in this manner may effectively allow the control system to “see through” obstructions that are occluding the object. Model-based and/or deep-learning techniques may then be employed to move a robot into range relative to the target object to perform a predetermined (e.g., grasping) operation. This operation may be performed while the object is still in the occluded state or after a decluttering operation has been performed to remove one or more obstructions that are occluding light-of-sight vision to the object.

The present invention relates to methods, devices and systems for associating consumable data with an assay consumable used in a biological assay. Provided are assay systems and associated consumables, wherein the assay system adjusts one or more steps of an assay protocol based on consumable data specific for that consumable. Various types of consumable data are described, as well as methods of using such data in the conduct of an assay by an assay system. The present invention also relates to consumables (e.g., kits and reagent containers), software, data deployable bundles, computer-readable media, loading carts, instruments, systems, and methods, for performing automated biological assays.

The present invention discloses a ceramic ball automatic sorting system and method. The system automatically sucks a ceramic ball on a ceramic ball feeding track for image acquisition, identifies whether the ceramic ball is defective according to the acquired image information, and determines a ball storage device into which the ceramic ball is placed, and the whole process does not require manual participation, which achieves the automation of ceramic ball defect identification and sorting and improves the ceramic ball defect identification accuracy and sorting efficiency. According to the method, images of the ball surface shot at each angle are automatically spliced by using an automatic image splicing technology to achieve full coverage. A defect is identified by using a threshold segmentation algorithm according to a set threshold, and whether the ceramic ball is defective and the ball storage device where the ceramic ball should be placed are determined, thereby achieving the automation of ceramic ball defect identification and sorting, and improving the ceramic ball defect identification accuracy and sorting efficiency.

Apparatuses, systems, and techniques determine a set of grasp poses that would allow a robot to successfully grasp an object that is proximate to at least one additional object. In at least one embodiment, the set of grasp poses is modified based on a determination that at least one of the grasp poses in the set of grasp poses would interfere with at least one additional object that is proximate to the object.

An apparatus includes a memory interposer including a socket including an inner surface, one or more memories disposed on the inner surface, a bottom surface opposite to the inner surface, and pogo pins disposed on the bottom surface and respectively corresponding to the one or more memories, the pogo pins being configured to connect the one or more memories to a printed circuit board (PCB) including a semiconductor die. The apparatus further includes an intermediate thermal head attached to the memory interposer. The memory interposer is movable with respect to the intermediate thermal head.