A system and method for motion planning is presented. The system is configured, when an object is or has been in a camera field of view of a camera, to receive first image information that is generated when the camera has a first camera pose. The system is further configured to determine, based on the first image information, a first estimate of the object structure, and to identify, based on the first estimate of the object structure or based on the first image information, an object corner. The system is further configured to cause an end effector apparatus to move the camera to a second camera pose, and to receive second image information for representing the object's structure. The system is configured to determine a second estimate of the object's structure based on the second image information, and to generate a motion plan based on at least the second estimate.

The invention relates to a method for visualizing the automation of a drive system for a technical system, wherein the technical system consists of a plurality of modules. Module type data objects that are assigned to module types are stored in a data storage device, wherein the module type data objects include a graphical representation of the module type data relating to the particular module types. First, the module types of the modules of which the technical system is composed are selected by a user via a user interface. Module data objects assigned to the modules are generated by means of a data processing device, which module data objects contain module data, wherein the module data contain data relating to the graphical representation of the module type of each module, and wherein a data processing device generates a visualization of the assembled technical system based on the module data, which visualization is presented to the user by means of a visualization device, in particular a display.

A control device for an inspection device including a long flexible robot that is formed by connecting a plurality of units and bendable at each unit with a desired curvature, and a posture actuator that adjusts a posture of the unit includes a target posture specifying unit that specifies a target posture including positions of representative points of the respective units traveling along a predetermined route, and an operation amount determination unit that determines an operation amount for bringing the unit to the target posture using a learning model with the target posture of the unit as an input and an operation amount of the posture actuator as an output.

Approaches provide for performance of a complex (e.g., compound) task that may involve multiple discrete tasks not obvious from an instruction to perform the complex task. A set of conditions for an environment can be determined using captured image data, and the instruction analyzed to determine a set of final conditions to exist in the environment after performance of the instruction. These initial and end conditions are used to determine a sequence of discrete tasks to be performed to cause a robot or automated device to perform the instruction. This can involve use of a symbolic or visual planner in at least some embodiments, as well as a search of possible sequences of actions available for the robot or automated device. A robot can be caused to perform the sequence of discrete tasks, and feedback provided such that the sequence of tasks can be modified as appropriate.

Approaches presented herein provide for predictive control of a robot or automated assembly in performing a specific task. A task to be performed may depend on the location and orientation of the robot performing that task. A predictive control system can determine a state of a physical environment at each of a series of time steps, and can select an appropriate location and orientation at each of those time steps. At individual time steps, an optimization process can determine a sequence of future motions or accelerations to be taken that comply with one or more constraints on that motion. For example, at individual time steps, a respective action in the sequence may be performed, then another motion sequence predicted for a next time step, which can help drive robot motion based upon predicted future motion and allow for quick reactions.

A control system and method for generalized admittance control (AC) is provided. The control system includes circuitry communicatively coupled to a robotic manipulator. The circuitry receives, from a sensor system of the robotic manipulator, contact force measurements associated with a physical interaction of the robotic manipulator with an object. The circuitry determines a surface portion of the robotic manipulator on which the physical interaction with the object occurs and samples a set of interaction points from the surface portion. The circuitry computes a generalized velocity for AC of the robotic manipulator by minimizing a cost function. The cost function includes a relationship between the contact force measurements and an approximation term which models application of an actual contact force of the physical interaction on the sampled set of interaction points. The circuitry generates a set of joint control instructions based on generalized velocity to control motion of the robotic manipulator.

A global combination payment system for use in commerce by users, the global combination payment system comprising: a combination payment platform adapted to provide users with an interface through which the users may interact with other users, such that to engage in commerce, make payments, and exchange goods and services; and a combination payment vehicle for use as a payment method, the combination payment vehicle comprising a plurality of distinct and separate funding sources that may be selectively combined to make a purchase, the plurality of funding sources being selectable from cash, credit card, debit card, payday loan, cryptocurrency holdings, merchant digital loyalty rewards, investment stock and bond holdings; wherein a total value of the plurality of funding sources defines a line of credit via which to make a payment; and wherein the users each have a user account within the combination payment platform for engaging in commerce.

A method for measuring a height difference between lift pins includes receiving a first center position being a position of the center of a substrate with respect to a reference position that is measured before a transfer robot loads the substrate onto a support unit provided in a process chamber, the support unit including a plurality of lift pins, receiving a second center position being a position of the center of the substrate with respect to the reference position that is measured after the transfer robot picks up the substrate unloaded from the support unit, and deriving a difference in height between at least one of the plurality of lift pins and the other lift pins from a vector difference between the first center position and the second center position.

Methods for the computer-supported creation and execution of a control function are provided. The control function can be implemented in particular for a specific technical system, for example an automation system, and can in particular be cryptographically protected by a blockchain. In particular, the methods are suitable for a specific technical system, for example an automation system.

Systems (100) and methods (900) for controlling movement of an articulating arm having a plurality of joints. The methods comprise: receiving, by the controller, a command to perform a task by the articulating arm; ranking movements of the joints based on how much each said joint needs to move at a first time in order to follow the command; selecting a first subset of joints with top-ranked movements from the plurality of joints, where the subset of joints comprises less than a total number of joints contained in the plurality of joints; and causing only the joints of the first subset to move during a first timeslot of a plurality of timeslots.