A measurement apparatus includes a sensor that measures a workpiece, a multi-axis robot that moves the sensor in a three-dimensional space, a position determination part that determines i) a plurality of measurement positions that are positions along a normal direction at each of a plurality of positions to be measured on the workpiece and ii) a direction of the sensor at each of the plurality of measurement positions on the basis of at least either design data or captured image data indicating the geometry of the workpiece, a moving control part that sequentially moves the sensor to the plurality of measurement positions by controlling the robot, and a measurement control part that outputs measured data indicating a result that the sensor measured at each of the plurality of measurement positions in association with the plurality of positions to be measured.

Grasping of an object, by an end effector of a robot, based on a final grasp pose, of the end effector, that is determined after the end effector has been traversed to a pre-grasp pose. An end effector vision component can be utilized to capture instance(s) of end effector vision data after the end effector has been traversed to the pre-grasp pose, and the final grasp pose can be determined based on the end effector vision data. For example, the final grasp pose can be determined based on selecting instance(s) of pre-stored visual features(s) that satisfy similarity condition(s) relative to current visual features of the instance(s) of end effector vision data, and determining the final grasp pose based on pre-stored grasp criteria stored in association with the selected instance(s) of pre-stored visual feature(s).

A system includes a machine tool 10, a robot 25 having a camera 31, and a transportation device 35 having the robot 25 mounted thereon, and an identification figure is arranged in a machining area of the machine tool 10.

There is provided a method for picking up an object from a bin to be implemented by a robotic arm including a controller and a picking-up module. The method includes: recognizing, by the controller, at least one object in the bin based on an image of an interior of the bin so as to determine a type of each object; determining, by the controller, a score for each object based on the type thereof; determining, by the controller, whether a greatest score among the score(s) of the at least one TBT object is greater than a predetermined value; and by the picking-up module, picking up one of the at least one TBT object that has the greatest score when it is determined that the greatest score is greater than the predetermined value.

A plan for scanning an object using an array of ultrasonic transducers is prepared by identifying one or more enabled transducers for each of a plurality of selected grid positions defined on a surface of the object. The identification is made considering a direction of incidence of a planned ultrasonic signal emitted by each transducer, considering the array being positioned at each of the selected positions, and considering a surface normal vector at a grid position that would be impinged by the planned ultrasonic signal. The scan plan is complete when all grid positions defined on the surface of the array are covered by moving the array to all of the selected grid positions. The scan plan is executed by moving the array according to the scan plan while collecting, by the transducers enabled at each selected grid position, eventual responses to the ultrasonic signals from their respective grid positions.

A grasping system includes a robotic arm having a gripper. A fixed sensor monitors a grasp area and an onboard sensor moves with the gripper also monitors the area. A controller receives information indicative of a position of an object to be grasped and operates the robotic arm to bring the gripper into a grasp position adjacent the object based on information provided by the fixed sensor. The controller is also programmed to operate the gripper to grasp the object in response to information provided by the first onboard sensor.

A work machine includes a pickup member configured to pick up a component; a storage device configured to store positional information on multiple pickup positions where the pickup member can pick up the component; a recognition device configured to optically recognize a multiple of the component including the pickup target; and a control device configured to select, from the multiple pickup positions of the pickup target component, one pickup position which is less likely to interfere with other components based on the positional information and a recognition result from the recognition device, and cause the pick member to pick up the pickup target component at the one selected pickup position.

A system including a robot mean to move a member by using a first camera coupled to the robot, a second camera coupled to the robot, a control device configured to control position of the robot in order to minimize a pixel-wise distance between the member and a target based on alternating input from the first camera and the second camera.

A medical supporting arm control apparatus that includes a memory, and processing circuitry that obtains a current spatial position of an operating point in a multi-link structure configured by coupling a plurality of links by a joint section, by detecting a current rotational angle of the joint section, compares a movable region of the operating point stored in the memory with the obtained current spatial position, the movable region being set in advance, and restricts an operation of the operating point on a basis of a result of the comparison.

The robot system for which the position of a camera attached to the arm is changeable to multiple positions. The robot system memorizes offset information between the arm and the camera for each of multiple positions. Further, the robot system moves the arm to the position offset by the offset information corresponding to the attachment position of the selected camera. As a result, even when the mounting position of the camera is changed, the robot system can move the camera to an appropriate position when imaging and perform imaging without requiring troublesome teaching.