A processing system is disclosed for providing processing of homogenous and non-homogenous objects in both structured and cluttered environments. The processing system includes a programmable motion device including an end effector, a perception system for recognizing any of the identity, location, and orientation of an object presented in a plurality of objects at an input location, a grasp acquisition system for acquiring the object using the end effector to permit the object to be moved from the plurality of objects to one of a plurality of destination bins, and a motion planning system for determining a changing portion of a trajectory path of the end effector from the object to a base location proximate to the input location, and determining an unchanging portion of a trajectory path of the end effector from the base location to a destination bin location proximate to a destination bin, wherein the unchanging portion of the trajectory path is chosen to provide a path from the base location to the destination bin location that is consistent with paths taken by other objects.

A wafer supply device configured to supply a wafer divided into multiple dies to a supply position, the wafer supply device includes a die information storage section configured to store the number of dies for each rank allocated to each of the dies, a block information acquisition section configured to acquire a condition of dies to be mounted on a block provided on a board to be conveyed, a required block number acquisition section configured to acquire a required number of dies to be mounted on the block, and a producible number calculation section configured to calculate a number of blocks that can be produced based on a content stored in the die information storage section and a content acquired by the block information acquisition section and the required block number acquisition section.

An automated guidance system for a coordinated movement machine includes a camera and a processor. The camera is mounted to a movable component of the coordinated movement machine. The processor is configured to visually recognize individual workpieces among a plurality of similarly shaped workpieces using a program running on the processor. The processor is further configured to determine x, y and z and Rx, Ry and Rz of the movable component with respect to each recognized workpiece among the plurality of recognized workpieces, and to move the movable component of the coordinated movement machine after determining x, y and z and Rx, Ry and Rz of the movable component.

An image processing device according to the present invention includes container reference position and posture setting unit for setting a position and posture to be a reference for the container, workpiece reference height setting unit for setting a height to be a reference for the workpiece, a reference search window setting unit, container position and posture acquisition unit, a workpiece height calculation unit a search window calculation unit for calculating an amount of adjustment of the search window from the reference container position and posture, the workpiece reference height, the container position and posture, and the workpiece height, and calculating the search window from the reference search window and the amount of adjustment of the search window, and workpiece detection unit for detecting the workpiece from the image using the calculated search window.

An operating system according to an embodiment includes a target surface detection unit, a position calculation unit, a direction calculation unit, and a movement control unit. The target surface detection unit detects a target surface of a target object from a depth image obtained by a depth sensor. The position calculation unit calculates a first position for the detected target surface. The direction calculation unit calculates a first direction for the detected target surface. The movement control unit controls an actuator so as to reduce a positional deviation between a second position fixed with respect to the movable member and the first position and to reduce a directional deviation between a second direction fixed with respect to the movable member and the first direction.

Three-dimensional measurement data is obtained (step S1). The poses of bulk parts are calculated (step S2). The gripping poses of a hand relative to the bulk parts are calculated (step S3). Individual evaluation indices are calculated (step S4). Overall evaluation indices are calculated (step S5). The gripping poses are sorted using the overall evaluation indices (step S6). The calculated gripping poses appear on a screen (step S7). The gripping poses are sorted by a user in an intended order (step S8). Determination is performed as to whether the difference between the results of the sorting in step S6 and in step S8 is small (step S9). In response to the difference being sufficiently small, parameters used in the calculation of the overall evaluation indices are stored (step S11). In response to the difference not being sufficiently small, the parameters are updated (step S10) and the processing returns to step S5.

An autoteach enclosure system includes a plurality of surfaces that at least partially enclose an interior volume of the autoteach enclosure system. The autoteach enclosure system further includes an autoteach pin at least partially disposed within the interior volume. The autoteach pin is a scannable feature having a fixed position within the autoteach enclosure system. The autoteach enclosure system further includes a front interface coupled to one or more of the plurality of surfaces to interface the autoteach enclosure system with a substantially vertical portion of a load port of a wafer processing system. The autoteach pin enables an autoteach operation of a robot arm of the wafer processing system. The autoteach operation is an operation to automatically teach the fixed position within the autoteach enclosure system to the robot arm of the wafer processing system.

The present invention relates to a single integrated multi-function apparatus for programming and repackaging programmable devices comprising: input means operable to provide a plurality of un-programmed devices; programming means operable to program the un-programmed devices; checking means operable to inspect predefined characteristics of devices programmed by the programming means; moving means operable to convey programmed devices to the checking means in a path of movement defining a first (X) axis of the apparatus, and placement means operable to move devices to and from the programming means in a path of defining a second (Y) axis of the apparatus. The moving means further conveys programmed devices along the first (X) axis to checking means operable to inspect predefined characteristics of devices programmed by the programming means, and operation of the input means, programming means, moving means, placement means and checking means are coordinated and controlled by software control means.

Systems and methods for commanding, controlling, and guiding automated guided vehicles (“AGVs”). Automated systems translate AGV commands according to AGV manufacturers. AGVs can be summoned and destinations be determined automatically.

Based on operation trajectory data an operation analysis device identifies all open points indicating positions at which the crusher is opened during the operation period and all close points indicating positions at which a crusher is closed during an operation period, calculates, as a shortest distance, a distance between each open point of the all open points and a close point nearest to the each open point, and identifies, as a sorting destination open point, an open point at which the shortest distance exceeds a first threshold value, identifies data until the crusher grasping the dismantling part moves to the sorting destination and returns to the dismantling target again from among the operation trajectory data as movement data of the crusher having moved in the dismantling operation, and identifies data in which the movement data has been removed from the operation trajectory data as grasping operation data.