A robot system includes a sensor, a robot equipped with a gripping device capable of gripping a detected article, and a controller. The controller includes a gripping area setting unit that, for each article, sets a gripping area in which the gripping device is to be positioned when it grips the article, a determination unit that determines presence or absence of interference between the gripping area and other articles, a storage unit that stores a result of determination on the presence or absence of interference determined by the determination unit in association with each detected article, a robot control unit that causes the gripping device to pick up an article for which no other article interferes with the gripping area thereof, and an updating unit that updates the result of determination stored in the storage unit every time an article is picked up by the gripping device.

This application relates to systems, methods, devices, and other techniques for robotic arms that can be utilized with an auto-checkout system within a retail environment. This robotic arm is designed to have many functions within a store with auto-checkout system and sometimes can be utilized in a store without human cashier.

A printing system for three-dimensional objects has a control unit for storing and executing a robot program and an industrial robot which is controlled by the control unit and which has an arm with several members, wherein the tip of the arm is movable along a predetermined movement path according to path data of the robot program. A printing unit is mounted on the tip of the robot arm and is controlled by the control unit, which has at least one print nozzle for applying pointwise a respective portion of a print material at respective coordinates according to object data of the robot program.

Articulating devices and processes for obtaining photographic images with the articulating device generally include providing the articulating device with a directional light reference for use in photographically obtaining an accurate rendition of a subject being photographed. In this manner, an incidental light reference at the subject location is provided prior to capturing an image of the subject.

A pallet building apparatus for automatically building a pallet load of pallet load article units onto a pallet support including a frame defining a pallet building base, at least one articulated robot to transport and place the pallet load article units, a controller to control articulated robot motion and effect therewith a pallet load build, at least one three-dimensional, time of flight, camera to generate three-dimensional imaging of the pallet support and pallet load build, wherein the controller registers, from the three-dimensional camera, real time three-dimensional imaging data embodying different corresponding three-dimensional images of the pallet support and pallet load build, to determine, in real time, from the corresponding real time three-dimensional imaging data, a pallet support variance or article unit variance and generate in real time an articulated robot motion signal, the articulated robot motion signal being generated real time so as to be performed real time by the at least one articulated robot between placement of at least one pallet load article unit and a serially consecutive pallet load article unit enabling substantially continuous building of the pallet load build.

A method of planning a swing trajectory for a leg of a robot includes receiving an initial position of a leg of the robot, an initial velocity of the leg, a touchdown location, and a touchdown target time. The method also includes determining a difference between the initial position and the touchdown location and separating the difference between the initial position and the touchdown location into a horizontal motion component and a vertical motion component. The method also includes selecting a horizontal motion policy and a vertical motion policy to satisfy the motion components. Each policy produces a respective trajectory as a function of the initial position, the initial velocity, the touchdown location, and the touchdown target time. The method also includes executing the selected policies to swing the leg of the robot from the initial position to the touchdown location at the touchdown target time.

A control method includes: (a) setting a first operation mode using a first deviation threshold as a threshold to detect a deviation error in an amount of control and a second operation mode using a second deviation threshold that is higher than the first deviation threshold; and (b) selecting one of the first operation mode and the second operation mode and executing an operation of a robot.

Articulating devices and processes for obtaining photographic images with the articulating device generally include providing the articulating device with a directional light reference for use in photographically obtaining an accurate rendition of a subject being photographed. In this manner, an incidental light reference at the subject location is provided prior to capturing an image of the subject.

A manipulator can includes a frame, a first deployable support element configured to extend or retract with respect to the frame when acted on by an actuator, a static support element fixedly connected with the frame and comprising a second set of retention elements, and any suitable number of additional deployable support elements. Each support element can further include a respective set of retention elements configured to retain an item. In use, a manipulator can be used to move items by identifying an item contact area of an item to be moved, selectively deploying or retracting the deployable support elements based on the item contact area, and then contacting and retaining the item with the retention elements of the selected support elements.

A robot controller comprising a processor that is configured to execute computer-executable instructions so as to controls a robot including an arm capable of moving at least one of a target object and a discharger capable of discharging a discharge object to the target object, wherein the processor is configured to use a first position based on a jig removably attached to the discharger to generate teaching information on a position of the arm.