The invention relates to a method of controlling a movable robot manipulator for screwing in a screw at least already plugged into a thread, wherein the screw has a screw head with a tool engagement interface, the robot manipulator has at its distal end a tool designed to engage the tool engagement interface, the screw has a screw central axis, and the tool has a tool central axis about which the tool of the robot manipulator is rotatable. The proposed method includes the following steps of: defining a position of the tool engagement interface of the screw at least plugged into the thread, positioning the tool over the tool engagement interface and orienting the tool central axis with a maximum deviation of 8° concentrically with the screw central axis, with force-regulated and/or impedance-regulated closed tilting movement of the tool central axis, moving the tool along the tool central axis into the tool engagement interface until there is a connection between the tool and the tool engagement interface, screwing in the screw in a first direction of rotation of the tool until a defined limit value G1 of a torque/force acting on the tool has been reached or exceeded, once the limit value G1 has been reached or exceeded, turning back the tool counter to the first direction of rotation through a defined angle in the range of [0.01° to 10°], and removing the tool from the tool engagement interface along the tool central axis.

This application relates to a method for disassembling a portable electronic device. The method can include generating data associated with disassembling the portable electronic device based on measurements of a housing of the portable electronic device, removing a display assembly from the housing using a first module of a modular system based on the measurements of the housing, and removing an energy storage component from the housing using a second module of the modular system based on the measurements of the housing.

Various systems and methods for implementing time-aware general-purpose input output (TGPIO) for industrial control systems are described herein. A system includes edge detector circuitry to: detect rising or falling edges in an input signal; and store the rising or falling edges in a buffer along with a corresponding timestamp of the respective edge; and pattern match circuitry to: analyze the rising or falling edges in the buffer to identify a pattern of edges that matches a search pattern; and store timestamps corresponding to the pattern of edges in an event queue, the event queue used to notify a user application of the existence of the pattern of edges in the input signal.

An end effector comprising: a driving roller and presser rollers configured to hold a threaded member; a motor; a linear guide and an air cylinder including a rod configured to move the threaded member linearly along the axis of the threaded member; a detector; a robot arm; and a controller configured to: provide the threaded member near a position coaxially facing a threaded hole member by controlling the robot arm based on the position and the direction of the threaded hole member detected by the detector; and insert and screw the threaded member into the threaded hole member by controlling: the air cylinder including the rod to advance the threaded member toward the threaded hole member and insert a tip of the threaded member into the threaded hole member; and the motor to rotate the threaded member about the axis of the threaded member.

The invention relates to a screwing device, including a storage container for screws having a screw head, a screw head drive, and a threaded pin, a robot manipulator having an effector, which is adapted to the screw head and the screw head drive, and is embodied and configured to pick up and handle such a screw, an isolating unit connected to the storage container, which provides screws from the storage container isolated at an interface at a known position in such a way that a respective screw head is accessible to the effector, a control unit for controlling/regulating the robot manipulator, wherein the control unit is embodied and configured to execute the following first control program: the effector is guided by the robot manipulator along a predetermined trajectory T1 having a target orientation O.sub.target,T1(R.sub.T1) to the screw head of a screw provided at the interface, wherein along the trajectory T1 for locations R.sub.T1 of the trajectory T1, the target orientation O.sub.target,T1(R.sub.T1) of the effector is defined, wherein to pick up the screw head in the effector, force-regulated and/or impedance-regulated and/or admittance-regulated rotational movements and/or tilting movements and/or translational movement patterns of the effector in relation to its target orientation are executed by the robot manipulator until a predetermined limiting value condition G1 for a torque acting on the effector and/or a predetermined limiting value condition G2 of a force acting on the effector and/or a limiting value condition G3 for a time for carrying out the rotational and/or tilting movements and/or translational movement patterns is reached or exceeded and/or a provided force/torque signature and/or a position/speed/acceleration signature at the effector is reached or exceeded, which indicates/indicate that the picking up of the screw by the effector has been successfully completed within predefined tolerances.

A method of controlling a robot that performs work using an end effector on an object transported by a handler includes calculating a target position of the end effector based on a position of the object, calculating a tracking correction amount for correction of the target position in correspondence with a transport amount of the object, controlling the end effector to follow the object based on the target position and the tracking correction amount, acquiring an acting force acting on the end effector from the object using a force sensor, calculating a force control correction amount for correction of the target position to set the acting force to a target force, and controlling the acting force to be the predetermined target force by driving the manipulator based on the force control correction amount.

A control device includes a processor that is configured to execute computer-executable instructions so as to control driving of a robot capable of performing work including a screw-tightening process for tightening a screw, wherein the processor is configured to: receive an input of at least one of characteristics of an object including the screw used in the screw-tightening process; calculate, on the basis of the characteristics received, a value concerning screw-tightening torque at a time of the tightening of the screw by the robot; and cause a display to display the value concerning the screw-tightening torque.

An automatic screw tightening module includes a plate assembly, an input module, a screwdriver module, a transmission module, a movable module, an elastic element and a position sensor. The screwdriver module includes a screwdriver and a screwdriver sleeve. The transmission module is connected with an input terminal of the input module and the screwdriver sleeve for allowing the input terminal, the transmission module and the screwdriver sleeve to be rotated synchronously. The movable module is movably disposed on a base plate of the plate assembly. The movable module includes a bearing, and portion of the screwdriver sleeve is accommodated in the bearing, so that the screwdriver module and the movable module are moved relative to the base plate. The elastic element is disposed on the base plate and connected with the movable module. The position sensor is disposed on the base plate for sensing a displacement of the movable module.

A method for producing a screw connection having a screw that is set in rotational motion with a screwdriving head of a screwdriving tool. The screwdriving head has a motor drive for creating the rotational motion of a screw receptacle of the screwdriving head. The screw is driven into at least one mating part of the screw connection in a rapid speed. A torque is detected with which the screw is driven. The rapid speed with a higher rotational speed is changed to a creep speed with a lower rotational speed at a changeover time. The changeover time is determined as a function of the detected torque during screwdriving at rapid speed. The screw is further driven at the creep speed until a head contact time when a head of the screw makes contact on the mating part.

A system for locating the center line of a bolt which extends through an aircraft part, including a robot which carries a nut or collar placement device and a stereo camera. A control system operates the camera to produce two images of the fastener at a specified angle. A processor then transforms the image information to control information for the robot to align the nut or collar placement device with the centerline of the fastener and then to place the nut or collar on the end of the fastener.