A portable coordinate measurement machine (CMM) includes a manually-positionable articulated arm having first and second ends, the articulated arm including a plurality of arm segments and a plurality of rotary joints. At least one of the rotary joints from the plurality of rotary joints includes first and second bearings, a shaft configured to rotate about an axis of rotation of the first bearing and the second bearing, at least one transducer configured to output an angle signal corresponding to an angle of rotation of the shaft about the axis of rotation, and a serial communication circuit configured to communicate the angle signal, the serial communication circuit configured without a dedicated capture wire, without a dedicated trigger wire, or without either.

An example servo control system includes one or more components configured to be actuated for movement, a system controller including one or more processors for receiving feedback of the movement of the one or more components and for using the feedback within a control loop to cause an actuator to reduce error of the movement of the one or more components, and a tuned mass damper (TMD) physically connected to the one or more components. Parameters of the TMD are selected to add phase margin at a crossover frequency of the servo control system, and the TMD includes a mass coupled to the one or more components, a damper connected between the mass and the one or more components, and a spring component connected between the mass and the one or more components.

A machine tool includes a machine control unit to output control signals to drives for machine elements. A tool which machines a workpiece is thereby moved relative to the workpiece in a position-controlled manner. Arranged in a first region of one machine element is an active vibration damper to damp vibration in a second region of the machine elements as the workpiece is machined by the tool. In order to detect the vibration, a first sensor is arranged in the first region of the machine element and a second sensor is arranged on another machine element or in a different region of the one machine element. Actual values detected by the first and second sensors and corresponding target values are supplied to a dual controller which determines on the basis of these values, a resulting manipulated variable for the active vibration damper and actuates the active vibration damper accordingly.

A method for attenuating load oscillations in a load mechanism having a controlled drive, wherein a load is coupled mechanically to a motor via a spring element, includes determining an actual motor torque value, determining an actual angular velocity value, determining a motor inertial torque, calculating a spring torque from the actual angular velocity value, the motor inertial torque and the actual motor torque value, and supplying the calculated spring torque to an attenuator connection for attenuating the load oscillations.

A position control apparatus is configured to perform full-closed control for controlling the position of a driven member. The position control apparatus includes a vibration period and amplitude detector that detects a vibration period and a vibration amplitude included in a difference value between the position command value and the driven member position detection value. The position control apparatus also includes a constant vibration detector that outputs, as a vibration period of the constant vibration, a vibration period obtained while the driven member is not in an acceleration/deceleration state and the vibration period and the vibration amplitude detected by the vibration period and amplitude detector are equal to or greater than a vibration period threshold value and a vibration amplitude threshold value, respectively. The position control apparatus also includes a control parameter changer that changes the control parameter based on the vibration period output from the constant vibration detector.

The present disclosure provides a system for performing interactions within a physical environment, the system including: (a) a robot base; (b) a robot base actuator that moves the robot base relative to the environment; (c) a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon; (d) a tracking system that measures at least one of (i) a robot base position indicative of a position of the robot base relative to the environment; and, (ii) a robot base movement indicative of a movement of the robot base relative to the environment; (e) an active damping system that actively damps movement of the robot base relative to the environment; and, (f) a control system that: (i) determines a movement correction in accordance with signals from the tracking system; and, (ii) controls the active damping system at least partially in accordance with the movement correction.

A determination device includes an interface configured to acquire a vibration signal generated when a position of an object is switched, and a controller configured to determine a state of the object using the vibration signal.