A total time necessary for work is shortened by reducing program correcting. A control device has a teaching program storage storing a teaching program, a command interpreter transmitting a movement-related command to a movement-related command separator, determining whether the command is a synchronous interval command or an asynchronous interval command and separating the movement-related command into command of each device according to a determination result, and executing a non-movement-related command, a movement-related command buffer selecting one of the transmission of the movement-related command to the sub-locus calculator and accumulating movement-related command therein based on a device movement state, a main locus calculator calculating movement information on the device on which synchronous control is performed from the movement-related command, a sub-locus calculator calculating movement information on the device that is not a synchronous control target based on the movement-related command, and a motor driver performing operations of the devices.

A method of teaching a robot includes: a swinging step of causing a hand to swing about a predetermined pivot, which is on an axis perpendicular to an optical axis of a sensor beam, to scan a target in a horizontal direction of the sensor beam; a determining step of determining whether or not the target has coincided with a position along a central axis of the hand in its longitudinal direction based on a detection signal of a mapping sensor, the detection signal having changed owing to the swinging of the hand; and a shifting step of, if it is determined in the determining step that the target has not coincided with the position, calculating an offset amount of the hand based on the detection signal of the mapping sensor, the detection signal having changed owing to the swinging of the hand, and causing the hand to shift to either right or left along the optical axis of the sensor beam in accordance with the calculated offset amount.

Computerized appliances may be operated by users remotely. In one exemplary implementation, a learning controller apparatus may be operated to determine association between a user indication and an action by the appliance. The user indications, e.g., gestures, posture changes, audio signals may trigger an event associated with the controller. The event may be linked to a plurality of instructions configured to communicate a command to the appliance. The learning apparatus may receive sensory input conveying information about robot's state and environment (context). The sensory input may be used to determine the user indications. During operation, upon determine the indication using sensory input, the controller may cause execution of the respective instructions in order to trigger action by the appliance. Device animation methodology may enable users to operate computerized appliances using gestures, voice commands, posture changes, and/or other customized control elements.

In this system, regarding an conveyance object placed on a rotary table, based on positions temporarily set previously as a taking position of the disk-shaped conveyance object in a storing container and a reference position of the rotary table, information of the taking position of the conveyance object in the storing container and of the reference position of the rotary table is acquired based on information of the deviation of the conveyance object placed on the rotary table with respect to the reference position of the rotary table acquired by a sensor portion so as to teach a conveying operation of the conveyance object from the storing container to the rotary table by the robot based on the acquired position information.

The present invention relates to a method, such as a surgical method for assisting a surgeon for placing screws in the spine using a robot attached to a passive structure. The present invention also related to a method, such as a surgical method for assisting a surgeon for removing volumes in the body of a patient using a robot attached to a passive structure and to a device to carry out said methods. The present invention further concerns a device suitable to carry out the methods according to the present invention.

This disclosure describes, according to some implementations, a system and method for adapting object handover from robot to human using perceptual affordances. In an example method, upon receiving sensor data describing surroundings and/or operational state of a robot unit from a sensor, the method calculates a probability of a perceptual classification based on the sensor data. The perceptual classification may be one or more of an environment classification, an object classification, a human action classification, or an electro-mechanical state classification. The method further calculates an affordance of the probability of the perceptual classifier using a preference model, determines a handover action based on the affordance, executes the handover action, and updates the preference model based on feedback.

Embodiments of the present disclosure are directed to methods, computer program products, and computer systems of a robotic apparatus with robotic instructions replicating a food preparation recipe. In one embodiment, a robotic control platform, comprises one or more sensors; a mechanical robotic structure including one or more end effectors, and one or more robotic arms; an electronic library database of minimanipulations; a robotic planning module configured for real-time planning and adjustment based at least in part on the sensor data received from the one or more sensors in an electronic multi-stage process file, the electronic multi-stage process recipe file including a sequence of minimanipulations and associated timing data; a robotic interpreter module configured for reading the minimanipulation steps from the minimanipulation library and converting to a machine code; and a robotic execution module configured for executing the minimanipulation steps by the robotic platform to accomplish a functional result.

Disclosed are systems and methods for detecting a graphic card that visually describes an operational mode of a rotatable interface component via a plurality of curves for rotationally-varying parameters, determining the operational mode that is visually described on the graphic card, and loading the operational mode to the rotatable interface component, where the operational mode specifies operations for a motor such that the motor generates torque on the interface component based on the curves for the rotationally-varying parameters that are shown on the graphic card.

A method includes a first step of vertically moving the arm or the pins from a reference position in one direction by a predetermined distance, a second step of moving the arm in a horizontal direction, a third step of vertically moving the arm or the pins moved in the one direction in the other direction by a distance equal to or greater than the predetermined distance, a fourth step of detecting a horizontal position of the substrate held by the arm with respect to the arm. The steps are repeated. Whenever the processes are performed, the reference position in the first step is shifted in the one direction by the predetermined distance, and a vertical position of the arm or the pins which is obtained when the horizontal position of the substrate detected in the fourth step is deviated from a preset position is taught as the delivery position.

When setting welding conditions of arc welding, an operator sets the shape of a material to be welded, the specifications of welding, and welding conditions using a teach pendant. An apparatus for supporting setting of welding conditions in multi-pass welding of the present invention automatically calculates the state of the bead layering cross-section including at least one of the number of bead layers, the number of passes, and the layering direction, and the state of the bead layering cross-section including at least one of the number of bead layers, the number of passes, and the layering direction, obtained by the calculation is displayed on a display section.