Methods, systems, and apparatus, including computer programs encoded on computer storage media, for deblurring an image captured by a robot-mounted camera. One of the methods comprises capturing, using a camera that is attached to an arm of a robot, an image at a first time, wherein the image exhibits motion blur, and wherein the exhibited blur was caused by movement of the arm of the robot at the first time; receiving, from a robot control system of the robot, motion data characterizing the movement of the arm of the robot at the first time; generating a motion kernel using the received motion data; and generating a deblurred image by processing the image using the motion kernel.

Provided is an picking system which can suitably extract a workpiece by machine learning. The picking system is provided with: a robot which has a hand; an acquisition unit which acquires a two-dimensional camera image of an area where a plurality of workpieces are present; a teaching unit which can display the two-dimensional camera image and teach an picking position of a target workpiece to be extracted by the hand from among the plurality of workpieces; a training unit which generates a trained model on the basis of the two-dimensional camera image and the taught picking position; an inference unit which infers the picking position of the target work on the basis of the trained model and the two-dimensional camera image; and a control unit which controls the robot to extract the target workpiece by means of the hand on the basis of the inferred picking position.

The invention relates to a system and method for the robotic and automated, coordinated, collaborative changing of mill liners, the configuration thereof allowing the full robotic and automated manipulation of the method, by means of a remote command entered by an operator by means of a processor of a control system. The system of the invention comprises: at least one robotic manipulator (2) located outside of the mill; at least one robotic manipulator (3) located inside the mill; a control system; and a series of tools that are taken and manipulated automatically by the robotic manipulators (2, 3), such that the control system sends a command to operate the at least one external manipulator (2) and the at least one internal manipulator (3) to carry out the steps of changing at least one liner of the mill in a coordinated manner with collaboration between at least the two robotic manipulators.

The invention relates to a system and method for the robotic and automated, coordinated, collaborative changing of mill liners, the configuration thereof allowing the full robotic and automated manipulation of the method, by means of a remote command entered by an operator by means of a processor of a control system. The system of the invention comprises: at least one robotic manipulator (2) located outside of the mill; at least one robotic manipulator (3) located inside the mill; a control system; and a series of tools that are taken and manipulated automatically by the robotic manipulators (2, 3), such that the control system sends a command to operate the at least one external manipulator (2) and the at least one internal manipulator (3) to carry out the steps of changing at least one liner of the mill in a coordinated manner with collaboration between at least the two robotic manipulators.

A waterjet system in accordance with at least some embodiments includes a carriage, a motion assembly configured to move the carriage horizontally relative to a workpiece, and a cutting head carried by the carriage. The waterjet system can also include a kinematic chain through which the cutting head is operably connected to the carriage. The kinematic chain can include first, second, and third joints rotatably adjustable about different first, second, and third axes, respectively. The carriage and the first and second joints can be configured to move the cutting head along a path relative to the workpiece while the cutting head directs a jet toward the workpiece to form a product. The third joint can be configured to shift a kinematic singularity away from the path to reduce or eliminate delay and corresponding reduced cutting accuracy associated with approaching the kinematic singularity.

A waterjet system in accordance with at least some embodiments includes a carriage, a motion assembly configured to move the carriage horizontally relative to a workpiece, and a cutting head carried by the carriage. The waterjet system can also include a kinematic chain through which the cutting head is operably connected to the carriage. The kinematic chain can include first, second, and third joints rotatably adjustable about different first, second, and third axes, respectively. The carriage and the first and second joints can be configured to move the cutting head along a path relative to the workpiece while the cutting head directs a jet toward the workpiece to form a product. The third joint can be configured to shift a kinematic singularity away from the path to reduce or eliminate delay and corresponding reduced cutting accuracy associated with approaching the kinematic singularity.

Various gripped objects having different sizes, weights, centers of gravity, and the like are continuously and stably moved at a high speed. A control device includes: a state information generation unit that generates and updates state information on a robot and a gripped object; and a control information generation unit that generates, based on the state information and a base trajectory generated in advance on which the robot is configured to move the gripped object from a start point to an end point, control information for controlling the robot.

A registration system for robot-oriented augmented reality teaching system, comprising: a physical robot unit, a registration unit, a virtual robot generation unit and a computer; the physical robot unit comprising a physical robot, a physical robot controller and a robot point-to-point intermittent movement control program; the physical robot provided thereon with a physical robot base coordinate system; the physical robot controller connected with the physical robot and the computer respectively; the robot point-to-point intermittent movement control program installed in the computer; the registration unit comprising a registration marker, a camera and a conversion calculation unit; the registration marker arranged on the physical robot body; the camera fixed in a physical environment except the physical robot; the camera connected with the computer, and the conversion calculation unit arranged in the computer; the virtual robot generation unit arranged in the computer and used for generating a virtual robot model.

Provided is an alimentary-product assembling and dispensing device comprising: a plurality of alimentary-ingredient dispensers positioned to dispense respective ingredients in a plurality of different locations of a robotic work environment; a robot configured to receive an open-top vessel from an open-top-vessel dispenser and move the open-top vessel to the different locations to receive different ingredients from the plurality of alimentary-ingredient dispensers, wherein the robot comprises four or fewer degrees of freedom; and a vending aperture through which consumers retrieve vended alimentary products assembled by the robot from ingredients dispensed from the plurality of alimentary-ingredient dispensers.

A surgical instrument for use with a robotic manipulator includes an end effector assembly having one or two end effector members, each having a distal treatment end, a proximal end, and a tendon pass-through. Each end effector member is sandwiched between a corresponding pair of pulley members that, when assembled define an annular tendon pathway that is between the pulley members and that is aligned with the pass-through. For each end effector member, a tendon having a distal loop portion ends through the tendon pass-through, with its legs passing proximally from the pass-through, extending in opposite directions around the tendon pathway and proximally through the instrument's shaft.