A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, determines a reference robot base position, calculates an end effector path extending to the end effector destination and repeatedly determines a current robot base position using signals from the tracking system, calculates a correction based on the current robot base position, the correction being indicative of a path modification, and controls the robot arm in accordance with the correction to move the end effector towards the end effector destination.

A system for performing interactions within a physical environment including a robot base, a robot base actuator that moves the robot base relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of end effector destinations, determines a robot base position, calculates a robot base path extending from the robot base position in accordance with the end effector destinations to allow continuous movement of the robot base along the robot base path in accordance with a defined robot base path velocity profile and uses the robot base path to cause the robot base to be moved along the robot base path in accordance with the robot base path velocity profile.

A system for performing interactions within a physical environment including a robot base, a robot base actuator that moves the robot base relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a tracking target position indicative of a position of a target mounted on the robot base. A control system acquires an indication of an end effector destination, determines a tracking target position at least in part using signals from the tracking system, determines a virtual robot base position offset from the robot base and calculates a robot base path extending from the virtual robot base position to the end effector destination, using this to control the robot base actuator to cause the robot base to be moved along the robot base path.

An automatic machine for drilling and milling substantially flat glass sheets shape, comprising includes a machine body; an input conveyor provided with a motorized roller conveyor or roller belt that conveys the glass sheet by its lower edge; an input conveyance surface provided with idle gliding wheels; an output conveyor provided with a motorized roller conveyor or motorized belt that conveys the glass sheet by means of its lower edge; and an output conveyance surface provided with idle gliding wheels. The machine further includes at least one carriage provided with synchronous horizontal motion along the longitudinal axis X2; and at least one pair of working heads provided independently with a synchronous vertical motion for adjustment and feeding along the axes Y1 and Y2, wherein, each head bears a tool provided with rotary motion (cutting) and feeding motion along the axes Z1 and Z2.

A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, and repeatedly determines a robot base position using signals from the tracking system, calculates an end effector path extending to the end effector destination at least in part using the robot base position, generates robot control signals based on the end effector path and applies the robot control signals to the robot arm to cause the end effector to be moved along the end effector path towards the destination.

A system for performing interactions within a physical environment including a robot base that undergoes movement relative to the environment, a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon and a tracking system that measures a robot base position indicative of a position of the robot base relative to the environment. A control system acquires an indication of an end effector destination, determines a reference robot base position, calculates an end effector path extending to the end effector destination and repeatedly determines a current robot base position using signals from the tracking system, calculates robot arm kinematics using the current robot base position and the end effector path and controls the robot arm to cause the end effector to be moved towards the end effector destination.

A combined cutting and bevelling machine (10) for slabs of stone or stone-like material comprises a workpiece support bench (30) and a work unit (16) provided with a cutting unit (50) and a bevelling unit (40), wherein the cutting unit (50) comprises a cutting spindle (51) and the bevelling unit (40) comprises a bevelling spindle (41).

A machine (1) for machining slab materials (3) is described, comprising: a working plane (2) configured to support a slab material (3) to be machined; a first tool-holder electrospindle (11) associated to a respective supporting body (33), the first electrospindle (11) and the respective supporting body (33) being supported above said working plane (2) by a respective supporting equipment (12) perpendicularly with respect to the working plane (2) and configured to move the first electrospindle (11) and the respective supporting body (33) about a rotation axis (Z) perpendicular to the working plane (2); a moving apparatus (14) configured to move the equipment (12) in parallel to the working plane (2) and along directions (X, Y) perpendicular to one another; at least a second tool-holder electrospindle (45), rotationally and translationally integral with the first electrospindle (11), supported above the working plane (2) in parallel to the first electrospindle (11) by a respective supporting arm (47) slidably supported by the supporting body (33) of the first electrospindle (11); a first actuator device (55) active to move the supporting arm (47) and the second electrospindle (45) supported by the same towards and away from the first electrospindle (11) in parallel to the working plane (2) and along a direction substantially perpendicular to a cutting plane extending perpendicularly to the working plane (2); and a second actuator device (63) associated to the supporting arm (47) of the second electrospindle (45) and configured to move the second electrospindle (45) along a direction perpendicular to the working plane (2) independently of the first electrospindle (11).

A self-contained truck-mounted brick laying machine (2) is described. A truck (1) supports the brick laying machine (2) which is mounted on a frame (3) on the truck chassis. The frame (3) supports packs or pallets of bricks (52, 53) placed on a platform (51). A transfer robot can then pick up an individual brick and move it to, or between either a saw (46) or a router (47) or a carousel (48). The carousel is located coaxially with a tower (10), at the base of the tower (10). The carousel (48) transfers the brick via the tower (10) to an articulated (folding about horizontal axis (16)) telescoping boom comprising first boom element in the form of telescopic boom (12, 14) and second boom element in the form of telescopic stick (15, 17, 18, 19, 20). The bricks are moved along the folding telescoping boom by linearly moving shuttles, to reach a brick laying and adhesive applying head (32). The brick laying and adhesive applying head (32) mounts to element (20) of the stick, about an axis (33) which is disposed horizontally. The poise of the brick laying and adhesive applying head (32) about the axis (33) is adjusted and is set in use so that the base (811) of a clevis (813) of the robotic arm (36) mounts about a horizontal axis, and the tracker component (130) is disposed uppermost on the brick laying and adhesive applying head (32). The brick laying and adhesive applying head (32) applies adhesive to the brick and has a robot that lays the brick. Vision and laser scanning and tracking systems are provided to allow the measurement of as-built slabs, bricks, the monitoring and adjustment of the process and the monitoring of safety zones. The first, or any course of bricks can have the bricks pre machined by the router module (47) so that the top of the course is level once laid.

A material trimming system used with a table saw having a rotationally driven arbor, a table with a specialized tray to retain an article to be trimmed, the system including a core structure with a core rotational axis that attaches to the arbor that has an arbor rotational axis. The system also includes a peripheral ring that is about a ring rotational axis, wherein the peripheral ring removably engages the core structure, wherein the peripheral ring includes an outer peripheral element that is operational to trim a material of the article to a selected configuration. In addition, included in the system has a cover having a cover rotational axis, the cover having a mechanism to be removably attachable to the core structure that is operational to removably retain the peripheral ring to the core structure, wherein the arbor, core, ring, and cover rotational axes are all coincident to one another.