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 method for controlling a device system (10) during the cutting of a workpiece (18) along a cutting line (43) up to a first end point (E.sub.1) using a saw head (12) that can be moved on a guide rail (11) along an advancing direction (26), whereby the saw head (12) is arranged on the guide rail (11) in a starting position (X.sub.0), and a first partial length (L.sub.1) extending from the starting position (X.sub.0) to the first end point (E.sub.1) of the cutting line (43) is entered.

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 control method for the use of a core drilling system including a core drill and a feed device for driving the core drill along a machine holding device. The method includes the steps of determining the end of a core drilling operation on the basis of reaching a predetermined threshold value for at least one corresponding predefined drilling parameter; and of selecting a reversing mode for retracting a drilling tool out of a borehole at a reversing rotational speed which corresponds to a multiple of a predetermined tapping rotational speed of the drilling tool at the beginning of the core drilling operation.

A control method for a core drill and a feed device for driving the core drill along a machine holding device, including the method steps: moving the core drill in a first direction; detecting the surface position of a material based on reaching a threshold value for at least one feed device parameter as a first reference value; moving the core drill in a second direction; operating the core drill in a tapping mode; moving the core drill in the first direction; detecting the surface position of a material based on reaching a threshold value for at least one corresponding drilling parameter as a second reference value; activating a water supply; and activating a regulating and control unit for adapting at least one drilling parameter as a function of at least one parameter of the feed device. A feed device for driving a core drill along a machine holding device for the use of the method, a core drill for the use of the method, as well as a core drilling system including a core drill and a feed device for driving the core drill along a machine holding device for the use of the method.

A method for controlling a wall saw system during creation of a separation cut in a workpiece between a first and second end point, is disclosed. The separation cut is carried out in a plurality of main cuts. In addition to the main-cut sequence, an overcut sequence having at least two overcuts is defined for each end point defined as a free end point. For each overcut sequence, a starting position and an end position are defined, the overcuts being carried out therebetween. The wall saw is positioned in the starting position and is pivoted into a first overcut angle; subsequently, the saw head is moved by way of the inclined saw arm until the end position has been reached. The wall saw is displaced back into the starting position and pivoted into a second overcut angle. This sequence is repeated until all of the overcuts have been carried out.

The self-propelled construction machine according to the invention, in particular road-milling machine, recycler, stabiliser or surface miner, comprises a machine frame 2, which is supported by a chassis 1, which has wheels or tracks 1A, 1B. A milling drum 4 is arranged on the machine frame. The wheels or tracks 1A, 1B and the milling drum 4 are driven by a drive unit 8. Furthermore, the construction machine comprises a control unit 19 for controlling the drive unit 8 and a signal-receiving unit 18 for detecting at least one measurement variable M(t) which is characteristic of an operating state of the milling drum 4. The construction machine is characterised in that the rotational speed of the milling drum 4 is adapted, on the basis of at least one measurement variable M(t) which is characteristic of a critical operating state of the milling drum, to the operating conditions of the construction machine in such a way that the milling drum is operated in a non-critical operating state. The adaptive open-loop control of the milling drum rotational speed allows the construction machine to be operated at an optimum operating point with respect to the milling drum rotational speed.

In a self-propelled construction machine (1), in particular road milling machine, recycler, stabilizer or surface miner, comprising a machine frame (4), at least two travelling devices (2), at least one hydraulic drive system (50) for driving at least two travelling devices (2), at least one working device, in particular a milling drum (6), for working the ground pavement (3), it is provided for the following features to be achieved: a detection device (44, 60, 62) is provided which detects fluctuations in the longitudinal speed (v.sub.act) of the construction machine (1) during movement of the construction machine (1), wherein a control unit (38) controls the hydraulic drive system (50) as a function of the detected fluctuations in such a fashion that the drive speed (v.sub.drive) for driving the travelling devices (2) specified by means of the hydraulic drive system (50) is continuously adjusted so that the detected fluctuations are reduced or compensated for.

A method for controlling a wall saw system during the creation of a separating cut in a workpiece. The movement of the saw head is controlled at the end points such that a boundary of the wall saw facing the end point coincides with the end point after the pivoting movement of the saw arm. In the case of a free end point, the boundary of the wall saw is formed by an upper exit point of the saw blade. In the case of an obstacle, the boundary of the wall saw is formed by the saw blade edge of the saw blade if the processing occurs without the blade guard or by the blade guard edge of the blade guard if the processing occurs with the blade guard.

A method for operating a power tool is provided. The power tool has a tool, in particular a drill bit, and a motor, while the motor is a brushless electric motor. In the power tool there is implemented a rotational speed graduation of an electronic form, with which a circumferential speed at the tool of the power tool can be kept essentially constant, while a rotational speed spread DELTA_n of greater than 2 is achieved by the design, dimensioning and/or control of the motor. Also provided is a tool device, for example a core drilling device, with which the proposed method can be carried out. An essential advantage of the invention is that the rotational speed spread DELTA_n of greater than 2 is achieved without a mechanical transmission on the power tool. Instead, a rotational speed graduation of an electronic form is used in the present invention.