Robotic arms and surgical robotic systems incorporating such arms are described. A robotic arm includes a roll joint connected to a prismatic link by a pitch joint and a tool drive connected to the prismatic link by another pitch joint. The prismatic link includes several prismatic sublinks that are connected by a prismatic joint. A surgical tool supported by the tool drive can insert into a patient along an insertion axis through a remote center of motion of the robotic arm. Movement of the robotic arm can be controlled to telescopically move the prismatic sublinks relative to each other by the prismatic joint while maintaining the remote center of motion fixed. Other embodiments are also described and claimed.

A container transport can move containers around a warehouse environment. The container transport can include a container receiving area with multiple container bays. Containers can be received in the container bays and moved around the warehouse environment.

Provided is an article conveyance processing system in which article(s) are efficiently taken out from a mobile cart and/or article(s) are placed on a mobile cart even when various types of mobile carts are used. Using the cart coordinate system obtained such that the horizontal, vertical and depth axes of the cart coordinate system substantially coincide with the horizontal, vertical and depth directions of the mobile cart, respectively, the article conveyance processing system performs the control of moving the robot hand and the attitude control of the robot hand; thus, the article conveyance processing system can efficiently take out an article from a mobile cart and/or place an article on a mobile cart regardless of in what orientation a wide variety of mobile carts are placed.

An apparatus includes a platform configured to traverse a stationary base along a motion path; a drive coupled to the platform; and a movable arm assembly. The movable arm assembly includes a pivoting base connected to the drive, first and second linkages connected to the pivoting base, each linkage having links connected via rotary joints and each link having at least one end-effector. The platform is configured to traverse the stationary base along a motion path in two opposing directions and the drive and the movable arm assembly are configured to cause independent and simultaneous movement and transfer of substrates from at least one of a first substrate holding area, a second substrate holding area, a third substrate holding area, or a fourth substrate holding area into or from a respective substrate workstation.