Apparatus and methods are described for performing a procedure using a robotic unit. A tool-actuation arm is driven to move linearly, to thereby move at least the portion of the tool linearly with respect to the end effector. The tool-actuation arm is driven to become retracted to a given distance from the tool mount, thereby causing the tool-actuation arm to fold automatically by actuating an automatic tool-actuation arm folding mechanism. Other applications are also described.

A controller which controls an apparatus having motors each of which drives each axis includes a control part which is provided so as to correspond to a motor for each axis and servo-controls the motor based on a command value applied to the motor. The control part receives the command value from a host apparatus and updates the command value in a predetermined updating period. When the command value in a “t”-th updating period used in the control part is defined as y(t), the control part includes an extrapolation calculation part which calculates a command value y(k) used in a “k”-th updating period according to the following expression when the control part has not received the command value from the host apparatus or abnormality occurs in the communication in the “k”-th updating period:

y(k)=y(k−2)+{y(k−1)−y(k−3)}, or

y(k)=y(k−2)+{y(k−2)−y(k−4)}.

Apparatus and methods are described for performing a procedure using a robotic unit. A sterile drape is placed around a drape plate, such that the sterile drape forms an interface between a non-sterile zone and a sterile zone, such that the tool mount is disposed within the sterile zone, and one or more robotic arms and a tool motor are disposed within the non-sterile zone. The tool is driven to roll with respect to the end effector via at least one gear mechanism disposed within the sterile zone, and a motion-transmission portion configured to transmit motion from the tool motor to the at least one gear mechanism, while maintaining a seal between the sterile zone and the non-sterile zone. Other applications are also described.

A robot (100) includes a resistance circuit (60) configured or programmed to perform a control to reduce a braking force of a dynamic brake by changing a resistance value of a resistance component (63) with respect to a power supply path (61) when motors (30) are stopped at an abnormal stop.

Systems and methods of assisting operator engagement with input devices include an input device configured to be operated by a hand of an operator, a repositionable structure coupled to the input device, a hand detection system, and a control unit. The control unit is configured to detect a position and an orientation of the hand using the hand detection system, determine, based on the position of the hand, a target position for the input device, wherein moving the input device from a current position of the input device to the target position moves the input device closer to a grasping position for the hand, and in response to determining that an orientation difference between the orientation of the hand and a current orientation of the input device is not greater than a threshold orientation difference, cause one or more actuators to move the input device toward the target position.

Aspects of the subject disclosure may include, for example, a method in which a processing system identifies a type of wearable physical augmentation (PA) equipment, determines that a task is to be performed using the PA equipment; and retrieves equipment data regarding the PA equipment and experience data regarding the task. The method also includes analyzing the task to generate a procedure for performing the task; providing the procedure to a user wearing the PA equipment; and transmitting commands to the PA equipment in accordance with the procedure. The method further includes monitoring performance of the task, based on information transmitted by sensors integral to the PA equipment; and modifying, in accordance with the monitoring, the procedure during the performance of the task. Other embodiments are disclosed.

A robot control device includes manual pulse generation units that generate pulses having a pulse number depending on an operation amount of an operator, command signal calculation units that calculate an operation command signal to a robot based on a pulse number to be input, and a pulse number limiting unit that limits, to a threshold, the pulse number to be input into the command signal calculation units, in a case or cases where the pulse number generated by the manual pulse generation units is larger than the predetermined threshold, where, in a case or cases where the pulse number generated by the manual pulse generation units is equal to or less than the threshold, the pulse number is output as it is.

The present disclosure relates to a system for adjusting wheel alignment of a vehicle, the system including a base configured to be moved by a robot. The system further includes an adjustment arm movably disposed on the base and configured to be moved by an actuator. The system further includes a fixing unit provided at an upper end of the adjustment arm and configured to fix a bolt head or a nut. The system further includes a control unit configured to control the robot to allow the base to enter a toe adjustment part or a camber adjustment part for a vehicle suspension, the control unit being configured to control the actuator to allow the fixing unit of the adjustment arm to manipulate a bolt and a nut of the toe adjustment part or the camber adjustment part to adjust the wheel alignment of the vehicle.

A trajectory generation device generates a trajectory of a robot for conveying an object. A path condition acquisition unit acquires path condition information including at least coordinates of a first via point which is a position of a reference point of a suction nozzle of the robot when the suction nozzle comes into contact with the object, and a velocity, an acceleration, and a jerk of the suction nozzle at the first via point. A pressurization distance and coordinate calculation unit calculates coordinates of a second via point which is a position of the reference point when the suction nozzle is pushed into the object, based on the path condition information; and a trajectory generation unit generates the trajectory of the suction nozzle which satisfies the path condition information and reaches an end point from a predetermined start point via the first via point and the second via point.