A manipulator system configured to perform a work to a workpiece being moved by a moving device, includes a robotic arm, having one or more joints and to which a tool configured to perform the work to the workpiece is attached, an operating device configured to operate the robotic arm, a first imaging means configured to image the workpiece, while following the movement of the workpiece, a second imaging means fixedly provided in a work area to image a situation of the work to the workpiece, a displaying means configured to display an image imaged by the first imaging means and an image imaged by the second imaging means, and a control device configured to control the operation of the robotic arm based on an operating instruction of the operating device, while detecting a moving amount of the workpiece being moved by the moving device and carrying out a tracking control of the robotic arm according to the moving amount of the workpiece.

Examples of a self-supported device for guiding motions of a target joint of a target body are disclosed. The device comprises a motion generator, a motion transfer system, a target body interfacing system, a load bearing system and a controller. The load bearing system comprises a plate connected to the motion transfer system and a network of joints and links configured to constrain the plate to rotate in three dimensions about a center of rotation of the load bearing system. A position of the center of rotation of the load bearing system being adjustable by adjusting a connection point between the links. The plate of the load bearing system is connected to an adjustable target body interfacing system that is configured to be mounted to the target body. The center of rotation of the load bearing system coincides (or nearly coincides) with a center of rotation of the target joint of the target body.

An apparatus for palletization miniaturization and demonstration may include a miniaturized palletization surface that may include a horizontal surface, a miniaturized conveyor disposed on the horizontal surface, a miniaturized material mass, a miniaturized pallet disposed on the horizontal surface, and a miniaturized articulated robot disposed on the horizontal surface, the miniaturized articulated robot including an arm section and an end effector. The miniaturized pallet may be disposed within a reach of the arm section of the miniaturized articulated robot. The miniaturized articulated robot may be operable to grasp, via the end effector, the miniaturized material mass and translate the miniaturized material mass in a horizontal plane, a vertical plane, and a depth plane.

A method for chemical mechanical polishing includes receiving an angular removal profile for a carrier head and an angular thickness profile of a substrate. Prior to polishing the substrate, a desired angle of the carrier head relative to the substrate is selected for loading the substrate into the carrier head. Selecting the desired angle is performed based on a comparison of the angular removal profile for the carrier head and the angular thickness profile of the substrate to reduce angular non-uniformity in polishing. The carrier head is rotated to receive the substrate at the desired angle, the substrate is transferred to the carrier head and loaded in the carrier head with the carrier head at the desired angle relative to the substrate, and the substrate is polished.

A control circuit for use with a robotic surgical system. The control circuit is configured to receive a parameter indicative of a rotary position of an articulation motor. The articulation motor is configured to drive an articulation joint of a robotic surgical tool, wherein the articulation motor is configured to move through a first range of positions and a second range of positions. The control circuit is further configured to implement a first operating state, and implement a second operating state when the parameter corresponds to a transition of the articulation motor from the first range of positions to the second range of positions. The control circuit is further configured to re-implement the first operating state when the parameter corresponds to a return of the articulation motor from the second range of positions into the first range of positions by a threshold anti-dither angle.

An articulated arm system is disclosed that includes an articulated arm including an end effector, and a robotic arm control systems including at least one sensor for sensing at least one of the position, movement or acceleration of the articulated arm, and a main controller for providing computational control of the articulated arm, and an on-board controller for providing, responsive to the at least one sensor, a motion signal that directly controls at least a portion of the articulated arm.

A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to perform operations. The robot includes an articulated arm having an end effector engaged with a constrained object. The operations include receiving a measured task parameter set for the end effector. The measured task parameter set includes position parameters defining a position of the end effector. The operations further include determining, using the measured task parameter set, at least one axis of freedom and at least one constrained axis for the end effector within a workspace. The operations also include assigning a first impedance value to the end effector along the at least one axis of freedom and assigning a second impedance value to the end effector along the at least one constrained axis. The operations include instructing the articulated arm to move the end effector along the at least one axis of freedom.

There is provided an apparatus for transporting a substrate. The apparatus comprises: an end effector including a fork which holds the substrate and a wrist part which holds a proximal end portion of the fork; an arm provided with the end effector installed thereon and a mechanism which moves the fork; and an inclination adjusting mechanism provided between the fork and the wrist part or between the wrist part and the arm to adjust an inclination of the fork.

A drilling rig having a lift arm, which may be an auxiliary lift arm provided in addition to a primary lifting cable system of the drilling rig. The lift arm may be configured to hoist and/or manipulate drill collar, drill pipe, or other drilling pipe or conduit. The lift arm may be coupled to a mast of the drilling rig and may have a cantilevered boom extending therefrom. The boom may be configured to pivot between alignment, or near alignment, with well center and a racking board. The lift arm may additionally have a pipe engaging element coupled to the boom. The pipe engaging element may be configured to couple to stands or lengths of drilling pipe. The pipe engaging element may be raised and lowered together with or relative to the boom via a lift line controllable via a hydraulic cylinder, winch, or other suitable mechanism for withdrawing and releasing the line.

A control apparatus includes a memory and a processor. The processor is configured to control a distal end portion of a robot to rotate around first and second distal end axes, perform a first control mode in which the distal end portion rotates around the first and second distal end axes, perform a second control mode in which the distal end portion rotates around the first distal end axis and does not rotate around the second distal end axis, switch the first control mode to the second control mode when the first distal end axis is perpendicular to a working surface, and control the distal end portion to work while performing the second control mode and maintaining a state in which the first distal end axis is perpendicular to the working surface after the first control mode is switched to the second control mode.