A jig includes a disc body, a fixation pin, and a verification pin. The disc body has a first surface, an opposite a second surface, and a thickness separating the first surface from the second surface. A fixation aperture and a verification aperture extend through the thickness of the disc body and couple the first surface to the second surface of the disc body, the fixation aperture located radially outward of the verification aperture. The fixation pin is arranged to be slidably received within the fixation aperture to fix the disc body to an end effector within the semiconductor processing system. The verification pin is arranged to be slidably received within the verification aperture and supported by the disc body to indicate misregistration between the disc body and a load lock in the semiconductor processing system. Semiconductor processing systems and methods of teaching substrate handling are also described.

A system for trajectories imitation for robotic manipulators is provided. The system includes an interface configured to receive a plurality of task descriptions, wherein the interface is configured to communicate with a real-world robot, a memory to store computer-executable programs including a robot simulator, a training module and a transfer module, and a processor, in connection with the memory. The processor is configured to perform training using the training module, for the task descriptions on the robot simulator, to produce a plurality of source policy with subgoals for the task descriptions. The processor performs training using the training module, for the task descriptions on the real-world robot, to produce a plurality of target policy with subgoals for the task descriptions, and update the parameters of the transfer module from corresponding trajectories with the subgoals for the robot simulator and real-world robot.

The present disclosure relates to a robot teaching system, which moves a robot according to an external force applied from the outside so that the robot has a location and posture intended for teaching and then teaches a location and posture of the moved robot, and the robot teaching system comprises: an arm including a plurality of articular shafts and a plurality of links connected by the plurality of articular shafts; a plurality of strain gauges respectively coupled to frames of the plurality of links to measure a deformation value of the link that is deformed by the external force; and a calculating device configured to estimate the external force from the deformation value of the link obtained by the plurality of strain gauges, calculate a teaching force from the external force and move the robot by an operation corresponding to the teaching force.

A robot manipulator including limbs moveable via bearings controlled by actuators; sensors to capture a bearing position and a bearing torque/bearing force; a first sensor to capture a force screw W; a housing downstream of the first sensor; a second sensor to capture a user force applied to the housing and/or a user torque; a computing unit to determine, using a dynamics model of the robot manipulator and based on particular bearing torque/bearing force, the force screw W, and the user force and/or the user torque, a first force and/or a first torque to shift the limbs and a second force and/or a second torque to apply to an external object via an effector, wherein the dynamics model includes at least gravitational forces and inertial forces based on the bearing position; and a storage unit to store the first and/or the second force, and/or the first and/or the second torque.

An electronic apparatus for a database construction and control of a robotic manipulator is provided. The electronic apparatus stores information associated with a task of a robotic manipulator. The electronic apparatus further receives a first plurality of signals from a first plurality of sensors associated with a wearable device. The electronic apparatus further applies a predefined model on a first set of signals of the first plurality of signals. The electronic apparatus further determines arrow direction information based on the application of the predefined model on the first set of signals. The electronic apparatus further aggregates the determined arrow direction information with information about the first set of signals to generate output information. The electronic apparatus further stores the generated output information for each of a first plurality of poses performed for the task using the wearable device.

In an offline teaching device in the related art, in the case of changing a teaching program, even in the case of performing the same change at each teaching point, it is necessary to perform the change with respect to each teaching point. The offline teaching device of the present disclosure has a selection function, a first change function, a second change function, a welding line storage function, and a teaching program storage function. The selection function causes one welding line among a plurality of welding lines stored in the welding line storage function to be selected. The first change function causes content of a welding conditions configuring the welding line selected with the selection function to be changed. The second change function causes the welding conditions of entire instructions in the teaching program having the same welding line identification information as welding line identification information that is assigned to the welding line selected with the selection function to be changed to the same content as content changed with the first change function.

The present invention discloses a user portrait based skill package recommendation device, comprising: an acquisition module, used for acquiring and collating the identity information of an intelligent robot user and the interaction information of the user and an intelligent robot, and acquiring the user portrait information of the user; an analysis module, connected to a skill package management platform at a cloud network terminal, and used for analyzing the user portrait information and associating a first skill package on the skill package management platform according to the user portrait information; and a recommendation module, used for acquiring the description information of each first skill package, and pushing the description information to the intelligent robot user.

Provided is an operation command generation device including: an execution order determination unit configured to determine, based on respective arrangement positions of a plurality of process symbols each representing a process for a process subject on a protocol chart including the plurality of process symbols, an execution order of the plurality of process symbols; and a process symbol conversion unit configured to respectively convert the plurality of process symbols into jobs for a process system including at least a robot so that processes represented by the plurality of process symbols are executed in the execution order determined by the execution order determination unit.

A method of performing location teaching of a robotic arm includes maneuvering an end of arm tooling of a robotic arm to a predefined position of an interface object. The robotic arm is mounted within a mounting site of a mechanical mounting structure. The interface object is positioned on a sub-system of a medication dosing system that is mounted on the mechanical mounting structure. The interface object includes an alignment feature of a known size and shape. A sensor of the end of arm tooling is engaged with the interface object. An offset between the sensor and the interface object is determined based on an interaction between the sensor and the alignment feature. A position of the end of arm tooling is incremented with respect to the interface object along at least one axis. An actual position of the interface object is determined relative to the robotic arm.

A robot system includes a robot and a control portion. The robot includes a contact detection portion configured to output a signal in accordance with contact performed by a user. The control portion is configured to control resistance of the robot applied to the user when the user moves the robot, in accordance with a number of contact positions at which the user contacts the robot, based on a signal from the contact detection portion.