An object handling control device includes one or more processors configured to acquire at least object information and status information representing an initial position and a destination of an object; set, when a grasper grasping the object moves from the initial position to the destination, a first region, a second region, and a third region in accordance with the object information and the status information; and calculate a moving route along which the object is moved from the initial position to the destination with reference to the first region, the second region, and the third region.

A failure prediction system includes: a processor, the processor being configured to: collect torque values of a drive axis of a robot that is operating in accordance with a given work program; derive an evaluation formula approximating a time change of the torque value which is most recent from among the collected torque values set a failure threshold that is the torque value at which it is determined that failure of the drive axis occurs, based on the evaluation formula and the time change of the torque value when the drive axis reached failure in the past; and calculate an estimated value for the torque value when a prediction time set in advance has elapsed in the evaluation formula, and determines whether failure of the drive axis is predicted within the prediction time according to comparison between the estimated value and the failure threshold.

A subsea manipulator for a remotely operated underwater vehicle (ROV) that includes at least one linear, oil-filled electric actuator to control a motion of the manipulator in a subsea environment is disclosed. The remotely operated underwater manipulator includes an electric actuator for each axis of motion of the manipulator, and an end effector that includes a rotational joint and a tool motor for controlling a tool affixed to the end effector. A method for changing the tool of the manipulator in a subsea environment is disclosed.

Certain aspects relate to systems and techniques for surgical robotic arm admittance control. In one aspect, there is provided a system including a robotic arm and a processor. The processor may be configured to determine a force at a reference point on the robotic arm based on an output of a torque sensor and receive an indication of a direction of movement of the reference point. The processor may also determine that a component of the force is in the same direction as the direction of movement of the reference point, generate at least one parameter indicative of a target resistance to movement of the robotic arm, and control the motor, based on the at least one parameter, to move the robotic arm in accordance with the target resistance.

A robot system includes a manipulating force detector configured to detect a manipulating force given to an operation end by an operator, a reaction-force detector configured to detect a reaction force given to a work end or a workpiece held by the work end, a system controller configured to generate an operating command of a master arm and generate an operating command of a slave arm based on the manipulating force and the reaction force, a master-side control part configured to control the master arm, and a slave-side control part configured to control the slave arm. The system controller has an exaggerated expresser configured to exaggeratedly present an operating feel to the operator who operates the operation end in a reaction-force sudden change state that is a state in which the reaction force changes rapidly with time.

A robotic surgical system for treating a patient is disclosed including a surgical tool movable relative to the patient and a user input device including a base and a space joint including a central portion movable relative to the base to effect a motion. The robotic surgical system further includes a control circuit configured to receive a user selection signal indicative of a selection between a first motion scaling profile of the motion of the surgical tool and a second motion scaling profile of the motion of the surgical tool, receive a motion control signal from the user input device indicative of a user input force, and cause the surgical tool to be moved in response to the motion control signal in accordance with the first motion scaling profile or the second motion scaling profile based on the user selection signal. The first motion scaling profile is different than the second motion scaling profile.

This invention comprises a device for measuring root pulling force (RPF) in a plant. The RPF device comprises a plant grasping mechanism, as well as a force measurement sensor. In certain embodiments, the device is automatic, so that the “hand of man” is not required to exert force on the plant while the root pulling force of the plant is being measured. Also disclosed is a root pulling force motion mechanism, which brings the RPF device into proximity of a plant to be measured. Further disclosed is a method for measuring root pulling force of a plant.

A robotic kitting machine is disclosed. In various embodiments, a robotic arm is used to move an item to a location in proximity to a slot into which the item is to be inserted. Force information generated by a force sensor is received via a communication interface. The force sensor information is used to align a structure comprising the item with a corresponding cavity comprising the slot, and the item is inserted into the slot.

A dual mounted end-effector system mounted on a motive robot arm for preparing an object surface is described. The system includes a first tool configured to contact and prepare the object surface and a second tool configured to contact and prepare the object surface. The system also includes a force control. The force control is configured to align, in a first state, with the first tool in position to contact and prepare the object surface and, in a second state, with the second tool in a position to contact and prepare the object surface.

A clamp for a robotic drill and related method and system for robotic drilling of a component. The clamp attaches to a drilling tool of a robotic drill. The clamp includes: an attachment portion configured for attachment to the drilling tool; a frame linearly moveable relative to the attachment portion along a central axis of the clamp parallel to a drilling direction of the drilling tool; an actuation mechanism including a servo motor configured to drive linear movement of the frame relative to the drilling tool; a workpiece contacting portion at a distal end of the frame, including a surface for contacting a surface of a workpiece to be drilled and an aperture allowing for passage of a drill bit of the drilling tool through to the workpiece surface; and a force sensor arranged to measure a force acting on the workpiece contacting portion in the drilling direction.