A system and method are provided for controlling a robot for automatic positioning of a tool in a predetermined target pose. A six dimensional pose of a robot flange corresponding to the target pose is determined. An expanded kinematics of the robot is created by augmenting it with a virtual joint arranged in the tool. The virtual joint makes possible a restriction-free virtual rotation about a predetermined axis of the tool. From the six dimensional pose of the robot flange and the expanded kinematics, a path is determined by an automatic path planning module, in accordance with which the six dimensional pose of the robot flange may be moved to from an initial pose of the robot. Conflicts with a maximum physical scope of movement of the robot occurring during this process are resolved by a rotation of the virtual joint.

A wrist of an arm robot includes a first motor, a first speed reducer, a second motor, a transmission shaft, and a second speed reducer. The first motor is arranged at a base and generates a first rotational drive force to rotate a first distal portion. The first speed reducer is arranged at the first distal portion, includes a hollow portion, and reduces a rotational speed of the first rotational drive force. The second motor is arranged at the base and generates a second rotational drive force to rotate a second distal portion. The transmission shaft is arranged at the first distal portion and passes through the hollow portion of the first speed reducer. The second speed reducer is arranged at the first distal portion, is arranged coaxial with the first speed reducer, and is arranged along an axial direction of the first speed reducer.

An automated method measures geometric curvature deviations between dished surfaces of a plurality of materials to be assessed and a dished surface of a reference material. The method calculates, by computer, at selected points, a difference between the curvature profiles of the dished surface of each material to be assessed and a relief height or curvature profile of the dished surface of the reference material.

A robot having seven or more degrees of freedom is disclosed. In various embodiments, the robot includes a positioning robot having m degrees of freedom and a manipulator robot having n degrees of freedom coupled to the positioning robot. The robot is configured to be operated in a first mode of operation, in which the positioning robot is controlled to position move the manipulator robot into a position to perform a task and the manipulator robot is controlled independently of the positioning robot to perform the task; and in a second mode of operation, in which at least a subset of the m degrees of freedom of the positioning robot and at least a subset of the n degrees of freedom of the manipulator robot are controlled together, by a single controller, to perform the task.

There is provided a robot arm that includes a proximal unit and a distal unit configured to be connected to the proximal unit, the proximal unit having a multiple-connection interface connectable to a plurality of types of distal units different in shape. The connection interface is provided in an end face of the proximal unit with an annular connection interface disposed concentrically.

A joint secured to a manipulator for movably supporting a tool(s) for conducting operations, particularly those in the field is hydraulic to be robust in varied environmental conditions and/or provide sufficient power. The joint includes a base to secure the joint to the manipulator, an adapter to secure a tool to the joint, components movably joined together in close proximity with each other between the base and the adapter to define three non-parallel axes of movement for the adapter wherein two of the axes always intersect a third of the axes, and hydraulically-driven actuators to selectively move and hold the components about the axes.

A robotic apparatus includes a neck housing and a head housing. The head housing defines a sagittal axis, a frontal axis, and a vertical axis. A drive assembly is disposed at least partially within the neck housing and the head housing. The drive assembly is configured to move the head housing relative to the neck housing independently about the sagittal axis, the frontal axis, and the vertical axis such that the head housing has a range of motion that substantially corresponds to a human or animal head. The drive assembly includes a sagittal axle extending along the sagittal axis, a frontal axle rotatable about the frontal axis, and a vertical axle rotatable about the vertical axis. The vertical axle is disposed at least partially within the neck housing and offset from both the sagittal axle and the frontal axle along the vertical axis.

A quaternion joint includes a first member, a second member rotatably connected to the first member through links, a plurality of first pulleys provided on the end face of the first member so that the first pulleys are able to swing, a plurality of second pulleys provided on the end face of the second member facing the end face of the first members so that the second pulleys correspond to the first pulleys and so that the second pulleys are able to swing, and a plurality of wires hung between the first pulleys and the second pulleys corresponding to the first pulleys. A rotation shaft of the first pulley is offset from a rotation shaft of the second pulley corresponding to the first pulley in a state in which the rotation shaft of the first pulley is rotated around a direction in which the wire is extended.

A position correction device according to an embodiment includes a movable part and a pressing part. The movable part is capable of moving a holding part that holds a connection object back and forth in each of a second direction that is orthogonal to a first direction where the holding part is moved therein in order to connect the connection object to a target connector, and a rotational direction where the holding part is rotated therein around an axis along a third direction that is orthogonal to each of the first direction and the second direction as a center. The pressing part presses the movable part that moves in the second direction to move the movable part to a neutral position in the second direction and presses the movable part that moves in the rotational direction to move the movable part to a neutral position in the rotational direction.

A robotic instrument comprising an arm extending between a robot arm connection and an attachment for an end effector, the arm comprising: a first arm part; a second arm part distal of the first arm part; and a joint whereby the first and second arm parts are coupled together, the joint permitting the first and second arm parts to rotate relative to each other about at least two mutually offset axes; a control rod attached to the second part of the arm at a location spaced from the first and second axes, the control rod extending distally of that location along the first arm part; and a drive mechanism for driving the control rod to move relative to the first arm part and thereby alter the attitude of the second arm part relative to the first arm part.