Embodiments of positioning systems and methods are disclosed herein. Embodiments of such positioning systems may include a hierarchy of positioning systems. Each of the positioning systems in the hierarchy may be adapted to move each positioning system lower in the hierarchy along with one or more end-effectors. A control system may control the positioning systems of the hierarchy using a control method comprising a coarse step, a refinement step, or an adaptive step.

An extended-reach assist device for an assembly task includes a base mechanism and a compliant end-effector. The articulated base mechanism provides one or more passive degrees of freedom. The end-effector is connected to the base mechanism, and has one or more active or passive degrees of freedom collectively configured to react to contact forces with the assist device when completing the dexterous assembly task. A weight of the end-effector is supported by the base mechanism. The end-effector may be optionally configured as a passive device configured to produce a remote center of compliance or as a robot mechanism. A mechanism may actively or passively augment a force applied by the operator. A sensor may detect a signature indicative of successful task completion, e.g., an acoustic, visual, or audio sensor.

There is provided a machining apparatus in which movement of a machining point is a little, restriction on the machining operation of an articulated robot is a little and movement of a worker for the teaching operation is a little. The machining apparatus has an articulated robot which is controlled in attitude according to a teaching operation and has a catch instrument for catching a workpiece at an arm tip thereof, and a machining unit equipped at a fixed portion located within an arm reachable zone of the articulated robot, wherein the machining unit has a working tool having a profiling portion where a machining target portion of the workpiece caught by the catch instrument of the articulated robot is pressed according to the attitude control of the articular robot, and a floating mechanism that pushes the working tool in a press direction of the workpiece.

A medical instrument for surgery includes at least one frame and at least one jointed device. The jointed device includes at least one first joint member, or first link, adapted to connect to at least one portion of the frame and at least one second joint member, or second link. The first joint member is connected by a rotational joint to the second joint member. The medical instrument includes at least a pair of tendons, adapted to move the second joint member with respect to the first joint member. Each of the first joint member and the second joint member includes a main structural body made in a single piece with one or more convex contact surfaces. Each of the convex contact surfaces is a ruled surface formed by straight line portions all parallel to each other and substantially parallel to a joint movement axis.

A micromanipulator for mounting on the end of a macromanipulator, the micromanipulator comprising: a connection plate with a at least a first and second motor connected to a rigidly mounted base section, a first rotational section connected to the base section about a pivotable axis, the first rotational section being further connected to a slider rod which is connected to the first motor, and a second rotational section connected to the first rotational section about a pivotable axis, the second rotational section being further connected to a slider rod which is connected to the second motor and wherein the rotational joints between the base section and first joint section and the rotational joint between the first and second rotational sections are offset by 90.

A medical instrument for surgery includes at least one frame and at least one jointed device. The jointed device includes at least one first joint member, or first link, adapted to connect to at least one portion of the frame and at least one second joint member, or second link. The first joint member is connected by a rotational joint to the second joint member. The medical instrument includes at least a pair of tendons, adapted to move the second joint member with respect to the first joint member. Each of the first joint member and the second joint member includes a main structural body made in a single piece with one or more convex contact surfaces. Each of the convex contact surfaces is a ruled surface formed by straight line portions all parallel to each other and substantially parallel to a joint movement axis.

A pick-and-place system includes a movement mechanism, an adjustment mechanism, and a clamping mechanism. The adjustment mechanism includes a first coupling component, a second coupling component, and a driving assembly. The first coupling component is mounted on the movement mechanism. The second coupling component is movably disposed on the first coupling component. The driving assembly is configured to be connected to the first coupling component and the second coupling component so as to force the first coupling component and the second coupling component to move relative to each other. The clamping mechanism is mounted on the second coupling component of the adjustment mechanism.

A robotic construction system for use in constructing a structure, the construction system including a base, a boom extending from the base, an articulated working head attached proximate an end of the boom, the working head including a working member configured to work construction material and a controller configured to control movement of the boom and the working head to thereby move the working member and thereby work construction material, wherein the boom moves with a slower dynamic response over larger distances and the working head provides a faster dynamic response over smaller distances.

A method for distinguishing between tilted and multi-stacked substrates in Automated Material-Handling Systems comprising the following steps. A substrate cassette having at least one substrate is provided. The substrate cassette is positioned within the material handling system. Each substrate has a top surface and a bottom surface. A first beam is emitted from a first emitter wherein the first beam is in optical communication with the top surface of the substrate. A second beam is emitted from a second emitter wherein the second beam is in optical communication with the bottom surface of the substrate. The first beam and the second beam are detected using at least one detector while vertically moving the substrate cassette relative to the first emitter or the second emitter.