A method for controlling a robot comprising an end effector includes: establishing at steady state between the end effector and a working surface through a preset impedance control mechanism, and adjusting a contact force between the end effector and the working surface according to a preset desired force; obtaining a contact torque generated by the contact force; controlling the end effector to rotate according to the contact torque until a pose of the end effector is consistent with a pose of the working surface; and controlling the end effector to move tangentially along the working surface.

A UV based surface disinfection system that consists of the UV light source, a robot arm, and an omni directional mobile base. The mobile robot can be programmed autonomously and be able to bring the UV light source to the centimeters away from surfaces to achieve effective and efficient surface disinfection. The mobile robot can navigate autonomously in a complicated environment to perform disinfection operation in a large area.

A method of controlling a robot that performs work using an end effector on an object transported by a handler includes calculating a target position of the end effector based on a position of the object, calculating a tracking correction amount for correction of the target position in correspondence with a transport amount of the object, controlling the end effector to follow the object based on the target position and the tracking correction amount, acquiring an acting force acting on the end effector from the object using a force sensor, calculating a force control correction amount for correction of the target position to set the acting force to a target force, and controlling the acting force to be the predetermined target force by driving the manipulator based on the force control correction amount.

A method for determining at least one action of a robot, including capturing, with an image sensor disposed on the robot, images of objects within an environment of the robot as the robot moves within the environment; identifying, with a processor of the robot, at least one object based on the captured images; marking, with the processor, a location of the at least one object in a map of the environment; and actuating, with the processor, the robot to execute at least one action based on the at least one object identified.

A robotic system for inspecting a part comprises a robot comprising an articulating arm and an end effector, coupled to the articulating arm. The robotic system further includes three or more proximity sensors on the end effector and spaced apart from each other. Each of the proximity sensors is configured to detect a measured distance from the proximity sensor to a surface, such that the end effector is displaced from the surface. The robotic system includes a controller configured to receive measured distances from the proximity sensors. The controller is also configured to orient the end effector to a predetermined orientation based on the measured distances. The controller is further configured to calculate an average of the measured distances. Additionally, the controller is configured to move the end effector to a predetermined operating distance from the surface based on the average of the measured distance.

A robot end effector for surface preparation in an automated inspection and repair system for composite parts has an end effector body and a plasma control unit and a plasma jet nozzle supported on the end effector body. The plasma control unit directs a jet of atmospheric plasma through the plasma jet nozzle. A slave tool changer is secured to the end effector body. The slave tool changer releasably and operatively connects the robot end effector to an industrial robot such that the industrial robot can move the robot end effector along a composite part as the plasma control unit directs a jet of atmospheric plasma through the plasma jet nozzle toward the composite part to clean the composite part and increase a surface free energy of the composite part.

An automated construction robot system includes: a mobile base assembly configured to be displaceable within the work area; a head assembly configured to process a work surface; an arm assembly configured to moveably-couple the head assembly and the mobile base assembly and controllably-displace the head assembly with respect to the work surface; a machine vision system configured to scan a target area and generate target area information; and a computational system configured to: process the target area information to identify a surface defect, generate one or more remedial instructions based, at least in part, upon the surface defect identified, and manipulate one or more of the mobile base assembly, the head assembly and the arm assembly based, at least in part, upon the one or more remedial instructions.

A following robot including an arm, at least one visual sensor, a feature-value storage unit that stores, as target data for causing the visual sensor to follow a follow target, first feature values related to at least the position and the orientation of the follow target, a feature-value detecting unit for detecting, by using an image acquired by the visual sensor, second feature values related to at least current position and orientation of the follow target, a movement-amount computing unit computing a movement instruction based on differences between the second feature values and the first feature values and adjusting the movement instruction by using at least feedforward control, a movement instructing unit which moves the arm based on the movement instruction, and an input-value storage unit that stores a signal acquired when a specific motion of the follow target is started and an input value for the feedforward control.

A self-contained truck-mounted brick laying machine can include a frame that can support packs or pallets of bricks placed on a platform. A transfer robot can pick up and move the brick(s). A carousel can be coaxial with a tower. The carousel can transfer the brick(s) via the tower to an articulated and/or telescoping boom. The bricks can be moved along the boom by, e.g., linearly moving shuttles, to reach a brick laying and adhesive applying head. The brick laying and adhesive applying head can mount to an element of the stick, about an axis which is disposed horizontally. The poise of the brick laying and adhesive applying head about the axis can be adjusted and can be set in use so that the base of a clevis of the robotic arm mounts about a horizontal axis, and the tracker component is disposed uppermost on the brick laying and adhesive applying head. The brick laying and adhesive applying head can apply adhesive to the brick and can have a robot that lays the brick. Vision and laser scanning and tracking systems can be provided to allow the measurement of as-built slabs, bricks, the monitoring and adjustment of the process and the monitoring of safety zones. The first, or any course of bricks can have the bricks pre machined by the router module so that the top of the course is level once laid.

A device for feeding items to a sorting machine, including: a conveyor plane (26) for feeding items or parcels along an advancement direction (A1); an optical detection device (18), to allow the acquisition, while the items are in motion on the conveyor plane (26) of the three-dimensional coordinates of a determined number of points on the surface of the items and to organize them into coordinate vectors; a manipulator (19) provided to pick the items from the conveyor plane (26) and to place the items picked in a desired position; a control system, provided to process, for each item in motion on the conveyor plane (26), the coordinate vectors in order to obtain a three-dimensional representation of the item, including the information based on which the control system handles the manipulator for picking and placing the items.

The invention also relates to a sorting machine and a method for feeding items to a sorting machine aimed at increasing production capacity and accuracy thereof.