A control system for an autonomous vehicle or robot comprises a plurality of high level controllers. Each high level controller is able to provide high level movement commands independently of the other high level controllers. A low level controller is arranged to receive the high level movement commands of one of the high level controllers and to convert said received high level movement commands into electrical outputs to a plurality of electrical motors/actuators for driving the vehicle/robot. A decision system, independent of the high level controllers, is configured to decide which one of the high level controllers is to be active. The active high level controller only is used provide the high level movement commands to the low level controller.

A method for predicting and compensating frictions of a feed system includes following steps: constantly obtaining current signals and angle-position signals of a motor by a motor driver of a feed system after being activated; calculating frictions of the motor upon each rotating position according to the obtained current signals and angle-position signals and generating multiple records of friction data; creating a friction model according to the multiple records of friction data and the angle-position signals each respectively corresponding to each record of friction data with respect to each rotating position; importing current angle-position signal of the motor to the friction model for predicting a predicted friction; calculating a compensation current based on the predicted friction; and, controlling the motor driver to additionally provide the compensation current to the motor for conquering an upcoming friction of the feed system approximate to the predicted friction.

A method for predicting and compensating frictions of a feed system includes following steps: constantly obtaining current signals and angle-position signals of a motor by a motor driver of a feed system after being activated; calculating frictions of the motor upon each rotating position according to the obtained current signals and angle-position signals and generating multiple records of friction data; creating a friction model according to the multiple records of friction data and the angle-position signals each respectively corresponding to each record of friction data with respect to each rotating position; importing current angle-position signal of the motor to the friction model for predicting a predicted friction; calculating a compensation current based on the predicted friction; and, controlling the motor driver to additionally provide the compensation current to the motor for conquering an upcoming friction of the feed system approximate to the predicted friction.

A system, method, and device for automated precision control of a computer numerical control (CNC) machine to a workpiece. The system receives via at least one visual input device at least one detectable marking on a workpiece. The system decodes the at least one detectable marking and determines a stored and pre-defined movement routine of a cutting element attached to the CNC machine relative to the workpiece based on the at least one marking. The system then determines, using the at least one visual input device and/or another visual input device, a current position of a working end of the cutting element relative to the at least one marking. Finally, the system performs the pre-defined movement routine including cutting into the workpiece with the cutting element.

Provided is a robot control device that makes it possible to perform high-level operations on a robot from an external device. The robot control device for controlling a robot, includes: a digital input/output interface for transmitting/receiving digital data to/from an external device; a program generation unit which generates an action command for the robot in accordance with command identification data included in digital data inputted via the digital input/output interface; and a program execution unit which executes the generated action command.

Provided is a robot control device that makes it possible to perform high-level operations on a robot from an external device. The robot control device for controlling a robot, includes: a digital input/output interface for transmitting/receiving digital data to/from an external device; a program generation unit which generates an action command for the robot in accordance with command identification data included in digital data inputted via the digital input/output interface; and a program execution unit which executes the generated action command.

A numerical controller includes an activation unit that builds a memory map according to settings when the power is on; a change detection unit that detects an operation requiring reconstructing of the memory map; a task control unit that, when the operation is detected, performs a stopping process of a task being operated; and a memory map control unit that, after the task has stopped, acquires a backed up memory, reconstructs the memory map according to the setting, and compares the reconstructed memory map and the backed-up memory map, and resets information required for operating the task again such as a program counter.

A facility for automated modelling of the cutting process for a particular material to be cut by a beam cutting tool, such as a waterjet cutting system, from empirical data to predict aspects of the waterjet's effect on the workpiece across a range of material thicknesses, across a range of cutting geometries, and across a range of cutting quality levels, all of which may be broader than, and independent of the actual requirements for a target workpiece, is described.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for measuring and reporting calibration accuracy of robots and sensors assigned to perform a task in an operating environment. One of the methods includes obtaining sensor data of one or more physical robots performing a process in an operating environment; generating, from the sensor data for a first robot of the one or more physical robots, a motion profile representing how the first robot moves while performing the process; obtaining data representing a plurality of candidate virtual robot components, each having a respective virtual motion profile and is a candidate to be included in a virtual representation of the operating environment; performing a motion profile matching process to determine a first virtual robot component from the plurality of candidate virtual robot components that matches the first robot; and adding the first virtual robot component to the virtual representation.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for measuring and reporting calibration accuracy of robots and sensors assigned to perform a task in an operating environment. One of the methods includes obtaining sensor data of one or more physical robots performing a process in an operating environment; generating, from the sensor data for a first robot of the one or more physical robots, a motion profile representing how the first robot moves while performing the process; obtaining data representing a plurality of candidate virtual robot components, each having a respective virtual motion profile and is a candidate to be included in a virtual representation of the operating environment; performing a motion profile matching process to determine a first virtual robot component from the plurality of candidate virtual robot components that matches the first robot; and adding the first virtual robot component to the virtual representation.