A robotic welding system comprises a supporting arm for attaching to a repositionable support structure, the supporting arm comprising a first mounting portion connectable to the repositionable support structure, and a second mounting portion rotatably coupled to the first mounting portion. A yaw rotary actuator rotates the second mounting portion about a yaw axis. A welding arm comprises a third mounting portion rotatably coupled to the second mounting portion of the supporting arm. A pitch rotary actuator rotates the third mounting portion about a pitch axis generally perpendicular to the yaw axis. A roll rotary actuator rotates a torch holder shaft about a roll axis generally perpendicular to the pitch axis. The shaft has a torch mounting portion for mounting a welding torch at an end thereof. A controller is operably coupled to the actuators to cause the welding torch to execute a welding pattern.

A robot system control method includes a first step through a fifth step. Particularly in the second step, a second transformation matrix that represents the positional relation between a first slave robot and a second slave robot is generated and stored in a master robot. In the fourth step, based on a second command obtained using a first transformation matrix and the second transformation matrix, the master robot instructs the second slave robot to operate. In the fifth step, the first slave robot and the second slave robot perform a cooperative operation with the master robot. Thus, in the state where a working robot that can perform TCP matching with only part of the other robots is set to a master robot, all of the robots can perform a cooperative operation.

This disclosure provides systems, methods, and apparatuses, including computer programs encoded on computer storage media, that provide for training, implementing, or updated machine learning logic, such as an artificial neural network, to model a manufacturing process performed in a manufacturing robot environment. For example, the machine learning logic may be trained and implemented to learn from or make adjustments based on one or more operational characteristics associated with the manufacturing robot environment. As another example, the machine learning logic, such as a trained neural network, may be implemented in a semi-autonomous or autonomous manufacturing robot environment to model a manufacturing process and to generate a manufacturing result. As another example, the machine learning logic, such as the trained neural network, may be updated based on data that is captured and associated with a manufacturing result. Other aspects and features are also claimed and described.

A control application implements computer vision techniques to cause a positioning robot and a welding robot to perform fabrication operations. The control application causes the positioning robot to place elements of a structure at certain positions based on real-time visual feedback captured by the positioning robot. The control application also causes the welding robot to weld those elements into place based on real-time visual feedback captured by the welding robot. By analyzing the real-time visual feedback captured by both robots, the control application adjusts the positioning and welding operations in real time.

A robotic welding system comprises a supporting arm for attaching to a repositionable support structure, the supporting arm comprising a first mounting portion connectable to the repositionable support structure, and a second mounting portion rotatably coupled to the first mounting portion. A yaw rotary actuator rotates the second mounting portion about a yaw axis. A welding arm comprises a third mounting portion rotatably coupled to the second mounting portion of the supporting arm. A pitch rotary actuator rotates the third mounting portion about a pitch axis generally perpendicular to the yaw axis. A roll rotary actuator rotates a torch holder shaft about a roll axis generally perpendicular to the pitch axis. The shaft has a torch mounting portion for mounting a welding torch at an end thereof. A controller is operably coupled to the actuators to cause the welding torch to execute a welding pattern.

A robotic welding system comprises a supporting arm for attaching to a repositionable support structure, the supporting arm comprising a first mounting portion connectable to the repositionable support structure, and a second mounting portion rotatably coupled to the first mounting portion. A yaw rotary actuator rotates the second mounting portion about a yaw axis. A welding arm comprises a third mounting portion rotatably coupled to the second mounting portion of the supporting arm. A pitch rotary actuator rotates the third mounting portion about a pitch axis generally perpendicular to the yaw axis. A roll rotary actuator rotates a torch holder shaft about a roll axis generally perpendicular to the pitch axis. The shaft has a torch mounting portion for mounting a welding torch at an end thereof. A controller is operably coupled to the actuators to cause the welding torch to execute a welding pattern.

Various systems and methods for implementing time-aware general-purpose input output (TGPIO) for industrial control systems are described herein. A system includes edge detector circuitry to: detect rising or falling edges in an input signal; and store the rising or falling edges in a buffer along with a corresponding timestamp of the respective edge; and pattern match circuitry to: analyze the rising or falling edges in the buffer to identify a pattern of edges that matches a search pattern; and store timestamps corresponding to the pattern of edges in an event queue, the event queue used to notify a user application of the existence of the pattern of edges in the input signal.

A robotic welding system comprises a supporting arm for attaching to a repositionable support structure, the supporting arm comprising a first mounting portion connectable to the repositionable support structure, and a second mounting portion rotatably coupled to the first mounting portion. A yaw rotary actuator rotates the second mounting portion about a yaw axis. A welding arm comprises a third mounting portion rotatably coupled to the second mounting portion of the supporting arm. A pitch rotary actuator rotates the third mounting portion about a pitch axis generally perpendicular to the yaw axis. A roll rotary actuator rotates a torch holder shaft about a roll axis generally perpendicular to the pitch axis. The shaft has a torch mounting portion for mounting a welding torch at an end thereof. A controller is operably coupled to the actuators to cause the welding torch to execute a welding pattern.

A robotic assembly cell is configured to generate a physical mesh of physical polygons based on a simulated mesh of simulated triangles. A control application configured to operate the assembly cell selects a simulated polygon in the simulated mesh and then causes a positioning robot in the cell to obtain a physical polygon that is similar to the simulated polygon. The positioning robot positions the polygon on the physical mesh, and a welding robot in the cell then welds the polygon to the mesh. The control application captures data that reflects how the physical polygon is actually positioned on the physical mesh, and then updates the simulated mesh to be geometrically consistent with the physical mesh. In doing so, the control application may execute a multi-objective solver to generate an updated simulated mesh that meets specific design criteria.

A method of assembling a secondary component to a primary component comprises grasping a primary component with a first end-of-arm tool, wherein the first end-of-arm tool is attached to a first robot arm and grasping a secondary component with a second end-of-arm tool, wherein the second end-of-arm tool is attached to a second robot arm. Moving the primary component to an interfacing position, wherein interfacing surfaces on the primary component are presented at a proper position and orientation for the secondary component to be attached thereto. Moving the second end-of-arm tool to bring the secondary component into engagement with the interface surfaces of the primary component, and forming a joint between the primary component and the secondary component with a joining tool attached to a joining robot arm.