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Analysis

1.WO/2022/208057AN APPARATUS FOR WORKING A WET COATING ON A SURFACE AND A METHOD OF THE SAME
WO 06.10.2022
Int.Class E04F 21/08
EFIXED CONSTRUCTIONS
04BUILDING
FFINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
21Implements for finishing work on buildings
02for applying plasticised masses to surfaces, e.g. plastering walls
06Implements for applying plaster, insulating material, or the like
08Mechanical implements
Appl.No PCT/GB2022/050751 Applicant Q-BOT LIMITED Inventor SOLER, Elodie
An apparatus for working a wet coating, such as render material, applied to a surface, the apparatus comprising: an actuator arranged to move an arm across a surface having a wet coating applied thereon; a controller configured to move the arm across the surface along a tool path; and a tool head mounted to the arm, the tool head comprising a compliance module and a tool mounted to the compliance module such that the tool is movable in a stroke direction towards the surface relative to the arm. The compliance module comprises a biasing module arranged to urge the tool in the stroke direction to maintain contact between the tool and the wet coating such that the tool works the wet coating as the arm moves across the surface.
2.WO/2022/210202DEVICE FOR GENERATING SIGNAL FOR WEAVING MOTION, CONTROL DEVICE, AND METHOD
WO 06.10.2022
Int.Class G05B 19/4093
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
18Numerical control (NC), i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
4093characterised by part programming, e.g. entry of geometrical information as taken from a technical drawing, combining this with machining and material information to obtain control information, named part programme, for the NC machine
Appl.No PCT/JP2022/013687 Applicant FANUC CORPORATION Inventor WATANABE, Daigo
There has hitherto been a demand for a technology for enabling a robot to perform a weaving motion in a manner desired by an operator. A device 70 comprises an input reception unit 52 that receives input of a parameter of a weaving signal, a signal generation unit 44 that generates a weaving signal having the received parameter, a parameter acquisition unit 54 that acquires, as a filtered parameter, the parameter of the weaving signal in a case where the weaving signal is subjected to filtering processing, a condition determination unit 56 that determines whether or not the filtered parameter satisfies a predetermined condition, and a parameter adjustment unit 58 that adjusts the received parameter if the filtered parameter is determined not to satisfy the predetermined condition. The signal generation unit 44 generates a weaving signal having the parameter adjusted by the parameter adjustment unit 58.
3.WO/2022/210412ROBOT SYSTEM COMPRISING ROBOT EQUIPPED WITH DISPLAY UNIT
WO 06.10.2022
Int.Class B25J 9/22
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
22Recording or playback systems
Appl.No PCT/JP2022/014620 Applicant FANUC CORPORATION Inventor IWATAKE, Takahiro
This robot system comprises: a display control unit which controls an image to be displayed in a display region of a display unit; and a reference direction setting unit which sets a reference direction for determining the orientation of an image. On the basis of the axial positions of respective joint shafts of the robot and the reference direction, the display control unit controls the orientation of an image shown on the display unit so as to perform display that represents a prescribed postural relation with respect to the reference direction.
4.WO/2022/212017ROBOTIC SYSTEM WITH ZONE-BASED CONTROL
WO 06.10.2022
Int.Class G06Q 10/08
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
QDATA PROCESSING SYSTEMS OR METHODS, SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL, SUPERVISORY OR FORECASTING PURPOSES, NOT OTHERWISE PROVIDED FOR
10Administration; Management
08Logistics, e.g. warehousing, loading, distribution or shipping; Inventory or stock management, e.g. order filling, procurement or balancing against orders
Appl.No PCT/US2022/020163 Applicant DEXTERITY, INC. Inventor SUN, Zhouwen
A robotic line kitting system is disclosed. In various embodiments, data indicating for each of a plurality of operating zones comprising a workspace with which the robotic line kitting system is associated a corresponding safety state information is stored. The data is used to dynamically schedule and perform tasks associated with a higher level objective, including by operating the one or more robotic instrumentalities in one or more operating zones, if any, indicated by said data to currently be available to perform tasks using the one or more robotic instrumentalities and by not operating the one or more robotic instrumentalities in one or more operating zones, if any, indicated by said data to not currently be available to perform tasks using the one or more robotic instrumentalities.
5.WO/2022/205941MOTION CONTROL METHOD AND APPARATUS, AND ROBOT CONTROL DEVICE AND READABLE STORAGE MEDIUM
WO 06.10.2022
Int.Class B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
Appl.No PCT/CN2021/131893 Applicant UBTECH ROBOTICS CORP LTD Inventor ZHANG, Zhihao
A motion control method, comprising: acquiring a generalized coordinate vector for a whole body, a spatial vector for an actual task, and a spatial vector for a task to be executed of a humanoid robot at the current moment, wherein the generalized coordinate vector for the whole body is composed of a waist attitude matrix and a robotic arm attitude matrix of the humanoid robot; according to the waist attitude matrix and the robotic arm attitude matrix, calculating an inverse Jacobian matrix of the generalized coordinate vector for the whole body relative to the spatial vector for the actual task; according to a preset position limitation condition corresponding to the generalized coordinate vector for the whole body, incorporating the spatial vector for the actual task and the spatial vector for the task to be executed into a null space of the inverse Jacobian matrix, and calculating a target generalized coordinate vector corresponding to the spatial vector for the task to be executed; and controlling the motion state of the humanoid robot according to the target generalized coordinate vector. By means of the method, the aim of controlling a humanoid robot to avoid joint motion limits is achieved, such that an arm operation space is expanded on the basis of maintaining the balance of legs of the robot, and the operation performance of the humanoid robot is improved. The present invention further relates to a robot control apparatus, a robot control device, and a readable storage medium.
6.WO/2022/208371A MODULAR STRUCTURE FOR AN ENTITY AND A METHOD FOR AN OPERATION OF THE SAME
WO 06.10.2022
Int.Class G05B 13/02
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
13Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
02electric
Appl.No PCT/IB2022/052920 Applicant KHATRI, Mahesh Inventor KHATRI, Mahesh
A modular structure for an entity is provided. The modular structure includes interchange facilitator(s) operatively coupled to part(s) of the entity. The interchange facilitator(s) are configured to be mechanically coupled with each other via at least one mechanical coupling mechanism and locked using electromagnetically actuated locking mechanism(s) upon the mechanical coupling. The modular structure also includes a controlling unit (90) which includes a processing subsystem (100) which includes an input module (120) which receives parameter(s) sensed via sensor(s). The processing subsystem (100) also includes a controlling module (140) which compares the parameter(s) with a respective threshold value to generate a comparison result, determines a locking status of the interchange facilitator(s) based on the comparison result, and generates a control signal to control an operation of the entity based on the locking status.
7.WO/2022/210186CONTROL DEVICE FOR CALCULATING PARAMETERS FOR CONTROLLING POSITION AND POSTURE OF ROBOT
WO 06.10.2022
Int.Class B25J 9/22
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
22Recording or playback systems
Appl.No PCT/JP2022/013623 Applicant FANUC CORPORATION Inventor ISHII, Yuki
This control device comprises a force sensor, and a parameter calculation unit for calculating a moving direction for moving a first workpiece, and the position of a workpiece end point when performing force control. An operator causes a robot to bring the workpiece end point of the first workpiece into contact with a corner of a second workpiece. The force sensor detects a force in a period in which the first workpiece is pressed along a pressing direction. The parameter calculation unit calculates the moving direction and the position of the workpiece end point, on the basis of forces detected by the force sensor for a plurality of pressing directions.
8.WO/2022/210291COMPUTATION DEVICE FOR CALCULATING PERMISSIBLE VALUE OF EXTERNAL FORCE ACTING ON ROBOT DEVICE OR WORKPIECE, AND DEVICE FOR CONTROLLING ROBOT
WO 06.10.2022
Int.Class B25J 13/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
Appl.No PCT/JP2022/014108 Applicant FANUC CORPORATION Inventor ISHII, Yuki
This control device is provided with a processing unit for calculating a permissible value of an external force that is permissible to be applied on a robot, a workpiece, or a hand. The permissible value of load that can be exerted on a constituent member of the robot is determined in advance. The processing unit calculates a permissible value of an external force in an application direction in which the external force is applied, on the basis of the position and attitude of the robot, the position of an application point where the external force is applied, and the permissible value of load of the constituent member of the robot.
9.WO/2022/210801CONTROL SYSTEM, CONTROL DEVICE, CONTROL METHOD, AND PROGRAM
WO 06.10.2022
Int.Class B25J 13/00
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
13Controls for manipulators
Appl.No PCT/JP2022/015721 Applicant KEIO UNIVERSITY Inventor OHNISHI Kouhei
A control system 1 comprises a master device 10, a slave device 20, and a control device 30. The control device 30 comprises a transmission condition setting unit 351, and a haptics transmission unit 353. The haptics transmission unit 353 controls transmission of haptics between the master device 10 and the slave device 20. The transmission condition setting unit 351 amplifies, at a set amplification factor, force to be input to the slave device 20, and subtracts a force offset amount set on the basis of the amplification factor from the amplified force, and causes the master device 10 to transmits the force.
10.WO/2022/212016ROBOTIC LINE KITTING SYSTEM SAFETY FEATURES
WO 06.10.2022
Int.Class B25J 9/16
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
Appl.No PCT/US2022/020162 Applicant DEXTERITY, INC. Inventor SUN, Zhouwen
A robotic line kitting system is disclosed. In various embodiments, a signal associated with an unsafe condition is received via a communication interface. In response to the signal, a controlled operation to reduce a speed of movement of a robotic instrumentality is performed prior to a safety stop of the robotic instrumentality being triggered.