B:	PERFORMING OPERATIONS; TRANSPORTING
B25:	HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
B25J:	MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
B25J1/00:	Manipulators positioned in space by hand
B25J1/02:	. articulated or flexible
B25J1/04:	. rigid, e.g. shelf-reachers without grippers A47F13/06
B25J1/06:	. of the lazy-tongs type
B25J1/08:	. movably mounted in a wall
B25J1/10:	. . Sleeve and pivot mountings therefor
B25J1/12:	. having means for attachment to a support stand
B25J3/00:	Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
B25J3/02:	. involving a parallelogram coupling of the master and slave units
B25J3/04:	. involving servo mechanisms
B25J5/00:	Manipulators mounted on wheels or on carriages
B25J5/00A:	. [N: mounted on an air cushion]
B25J5/00T:	. mounted on endless tracks or belts
B25J5/00W:	. mounted on wheels
B25J5/02:	. travelling along a guideway
B25J5/04:	. . wherein the guideway is also moved, e.g. travelling crane bridge type
B25J5/06:	. Manipulators combined with a control cab for the operator
B25J7/00:	Micromanipulators specimen supports for investigating or analysing materials G01N23/22D; associated with microscopes G02B21/32; means for supporting or positioning the objects or the material in discharge tubes H01J37/20
B25J9/00:	Programme-controlled manipulators
B25J9/00D:	. Home robots, i.e. small robots for domestic use
B25J9/00E:	. Exoskeletons, i.e. resembling a human figure
B25J9/00H:	. Constructional details, e.g. manipulator supports, bases
B25J9/00H1:	. . making use of synthetic construction materials, e.g. plastics, composites
B25J9/00H3:	. . [N: Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion]
B25J9/00H5:	. . [N: Bases fixed on ceiling, i.e. upside down manipulators]
B25J9/00H7:	. . [N: All motors in base]
B25J9/00H8:	. . [N: Wrist motors at rear part of the upper arm]
B25J9/00H9:	. . [N: Means for extending the operation range]
B25J9/00K:	. [N: having parallel kinematics]
B25J9/00K1:	. . [N: with kinematics chains having a prismatic joint at the base]
B25J9/00K1A:	. . . [N: with kinematics chains of the type prismatic-rotary-rotary]
B25J9/00K1B:	. . . [N: with kinematics chains of the type prismatic-spherical-spherical]
B25J9/00K1C:	. . . [N: with kinematics chains of the type prismatic-universal-universal]
B25J9/00K2:	. . [N: with kinematics chains having a rotary joint at the base]
B25J9/00K2A:	. . . [N: with kinematics chains of the type rotary-rotary-rotary]
B25J9/00K2B:	. . . [N: with kinematics chains of the type rotary-universal-universal or rotary-spherical-spherical, e.g. Delta type manipulators]
B25J9/00K3:	. . [N: with kinematics chains having a spherical joint at the base]
B25J9/00K3A:	. . . [N: with kinematics chains of the type spherical-prismatic-spherical]
B25J9/00K3B:	. . . [N: with kinematics chains of the type spherical-prismatic-universal]
B25J9/00K4:	. . [N: with kinematics chains having an universal joint at the base]
B25J9/00K4A:	. . . [N: with kinematics chains of the type universal-prismatic-spherical]
B25J9/00K4B:	. . . [N: with kinematics chains of the type universal-prismatic-universal]
B25J9/00K5:	. . [N: of the hybrid type, i.e. having different kinematics chains]
B25J9/00K6:	. . [N: Truss]
B25J9/00K7:	. . [N: actuated by cables]
B25J9/00L:	. with master teach-in means
B25J9/00P:	. comprising a plurality of manipulators
B25J9/00P2:	. . [N: Dual arms (double SCARA arms B25J9/04B2D)]
B25J9/00P4:	. . [N: being mechanically linked with one another at their distal ends]
B25J9/00T:	. co-operating with conveyer means
B25J9/00W:	. co-operating with a working support, e.g. work-table
B25J9/02:	. characterised by movement of the arms, e.g. cartesian coordinate type
B25J9/02B:	. . Cartesian coordinate type
B25J9/02B2:	. . . Gantry-type
B25J9/04:	. . by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
B25J9/04B:	. . . Cylindrical coordinate type
B25J9/04B2:	. . . . comprising an articulated arm
B25J9/04B2D:	. . . . . [N: double SCARAR arms]
B25J9/04B2F:	. . . . . [N: with forearm providing vertical linear movement]
B25J9/04C:	. . . Polar coordinate type
B25J9/04D:	. . . Revolute coordinate type
B25J9/04D1:	. . . . the pivoting axis of the first arm being offset to the vertical axis
B25J9/04P:	. . . Pendulum type
B25J9/06:	. characterised by multi-articulated arms
B25J9/06S:	. . [N: Snake robots]
B25J9/08:	. characterised by modular constructions
B25J9/10:	. characterised by positioning means for manipulator elements
B25J9/10A:	. . comprising adjusting means
B25J9/10A2:	. . . using limit-switches, -stops
B25J9/10A3:	. . . using additional, e.g. micro adjustment of the end effector
B25J9/10B:	. . Gears specially adapted therefor, e.g. reduction gears gearings in general F16H
B25J9/10B2:	. . . Harmonic drives in general: F16H49/00B
B25J9/10B3:	. . . with backlash-preventing means
B25J9/10B4:	. . . Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
B25J9/10C:	. . with cables, chains or ribbons
B25J9/10C2:	. . . comprising tensioning means
B25J9/10E:	. . using eccentric means B25J9/10T takes precedence
B25J9/10G:	. . by gravity
B25J9/10L:	. . with articulated links
B25J9/10L2:	. . . with parallelograms
B25J9/10L2F:	. . . . of the froglegs type
B25J9/10M:	. . with muscles or tendons
B25J9/10N:	. . using magnets (magnetic holding means B25J15/06M)
B25J9/10R:	. . Bearings specially adapted therefor bearings in general F16C
B25J9/10S:	. . positioning by means of shape-memory materials shape memory actuators F03G7/06
B25J9/10T:	. . comprising mechanical programming means, e.g. cams
B25J9/10V:	. . chemically actuated
B25J9/12:	. . electric
B25J9/12L:	. . . Linear actuators
B25J9/12R:	. . . Rotary actuators
B25J9/14:	. . fluid
B25J9/14B:	. . . comprising inflatable bodies
B25J9/14C:	. . . Coupling means
B25J9/14L:	. . . Linear actuators
B25J9/14R:	. . . Rotary actuators
B25J9/14R2:	. . . . of the oscillating vane-type in general F15B15/12
B25J9/16:	. Programme controls
B25J9/16C:	. . characterised by the control system, structure, architecture
B25J9/16C1:	. . . Simulation of manipulator lay-out, design, modelling of manipulator
B25J9/16C2:	. . . Calculation of inertia, jacobian matrixes and inverses
B25J9/16C3:	. . . Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
B25J9/16H:	. . characterised by the hand, wrist, grip control
B25J9/16K:	. . characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
B25J9/16K1:	. . . Cellular, reconfigurable manipulator, e.g. cebot
B25J9/16K2:	. . . Mobile manipulator, movable base with manipulator arm mounted on it
B25J9/16K3:	. . . Parallel manipulator, Stewart platform, links are attached to a common base and to a common platform, plate which is moved parallel to the base
B25J9/16K4:	. . . Truss-manipulator for snake-like motion
B25J9/16L:	. . characterised by the control loop
B25J9/16L1:	. . . learning, adaptive, model based, rule based expert control
B25J9/16L10:	. . . parameters identification, estimation, stiffness, accuracy, error analysis
B25J9/16L2:	. . . compliant, force, torque control, e.g. combined with position control
B25J9/16L3:	. . . flexible-arm control
B25J9/16L4:	. . . compensation for arm bending/inertia, pay load weight/inertia
B25J9/16L5:	. . . compensation for backlash, friction, compliance, elasticity in the joints
B25J9/16L6:	. . . redundant control
B25J9/16L7:	. . . variable structure system, sliding mode control
B25J9/16L8:	. . . non-linear control combined or not with linear control
B25J9/16L9:	. . . acceleration, rate control
B25J9/16P:	. . characterised by programming, planning systems for manipulators
B25J9/16P1:	. . . characterised by programming language
B25J9/16P2:	. . . characterised by task planning, object-oriented languages
B25J9/16P3:	. . . characterised by motion, path, trajectory planning
B25J9/16P3C:	. . . . Avoiding collision or forbidden zones
B25J9/16P4:	. . . characterised by special application, e.g. multi-arm co-operation, assembly, grasping
B25J9/16P5:	. . . characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
B25J9/16S:	. . characterised by safety, monitoring, diagnostic
B25J9/16S1:	. . . Avoiding collision or forbidden zones
B25J9/16T:	. . characterised by the tasks executed
B25J9/16T1:	. . . Dual arm manipulator; Coordination of several manipulators
B25J9/16T2:	. . . Tracking a line or surface by means of sensors
B25J9/16T3:	. . . Assembly, peg and hole, palletising, straight line, weaving pattern movement
B25J9/16T4:	. . . Teleoperation
B25J9/16T5:	. . . Calibration of manipulator
B25J9/16V:	. . characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
B25J9/16V1:	. . . Vision controlled systems
B25J9/20:	. . fluidic
B25J11/00:	Manipulators not otherwise provided for
B25J11/00C:	. [N: Manipulators having means for high-level communication with users, e.g. speech generator, face recognition means]
B25J11/00C1:	. . [N: with emotions simulating means]
B25J11/00C2:	. . [N: Face robots, animated artificial faces for imitating human expressions]
B25J11/00D:	. [N: Manipulators for defensive or military tasks]
B25J11/00D1:	. . [N: handling explosives, bombs or hazardous objects]
B25J11/00E:	. [N: Manipulators for entertainment]
B25J11/00E1:	. . [N: Dancing, executing a choreography]
B25J11/00E2:	. . [N: Playing a music instrument]
B25J11/00F:	. [N: Manipulators used in the food industry]
B25J11/00M:	. [N: Manipulators for mechanical processing tasks]
B25J11/00M1:	. . [N: Cutting]
B25J11/00M2:	. . [N: Deburring or trimming]
B25J11/00M3:	. . [N: Polishing or grinding]
B25J11/00M4:	. . [N: Riveting]
B25J11/00P:	. [N: Manipulators for painting or coating]
B25J11/00S:	. [N: Manipulators for service tasks]
B25J11/00S1:	. . [N: Cleaning]
B25J11/00S2:	. . [N: Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs]
B25J11/00W:	. [N: Manipulators transporting wafers]
B25J13/00:	Controls for manipulators
B25J13/00B:	. by means of an audio-responsive input audible safety signals B25J19/06B
B25J13/00W:	. [N: by means of a wireless system for controlling one or several manipulators]
B25J13/02:	. Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/02C
B25J13/02H:	. . [N: comprising haptic means]
B25J13/04:	. Foot-operated control means
B25J13/06:	. Control stands, e.g. consoles, switch-boards
B25J13/06B:	. . comprising joy-sticks
B25J13/08:	. by means of sensing devices, e.g. viewing or touching devices
B25J13/08B:	. . Touching devices, e.g. pressure-sensitive
B25J13/08B2:	. . . Grasping-force detectors in general G01L5/16, G01L5/22
B25J13/08B2B:	. . . . fitted with slippage detectors
B25J13/08B4:	. . . Tactile sensors in general G01L5/16, G01L5/22
B25J13/08F:	. . Force or torque sensors B25J13/08B2, B25J13/08B4 take precedence
B25J13/08P:	. . Proximity sensors
B25J13/08S:	. . for sensing other physical parameters, e.g. electrical or chemical properties
B25J13/08V:	. . with position, velocity or acceleration sensors
B25J13/08V2:	. . . Determining the position of the robot with reference to its environment
B25J15/00:	Gripping heads and other end effectors grippers used in machine tools B23Q7/04; gripping members fitted on cranes B66C1/42, B66C1/44; gripping means used in the manufacture of semiconductors H01L21/687G; gripping means used for mounting electrical components H05K13/04
B25J15/00A:	. with provision for adjusting the gripped object in the hand
B25J15/00B:	. comprising multi-articulated fingers, e.g. resembling a human hand
B25J15/00C:	. [N: having fork, comb or plate shaped means for engaging the lower surface on a object to be transported]
B25J15/00E:	. End effectors other than grippers
B25J15/00F:	. Gripper surfaces directly activated by a fluid flexible fingers B25J15/12
B25J15/00G:	. with movable, e.g. pivoting gripping jaw surfaces
B25J15/00H:	. [N: with gripping surfaces having special shapes]
B25J15/00H2:	. . [N: Cylindrical gripping surfaces]
B25J15/00H4:	. . [N: V-shaped gripping surfaces]
B25J15/00I:	. [N: for internally gripping hollow or recessed objects]
B25J15/00M:	. [N: multiple gripper units or multiple end effectors]
B25J15/00M2:	. . [N: mounted on a turret]
B25J15/00M4:	. . [N: mounted on a modular gripping structure]
B25J15/00M6:	. . [N: with different types of end effectors, e.g. gripper and welding gun (B25J15/00M2 and B25J15/00M4 take precedence)]
B25J15/00N:	. [N: with needles engaging into objects to be gripped]
B25J15/00P:	. [N: with means, e.g. Pelletier elements, for freezing a fluid interface between the gripping head and an object to be gripped]
B25J15/00S:	. [N: with sticking, gluing or adhesive means]
B25J15/00U:	. [N: with means for applying an electrostatic force on the object to be gripped]
B25J15/00W:	. [N: with pins for accurately positioning the object on the gripping head]
B25J15/00X:	. [N: with an external support, i.e. a support which does not belong to the manipulator or the object to be gripped, e.g. for maintaining the gripping head in an accurate position, guiding it or preventing vibrations]
B25J15/02:	. servo-actuated
B25J15/02A:	. . comprising articulated grippers
B25J15/02A1:	. . . actuated by gears
B25J15/02A2:	. . . actuated by articulated links
B25J15/02A3:	. . . actuated by cams
B25J15/02A4:	. . . [N: actuated by chains, cables or ribbons]
B25J15/02A5:	. . . [N: having fingers directly connected to actuator]
B25J15/02E:	. . [N: actuated by an electromagnet]
B25J15/02P:	. . comprising parallel grippers
B25J15/02P1:	. . . actuated by gears
B25J15/02P2:	. . . actuated by articulated links
B25J15/02P2G:	. . . . comprising linear guide means
B25J15/02P3:	. . . actuated by cams
B25J15/02P4:	. . . [N: actuated by chains, cables or ribbons]
B25J15/02P5:	. . . [N: having fingers directly connected to actuator]
B25J15/04:	. with provision for the remote detachment or exchange of the head or parts thereof
B25J15/04C:	. . [N: Connections means]
B25J15/04C1:	. . . [N: having balls]
B25J15/04C2:	. . . [N: having cams]
B25J15/04C3:	. . . [N: having gripping members]
B25J15/04C4:	. . . [N: having vacuum or magnetic means]
B25J15/04C5:	. . . [N: having screw means]
B25J15/04C6:	. . . [N: having a frustroconical member]
B25J15/04E:	. . [N: with means for checking exchange completion]
B25J15/04F:	. . Exchangeable fingers
B25J15/04I:	. . [N: with head identification means]
B25J15/04R:	. . comprising end-effector racks
B25J15/06:	. with vacuum or magnetic holding means
B25J15/06M:	. . with magnetic holding means
B25J15/06V:	. . with vacuum
B25J15/06V1:	. . . [N: provided with a valve]
B25J15/06V1A:	. . . . [N: Air-flow-actuated valves]
B25J15/06V1O:	. . . . [N: Object-actuated valves]
B25J15/06V2:	. . . [N: provided with separating means for releasing the gripped object after suction]
B25J15/06V2P:	. . . . [N: Pneumatic type, e.g. air blast or overpressure]
B25J15/06V2Z:	. . . . [N: Other types, e.g. pins or springs]
B25J15/06V3:	. . . [N: of the ejector type]
B25J15/06V4:	. . . [N: Details of suction cup structure, e.g. grooves or ridges]
B25J15/06V6:	. . . [N: Suction pad made out of porous material, e.g. sponge or foam]
B25J15/08:	. having finger members
B25J15/08L:	. . [N: with means for locking the fingers in an open or closed position]
B25J15/08S:	. . [N: with means for synchronizing the movements of the fingers]
B25J15/10:	. . with three or more finger members B25J15/00B takes precedence
B25J15/10C:	. . . for gripping the object in three contact points
B25J15/10P:	. . . moving in parallel relationship
B25J15/12:	. . with flexible finger members
B25J17/00:	Joints
B25J17/02:	. Wrist joints
B25J17/02B:	. . Compliance devices
B25J17/02B2:	. . . comprising a stewart mechanism
B25J17/02B4:	. . . [N: with axial compliance, i.e. parallel to the longitudinal wrist axis]
B25J17/02B6:	. . . [N: with radial compliance, i.e. perpendicular to the longitudinal wrist axis]
B25J17/02D:	. . One-dimensional joints
B25J17/02D2:	. . . mounted in series
B25J17/02F:	. . Two-dimensional joints
B25J17/02F2:	. . . comprising more than two actuating or connecting rods
B25J17/02F3:	. . . Universal joints, e.g. Hooke, Cardan, ball joints
B25J17/02G:	. . Three-dimensional joints
B25J17/02G2:	. . . [N: having axes crossing at an oblique angle, i.e. other than 90 degrees]
B25J18/00:	Arms
B25J18/00B:	. comprising beam bending compensation means
B25J18/00C:	. [N: having a curved shape]
B25J18/00D:	. arranged in parallel configuration
B25J18/00F:	. the end effector rotating around a fixed point
B25J18/02:	. extensible
B25J18/02T:	. . telescopic
B25J18/04:	. . rotatable
B25J18/06:	. flexible
B25J19/00:	Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
B25J19/00B:	. Braking devices brakes in general F16D
B25J19/00D:	. Balancing devices
B25J19/00D2:	. . using fluidic devices
B25J19/00D4:	. . using springs
B25J19/00D6:	. . using counterweights
B25J19/00E:	. Means for supplying energy to the end effector
B25J19/00E2:	. . arranged within the different robot elements
B25J19/00E2C:	. . . [N: with axial connectors in end effector flange]
B25J19/00E2L:	. . . comprising a light beam pathway, e.g. laser
B25J19/00E2R:	. . . [N: having rotary connection means]
B25J19/00E4:	. . [N: Contactless power transmission, e.g. by magnetic induction]
B25J19/00F:	. using batteries, e.g. as a back-up power source
B25J19/00G:	. Cooling means
B25J19/00H:	. [N: Means for cleaning manipulators, e.g. dust removing means]
B25J19/00L:	. [N: Lubrication means]
B25J19/00M:	. [N: Means or methods for maintaining or repairing manipulators]
B25J19/00N:	. [N: Means or methods for designing or fabricating manipulators]
B25J19/00P:	. Means for protecting the manipulator from its environment or vice versa
B25J19/00P1:	. . using an internal pressure system
B25J19/00P2:	. . using gaiters
B25J19/00P3:	. . [N: using an antibacterial coating]
B25J19/00S:	. Shock absorbers in general F16F
B25J19/00T:	. [N: Means or methods for testing manipulators]
B25J19/02:	. Sensing devices
B25J19/02B:	. . Optical sensing devices
B25J19/02B2:	. . . using lasers
B25J19/02B4:	. . . including video camera means
B25J19/02B6:	. . . including optical fibres
B25J19/02C:	. . Acoustical sensing devices
B25J19/02E:	. . Electromagnetic sensing devices
B25J19/02P:	. . Piezoresistive or piezoelectric sensing devices
B25J19/04:	. . Viewing devices
B25J19/04B:	. . . fitted with video camera means
B25J19/06:	. Safety devices
B25J19/06B:	. . with audible signals audio controls B25J13/00B
B25J19/06C:	. . working only upon contact with an outside object
B25J19/06C2:	. . . [N: Mechanical fuse]
B25J19/06R:	. . [N: Redundant equipment]
B25J19/06S:	. . [N: Actuating means with variable stiffness]
B25J21/00:	Chambers provided with manipulation devices
B25J21/00C:	. Clean rooms
B25J21/02:	. Glove-boxes, i.e. chambers in which manipulations are performed by the human hands in gloves built into the chamber walls glove- boxes for removal of dirt B08B15/02G; glove-boxes shielded against radiation G21F7/04 ; Gloves therefor