Omron Corporation

Masahiro Murai

Yuki Tsuchihashi

Xiaoguang Ning

Yosuke Iwai

Takayuki Kanzawa

Yukio Iname

Hiromi Sasaki

Tatsuya Koga

Zhiqiang Liu

Kazuhiro Takizawa

Shu Biwaki

A screw tightening system includes an actuator including a driver bit that rotationally drives a screw and a motor coupled with driver bit, and a controller that controls actuator. Controller includes an acquirer that acquires torque values of a torque generated in a motor, a calculator that calculates a standard deviation of the torque values in a temporary tightening period, and a determiner that determines that there is an abnormality when a ratio of the standard deviation to a reference standard deviation exceeds a first threshold value.

Screw tightening system, controller, and non-transitory storage medium

A reception sectionreceives a classification of a shape of a target object for a case in which a robot is to perform an action along the target object. An instruction sectioninstructs a user with a number of training points identified for each classification of the shape as training points for training positions of a specific location of the robot to perform the action. An acquisition sectionacquires positional information of the specific location of the robot as trained by manipulation by the user according to the instruction. A estimation sectionestimates a shape of the target object based on the acquired positional information. A generation sectiongenerates a path for the robot to perform the action along the target object based on the estimated shape of the target object.

Path generation device and method

A technique automates robotic assembly of two parts with a fastener structure including an engaging portion and a receiving portion. A robot system includes a robot that grips a workpiece, a force sensor located on the robot to measure a force and a moment acting on the workpiece, and a controller that controls the robot. The controller monitors, while moving the workpiece in a direction along a first axis and inserting the workpiece into a part, a change in a force F in the direction along the first axis and a change in a moment M about a second axis perpendicular to the first axis measured by the force sensor to determine a state of assembly of the workpiece with the part.

Robot system and method for controlling same

Label supply machine for industrial robot arm

Multi-hole absorption device for industrial robot arm

In a seal affixing system, adsorption pores are arranged plurally along a first direction and a second direction on an adsorption face, and the plurality of adsorption pores are sectioned into a first suction region, a second suction region, and a third suction region containing a plurality of adsorption pores from a downstream side to an upstream side along a movement direction, and a controller controls a suction power generator to individually suck the first suction region, the second suction region, and the third suction region. According to the seal affixing system, a turbulent spot will not be generated in the affixed seal.

Seal affixing system

Industrial robot arm

Generation of a wrinkle is prevented when a sticker is affixed to an object. A sticker affixing system includes an articulated robot, a controller configured to control the articulated robot, a suction tool attached to a distal end of the articulated robot, and a force sensor configured to detect force applied to the suction tool. The controller causes the articulated robot to execute: an operation of moving the suction tool holding a sticker along a surface of an object to which the sticker is affixed; and an operation of adjusting an inclination of the suction tool with respect to a traveling direction (roll axis) of the suction tool and the traveling direction of the suction tool based on a signal from the force sensor.

Sticker affixing system, method to be executed by sticker affixing system, and non-transitory computer-readable medium storing program to be executed by sticker affixing system

The disclosure is provided to shorten a total allowed cycle time of insertion or a press-fitting operation. A control device of a robot performing insertion or a press-fitting operation includes: a measuring part, measuring an elapsed time from a time point of starting a correcting operation in a case where the insertion or the press-fitting operation does not end normally; a calculating part, calculating a total remaining time of the correcting operation by subtracting a time from a start to an end of the correcting operation from a preset total allowed time of the correcting operation; a comparing part, comparing the remaining time with a required operation time which is an elapsed time from the start to the end of the correcting operation; and a control part, interrupting the correcting operation before the allowed time elapses in a case where the remaining time is less than the required operation time.

Control device of robot and control method of robot

A component insertion device including a robot and a control portion is provided. The control portion is configured to control the operation of the robot. The robot includes a gripper, a dummy component and a force sensor. The gripper is configured for gripping a workpiece component. The dummy component is mounted protruding outward on a location in the gripper and away from the gripped workpiece component. The dummy component has a corresponding part with the same shape as that of a specific part of the workpiece component and exhibits rigidity. The force sensor is configured for detecting, through the gripper, a contact reaction force received by the dummy component from the surrounding of a slot or hole of a receiving portion by which the specific part of the workpiece comment is to be inserted via using the device. Component insertion method and program of using the device are also provided.

Component insertion device with dummy component, and component insertion method and computer readable recording medium of using the same

A pair of claws and included in a gripper of a robot have specific shapes and for bending or flexing a specific part of a workpiece in a thickness direction when approaching each other to clamp the workpiece. The pair of claws and are made to approach each other and clamp the workpiece in a state where the specific part is protruded to the outside while making the workpiece and also the specific part undergo an elastic deformation so as to bend or flex in the thickness direction within a range of a transverse-direction dimension of the slot. The specific part of the workpiece is inserted into the slot along an insertion direction perpendicular to a tip end surface by a compliance control based on an output of a force sensor.

Component insertion device, component insertion method and program

A control parameter is adjusted without the need to operate a driver of a control target. A control device () includes a model identification unit (), a parameter determination unit (), a data evaluation unit () and an operation data calculation unit (). The model identification unit () identifies a physical model of an operation of the control target. The operation data calculation unit () calculates operation data by using the physical model and the control parameter. The data evaluation unit () calculates an evaluation value by using normative data of the operation of the control target and the operation data. The parameter determination unit () determines the control parameter by using the evaluation value.

Control device, control method, and control program

A control apparatus and the like may include a time allocation setting unit that sets a time allocation for steps in the total driving time, and an operation value calculation unit that calculates minimum operation values for the times set by the time allocation setting unit, and the time allocation setting unit sets the time allocation of the steps in the total driving time such that the difference between the minimum operation values of the steps falls within a predetermined range.

Control apparatus, control method for control apparatus, control program, and storage medium

A control parameter which causes a servo motor to perform an operation with higher accuracy depending on a purpose and a situation is determined. A control device () includes a data evaluation unit (), a parameter determination unit (), and an operation data acquisition unit (). The operation data acquisition unit () acquires operation data including a speed or a torque of a servo motor (). The data evaluation unit () calculates an evaluation value by using normative data corresponding to a target of the operation data and the operation data. The parameter determination unit () determines a control parameter applied to a servo driver () which controls operations of the servo motor () by using the evaluation value.

The invention provides a control device comprising: an actual value obtaining part, obtaining a torque actual value and a velocity actual value, wherein the torque actual value represents a torque generated by the driving source and the velocity actual value represents a velocity of the motion body; an inferring part, which calculates an external force inferred value and a velocity inferred value every other operation period based on the torque actual value by using an operation formula of a predetermined model representing driving of the motion body, wherein the external force inferring value represents an external force generated by the control system; and an output part, evaluating a reliability of the external force inferred value based on the velocity inferred value calculated together if the inferring part calculates the external inferred value, and effectively outputting the external force inferred value when it is judged that there is a designated reliability.

Growing community of inventors

Kusatsu, Japan

Masahiro Murai