Fanuc Corporation

Yasuhiro Naitou

Soichi Arita

Hiromitsu Takahashi

Yuelai Wang

Wang Yuelai

Kazutaka Nakayama

Tomoyuki Yamamoto

Takatoshi Iwayama

Kuniyasu Matsumoto

Shigeo Yoshida

Akifumi Furuichi

A robot controller including a control unit configured to cause a control point to move from a first position to a second position by basic joints and wrist joints, and a recording unit configured to record position information including the second position and rotation angles to which the wrist joints are rotated when the control point is positioned at the second position. In a case where posture of the wrist unit at the second position is not a singular point, the control unit causes the basic joints and the wrist joints to perform straight-line motion so as to move the control point along a straight line, and in a case where the posture of the wrist unit at the second position is a singular point, the control unit causes the wrist joints to perform each-joint controlling motion.

Robot controller

Provided is a robot control device capable of easily setting a robot operation speed which is safe for an operator. The robot control device is equipped with: a selection unit for selecting a location of a human body; an allowed speed storage unit for associating and storing the location of the human body and the allowed speed for the robot at said location; and a robot control unit for retrieving the allowed speed associated with the location selected by the selection unit from the allowed speed storage unit, and setting the smallest value for the retrieved allowed speed as the maximum speed for the robot.

Robot control device

A control device for a robot includes: an external force acquisition section configured to acquire external force applied to a movable element during operation of the robot; a first condition determination section configured to determine whether or not a first condition that the external force exceeding a predetermined first threshold is applied to the movable element is satisfied; a second condition determination section configured to determine whether or not a second condition that the movable element is moving is satisfied; and an operation control section configured to stop the operation of the robot when both the first condition and the second condition are satisfied, while continuing the operation of the robot when at least one of the first condition and the second condition is not satisfied.

Robot control device, robot system, and robot control method

Provided is a robot control device that can suppress the stoppage of operations due to the detection of a contact error. The robot control device controls a robot that implements welding in association with contact with a to-be-welded object, said device comprising: an action stoppage unit that stops the action of the robot if detected that the robot has been subjected to an external force equal to or greater than a threshold; an instructing unit that instructs a welding power supply device to start welding; and a detection sensitivity adjustment unit that lowers the sensitivity at which as external force is detected at the action stoppage unit during a period of time from the point in time at which the instructing unit instructs the welding power supply device to start welding until a prescribed wait time has elapsed.

A device, a method and a program, by which a weight and/or a position of a gravity center of a load attached to a movable part of a robot can be estimated by a simple configuration. The device has a torque sensor configured to detect a torque applied to an axis for driving the movable part of the robot, and a calculation section configured to calculate the weight of the article, by using: a first torque applied to the axis, when the article attached to the movable part is positioned at a first position and represents a first posture; a second torque applied to the axis, when the article attached to the movable part is positioned at a second position different from the first position and represents the first posture; the first position; and the second position.

Device, method and program for estimating weight and position of gravity center of load by using robot

A controller includes a parameter setting unit that invalidates first mechanism error parameters. The controller includes a measurement control unit that drives a robot with a plurality of orientations at a plurality of positions by using second mechanism error parameters other than the first mechanism error parameters and measures the actual measurement position of the robot by a three-dimensional measuring device. The controller includes a parameter calculation unit that calculates the first mechanism error parameter based on the actual measurement position of the robot and the rotation position of a robot drive motor. The controller includes a correction unit that changes the first mechanism error parameter invalidated by the parameter setting unit to the first mechanism error parameter calculated by the parameter calculation unit.

Calibration apparatus for calibrating mechanism error parameter for controlling robot

A robot system including a robot having one or more joints, and a control device that controls the robot, where the robot has, at at least one of the joints, a torque sensor for detecting a first torque about an axis of said joint, and has, at a position farther on a distal end side than the torque sensor, a force sensor for detecting a force. The control device determines whether or not to stop the robot on the basis of only the first torque, when the force detected by the force sensor is less than or equal to a prescribed first threshold.

Robot system

A robot system including a robot and a control device that controls the robot. The robot includes a first member, a second member that is rotationally driven around a predetermined first axis relative to the first member, and a first torque detector that detects a torque around the first axis. The control device includes an external-force upper-limit-value estimator that estimates an external-force upper limit value serving as an assumable upper limit value for an external force acting on the second member based on the torque detected by the first torque detector, and controls the robot to avoid an increase in the external force when the estimated external-force upper limit value is larger than a predetermined threshold value.

A device, a method and a program, by which a weight and a horizontal position of a gravity center of a load attached to a movable part of a robot can be estimated by a simple configuration. The device has: two torque sensors configured to detect a first torque applied to a first axis of a robot, and a second torque applied to a second axis of the robot; and a calculation section configured to calculate a weight and a horizontal position of a gravity center of a workpiece, by using two detection values of the torque sensors in one posture in which a hand attached to a movable part of the robot holds the workpiece.

A robot controller and a robot control method, by which a human can be prevented from being sandwiched between a collaborative robot and a workpiece conveyed by a conveyor. The robot controller controls the robot configured to perform a predetermined operation for the workpiece conveyed by a convey section moving in a convey direction. The robot controller has: a receive section configured to receive a signal representing that an abnormality of the robot is detected or contact against the robot is detected; and a motion control section configured to control a motion of robot so that, after the receive section receives the signal, a minimum distance between a movable section of the robot and the workpiece is not less than a predetermined safe distance.

Controller and control method for collaborative robot

A human-collaborative robot, by which the robot is unlikely to be accidentally operated despite the intention of the human, even if a relatively simple action pattern is determined as a command to the robot. When an external force by a human is applied to the robot, the force is detected by a force sensor. The robot is configured to be stopped when the detected external force exceeds a predetermined threshold. In order to restart the stopped motion of the robot, the human purposely applies the external force to the robot. When a judging section judges that the external force is applied to a specified portion the robot based on a predetermined action pattern, a commanding section commands the robot so that the robot performs a motion which is previously associated with the pattern.

Human-collaborative robot

A robot controller and a robot control method, capable of preventing an operator from being sandwiched between a robot and a workpiece, when a conveyor for conveying the workpiece is stopped. The robot controller is configured to output a robot stop command when a conveyor starts the stop operation thereof. The robot stop command includes at least one of: a first stop command by which, when a movable section of the robot is positioned anterior to the workpiece, the movable section is moved at a higher velocity than the conveyor, and then is stopped after traveling a distance longer than a coasting distance of the conveyor; and a second stop command by which, when the movable section is positioned posterior to the workpiece, the movable section is moved at a lower velocity than the conveyor, and then is stopped after traveling a distance shorter than the coasting distance.

An interference region setting apparatus capable of setting an interference region in a coordinate system of a mobile robot, with an inexpensive configuration and a little effort. The apparatus has: a shape model storage section configured to store a shape, a position, and an orientation of an obstruction present in a work region of the mobile robot as an obstruction shape model, in a reference coordinate system; a position and orientation calculation section configured to analyze an image, captured by the image capturing apparatus, of a shape feature in a fixed position within the work region, and calculate a position and orientation of the reference coordinate system represented in a robot coordinate system; and an interference region setting section configured to set an interference region based on the position and orientation of the reference coordinate system converted into the robot coordinate system and the stored obstruction shape model.

Interference region setting apparatus for mobile robot

A robot system including a robot, a control unit, a sensor to detect a magnitude of force applied to the robot, a determination unit configured to determine, based on the magnitude of the detected force, whether there is application of an external force different from a load acting on the robot during a task performed by the robot, and a storage unit to store the magnitude of force detected by the sensor when the control unit executes at least one operation command when there is no application of the external force, in association with the operation command, where the determination unit determines, when the operation command is executed by the control unit, presence or absence of the external force based on the magnitude of force stored in the storage unit in association with the operation command and the magnitude of force detected by the sensor.

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Yamanashi, Japan

Yasuhiro Naitou