Abstract: An industrial robot (1-10) is arranged to position workpieces (OP) in a unidimensional or multidimensional pattern or to collect workpieces located in such a pattern. The robot is first controlled to a predetermined preliminary position (e.g. P'.sub.O) and thereafter to its final position in the pattern by way of sensing members (9). The preliminary position for a workpiece is calculated with the final position of an adjacent workpiece as the starting point. To this position is added a vector corresponding to the spacing of the pattern. The spacing is calculated as the difference between the coordinates for the final positions of two workpieces located adjacent to the workpiece in question.

Abstract: Robot control with programmed positioning modified by a sensor sensing position error, force or the like. To maintain flexibility, the sensor axis need not coincide with any of several degrees of freedom of the robot. To employ sensor generated signals to modify programmed positioning where sensor and robot degrees of freedom are different, a normalized correction is computed relating a sensor output to each axis of freedom. Merely multiplying sensor output with the appropriate normalized correction provides a quantity in the proper coordinates for correction or position modification, as desired. Further, the robot includes apparatus to change direction of motion under certain circumstances, i.e., a collision with an obstruction. This allows the robot to move around obstructions whose location and extent were unknown at the time of movement programming.

Abstract: A method and apparatus for moving a device, such as a robot arm, through complex movements. The complex movement is divided into a principal movement between two defined end points A, B. Superposed on the principal movement is a closed loop series of subordinate movements (at least two subordinate movements) which loop is executed, at least once, during the principal movement. Data defining the end points of both principal and subordinate movements is stored in a storage device. Both principal and subordinate movements are divided into a number of equal incremental principal and subordinate movements. The sum of the principal and subordinate incremental movements is a composite incremental movement. Signals related to each composite incremental movement are provided to a drive means for moving the device.

Abstract: An industrial robot has a movable arm and a tool mounted on the arm and connected thereto so as to be movable with at least one degree of freedom relative to the arm, and transducers are arranged to sense the position of the tool relative to the arm and to regulate control means for the positioning of the tool. The connecting means may permit movement in a plurality of directions, and this movement takes place against prestressed spring members so that movement only takes place when the force causing the movement exceeds a minimum value.