Abstract: A display apparatus includes an acquisition unit acquiring a basic motion program, a life calculation unit calculating a first life of a robot arm when a motion is performed based on the basic motion program acquired by the acquisition unit, a creation unit creating a corrected motion program for setting a life of the robot arm to be a second life longer than the first life using the same configuration of the robot arm and work start position and work end position of a control point as those of the basic motion program and changing a position of a proximal end of the robot arm, and a display unit displaying a position of the proximal end of the robot arm in the corrected motion program.

Abstract: A robot control device determines control parameters based on a table in which a correspondence relation between work contents of work to be performed by a robot and levels of the control parameters of the robot is specified. The table includes, as the work contents, first conveyance work for conveying a target object having weight less than a predetermined weight value and second conveyance work for conveying a target object having weight equal to or more than the predetermined weight value and includes, as the control parameters, for each of the first conveyance work and the second conveyance work, command followability indicating followability of the robot to a position command and an operation end determination standard indicating a standard for determining an operation end of the robot.

Abstract: A robot control device determines control parameters based on a table in which a correspondence relation between work contents of work to be performed by a robot and levels of the control parameters of the robot is specified. The table includes, as the work contents, conveyance work for conveying a target object and assembly work for assembling the target object and includes, as the control parameters, for each of the conveyance work and the assembly work, speed of the robot, command followability, and an operation end determination standard. A level of the speed of the conveyance work is higher than that of the assembly work. A level of the command followability of the conveyance work is lower than that of the assembly work. A level of the operation end determination standard of the conveyance work is lower than that of the assembly work.

Abstract: A robot control device including a control section configured to cause a robot to perform work, wherein the control section is configured to decide control parameters based on a table in which is defined a correspondence relationship between work contents of the work to be performed by the robot and level of the control parameters of the robot, the table includes, as the control parameters, a command followability that indicates followability of the robot to a position command and an operation end determination reference that indicates a reference for determining an end of an operation of the robot, and each of level of the command followability and level of the operation end determination reference are changeable.

Abstract: A control method executes a first step of actuating a brake to decelerate a robot arm, a second step of releasing or relaxing the actuation of the brake when one of Conditions A1, A2, and A3 is satisfied after deceleration of the robot arm, and a third step of actuating the brake again to restrict driving of the robot arm when one of Conditions B1, B2, and B3 is satisfied after release or relaxation of the brake, Condition A1: a velocity of the robot arm becomes a predetermined value or less; Condition A2: a contact state between the robot arm and the object becomes stable; Condition A3: time TA elapses; Condition B1: time TB elapses; Condition B2: a movement amount of the robot arm becomes a predetermined value or more; and Condition B3: the contact state between the object and the robot arm is released or relaxed.

Abstract: A method for determining a control position of a robot includes (a) acquiring N real reference positions in a real space and N control reference positions in a robot control coordinate system, (b) setting M figures having vertices in a plurality of real reference positions of the N real reference positions within the real space, and obtaining a transform function expressing a correspondence relationship between a real position and a control position within each figure, (c) receiving input of a target position of the control point in the real space, (d) selecting an object figure for calculation of a control position for the target position from the M figures, and (e) calculating a target control position for the target position using the transform function with respect to the object figure.

Abstract: A robot has a base, a first arm provided at the base and pivoting about a first axis relative to the base, a second arm provided at the first arm and pivoting about a second axis parallel to the first axis relative to the first arm, an inertial sensor provided in the second arm and detecting one or both of an angular velocity about an angular velocity detection axis orthogonal to an axial direction of the second axis and an acceleration in the second axis direction, a pipe located outside of the first arm and coupling the base and the second arm, and a wire placed through the pipe and electrically coupled to the inertial sensor.

Abstract: In teaching of a robot, a control device controls a movable unit in a first control mode in which the movable unit continuously moves according to a force detected by a force detector and a second control mode in which the movable unit moves by a predetermined movement amount according to the force detected by the force detector. A controller selects a first control mode or a second control mode according to a temporal change in the force detected by the force detector and a magnitude of the force.

Abstract: When a first condition that a time in which magnitude of a first detection force detected by a force detection unit is larger than a first force threshold value continued for a time longer than zero and shorter than a first time threshold value is satisfied in teaching, a movable unit is moved in a predetermined amount in a direction according to a direction of the first detection force. When a second condition that magnitude of a second detection force detected by the force detection unit is larger than a second force threshold value that is larger than the first force threshold value is satisfied during movement of an end effector, the movable unit is decelerated or stopped.

Abstract: A robot includes a first arm that rotates around the first axis, a second arm that rotates around a second axis in a direction different from the first axis, a third arm that rotates around a third axis parallel to the second axis, a first inertia sensor that is installed at the first arm, a second (a) inertia sensor that is installed at the third arm, first to third angle sensors, a posture detection unit that detects the posture of the third arm with the second arm as a reference and derives a feedback gain, and a second drive source control unit that feeds back a second correction component, which is obtained by multiplying a value, which is obtained by subtracting the angular velocity ?A2m and the angular velocity ?A3m from the angular velocity ?A3, by the feedback gain, and controls the second drive source.

Abstract: A control method executes a first step of actuating a brake to decelerate a robot arm, a second step of releasing or relaxing the actuation of the brake when one of Conditions A1, A2, and A3 is satisfied after deceleration of the robot arm, and a third step of actuating the brake again to restrict driving of the robot arm when one of Conditions B1, B2, and B3 is satisfied after release or relaxation of the brake, Condition A1: a velocity of the robot arm becomes a predetermined value or less; Condition A2: a contact state between the robot arm and the object becomes stable; Condition A3: time TA elapses; Condition B1: time TB elapses; Condition B2: a movement amount of the robot arm becomes a predetermined value or more; and Condition B3: the contact state between the object and the robot arm is released or relaxed.

Abstract: A control device for controlling a robot including an arm driven via a reduction gear by a motor generating a drive force, the control device comprising a processor that is configured to execute computer-executable instructions so as to control a robot, wherein the processor is configured to perform speed control on the arm by using an input detection value from an input position detection sensor which detects an input side operation position of the reduction gear, and an output detection value from an output position detection sensor which detects an output side operation position of the reduction gear.

Abstract: A SCARA robot includes a first arm configured to be moved in a direction different from a gravity direction; a first motor configured to drive the first arm; a first speed reducer, an input shaft of which is connected to the first motor and an output shaft of which is connected to the first arm; and a first output-side angle sensor configured to detect an operating position on an output side of the first speed reducer, wherein the first motor is controlled on the basis of an output of the first output-side angle sensor.

Abstract: A robot includes a base, a first arm that rotates around a first rotation axis, a second arm that rotates around a second rotation axis extending in a direction different than the first rotation axis, a third arm that rotates around a third rotation axis extending in a direction parallel to the second rotation axis, a first inertia sensor at the first arm, a second (a) inertia sensor at the third arm, a first angle sensor at a first drive source, a third angle sensor at a third drive source, and the drive sources rotate the respective arms. Angular velocities from the first inertia sensor and the first angle sensor are fed back to a first drive source control unit. Angular velocities from the second (a) inertia sensor and the third angle sensor are fed back to a second drive source control unit.

Abstract: When a first condition that a time in which magnitude of a first detection force detected by a force detection unit is larger than a first force threshold value continued for a time longer than zero and shorter than a first time threshold value is satisfied in teaching, a movable unit is moved in a predetermined amount in a direction according to a direction of the first detection force. When a second condition that magnitude of a second detection force detected by the force detection unit is larger than a second force threshold value that is larger than the first force threshold value is satisfied during movement of an end effector, the movable unit is decelerated or stopped.

Abstract: A robot system includes a robot having a base, an arm supported by the base, and a force detection unit provided in the base and detecting a first force applied to the arm, and a control unit that controls motion of the robot. The control unit performs force control of the arm and deceleration of the arm according to contact between the robot and an object based on output of the force detection unit.

Abstract: A robot has a base, a first arm provided at the base and pivoting about a first axis relative to the base, a second arm provided at the first arm and pivoting about a second axis parallel to the first axis relative to the first arm, an inertial sensor provided in the second arm and detecting one or both of an angular velocity about an angular velocity detection axis orthogonal to an axial direction of the second axis and an acceleration in the second axis direction, a pipe located outside of the first arm and coupling the base and the second arm, and a wire placed through the pipe and electrically coupled to the inertial sensor.

Abstract: In teaching of a robot, a control device controls a movable unit in a first control mode in which the movable unit continuously moves according to a force detected by a force detector and a second control mode in which the movable unit moves by a predetermined movement amount according to the force detected by the force detector. A controller selects a first control mode or a second control mode according to a temporal change in the force detected by the force detector and a magnitude of the force.

Abstract: A robot includes a first arm that rotates around the first axis, a second arm that rotates around a second axis in a direction different from the first axis, a third arm that rotates around a third axis parallel to the second axis, a first inertia sensor that is installed at the first arm, a second (a) inertia sensor that is installed at the third arm, first to third angle sensors, a posture detection unit that detects the posture of the third arm with the second arm as a reference and derives a feedback gain, and a second drive source control unit that feeds back a second correction component, which is obtained by multiplying a value, which is obtained by subtracting the angular velocity ?A2m and the angular velocity ?A3m from the angular velocity ?A3, by the feedback gain, and controls the second drive source.

Abstract: A robot includes a first arm that rotates around the first axis, a second arm that rotates around a second axis in a direction different from the first axis, a third arm that rotates around a third axis parallel to the second axis, a first inertia sensor that is installed at the first arm, a second (a) inertia sensor that is installed at the third arm, first to third angle sensors, a posture detection unit that detects the posture of the third arm with the second arm as a reference and derives a feedback gain, and a second drive source control unit that feeds back a second correction component, which is obtained by multiplying a value, which is obtained by subtracting the angular velocity ?A2m and the angular velocity ?A3m from the angular velocity ?A3, by the feedback gain, and controls the second drive source.