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 method of controlling a robot includes the steps of calculating a torsional angular velocity of an arm using a difference between an angular velocity detected by a gyro sensor and an angular velocity in a gyro sensor coordinate obtained from information detected by a first encoder and a second encoder, calculating a correction amount of a sensitivity error of the gyro sensor using a variation in the torsional angular velocity, and correcting sensitivity of the gyro sensor using the correction amount of the sensitivity error.

Abstract: In order to set control with a high degree of freedom while taking into account a time response waveform, a robot control apparatus includes a control section that acquires a driving position of a driving section that drives a robot and a detection value of an operation force operating on the robot detected by a force detector, and controls the driving section based on the detection value, a first setting value, and a second setting value; a first display section that displays a detection waveform that is a time response waveform of the detection value; a second display section that displays a storage waveform that is a time response waveform of the operation force stored in a storage medium in advance; and a receiving section that receives setting of at least the second setting value.

Abstract: A robot includes n arms, n drive units that respectively drive the n arms, n position detecting units that respectively detect positions of the n arms, and L signal lines through which signals detected by the n position detecting units flow. When the number of control units that control the driving of the drive units based on the signals detected by the position detecting units is m, the robot satisfies the relations of 2?L<n and 2?m<n.

Abstract: A robot includes a force detector, and a drive part that changes a position relationship between a marker and an imaging part. In the case with calibration processing of specifying a coordinate relationship as a correspondence relationship between a reference coordinate system with reference to a position of the marker and a robot coordinate system as reference of control of the drive part based on images of the marker captured by the imaging part in a plurality of the position relationships, the drive part is controlled to have anisotropy based on the coordinate relationship and a detection value of the force detector.

Abstract: A control device comprising a processor controls a robot including a first arm driven via a first reduction gear by a first motor, wherein the processor receives a signal for instructing first processing for deriving parameters for improving position accuracy of the first arm and controls the first motor and cause the first arm to perform a first specific operation, wherein the first specific operation includes a first operation element for moving the first arm from a first position to a second position and a second operation element for moving the first arm in an opposite direction of a direction of the first operation element.

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 robot control device controls the operation of a robot including a base; a robot arm that has at least three links, at least three joint portions, and at least three drive sources; an inertia sensor; and at least three angle sensors. The robot control device includes a first coordinate system vibration calculation unit; a second coordinate system vibration calculation unit; a weighting unit; a third coordinate system vibration calculation unit; a correction value calculation unit that obtains correction values for correcting the respective drive commands of the drive sources based on vibration information in a third coordinate system, and the respective detected results of the angle sensors; and a drive source control unit that controls the operations of the drive sources based on the respective drive commands of the drive sources, the correction values, and the respective detected results of the angle sensors.

Abstract: A robot control apparatus that controls a robot including a manipulator, a force detector provided in the manipulator, and an actuator that drives the manipulator based on a target position, includes a display control unit that displays a motion position of the manipulator derived based on a target force and an output of the force detector and the target position on a screen.

Abstract: In order to stabilize control of a driving section, a robot control apparatus includes a control section that acquires a driving position of the driving section that drives a robot and an operation force that is a force operating on the robot, and performs first control of the driving section based on the driving position and second control of the driving section based on the operation force; and a changing section that changes a size of servo stiffness of the robot that is realized by the control of the control section.

Abstract: A robot includes a plurality of joints including a first joint and a second joint that rotates in a direction different from a rotation direction of the first joint, a plurality of arm members including a first arm member provided to be rotatable with respect to a base via the first joint, and a first angular velocity sensor provided in the first arm member or the first joint. A first inertial sensor is provided in the first arm member (or a portion that rotates together with the first arm member in the first joint). The plurality of joints are controlled on the basis of an output of the first inertial sensor.

Abstract: In order to set control with a high degree of freedom while taking into account a time response waveform, a robot control apparatus includes a control section that acquires a driving position of a driving section that drives a robot and a detection value of an operation force operating on the robot detected by a force detector, and controls the driving section based on the detection value, a first setting value, and a second setting value; a first display section that displays a detection waveform that is a time response waveform of the detection value; a second display section that displays a storage waveform that is a time response waveform of the operation force stored in a storage medium in advance; and a receiving section that receives setting of at least the second setting value.

Abstract: A robotic device includes a first calculation section adapted to calculate a first angular velocity of a first arm operating due to a first actuator provided with a first angle sensor based on rotational angle detection data of the first angle sensor of the first actuator, a second calculation section adapted to calculate a second angular velocity of the first arm taking an arm linkage device as an axis based on angular velocity detection data of an inertial sensor provided to the first arm linked via the arm linkage device including the first actuator, which is a calculation object of the first calculation section, and a third calculation section adapted to calculate a torsional angular velocity between the first actuator and the first arm with a low-frequency component eliminated.

Abstract: In order to set control with a high degree of freedom while taking into account a time response waveform, a robot control apparatus includes a control section that acquires a driving position of a driving section that drives a robot and a detection value of an operation force operating on the robot detected by a force detector, and controls the driving section based on the detection value, a first setting value, and a second setting value; a first display section that displays a detection waveform that is a time response waveform of the detection value; a second display section that displays a storage waveform that is a time response waveform of the operation force stored in a storage medium in advance; and a receiving section that receives setting of at least the second setting value.

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: A robot includes a plurality of joints including a first joint and a second joint that rotates in a direction different from a rotation direction of the first joint, a plurality of arm members including a first arm member provided to be rotatable with respect to a base via the first joint, and a first angular velocity sensor provided in the first arm member or the first joint. A first inertial sensor is provided in the first arm member (or a portion that rotates together with the first arm member in the first joint). The plurality of joints are controlled on the basis of an output of the first inertial sensor.

Abstract: A robot includes a movable section capable of moving, a driving section configured to drive the movable section, a transmitting section located between the movable section and the driving section, a first position detecting section configured to detect a position on an input side of the transmitting section, a second position detecting section configured to detect a position on an output side of the transmitting section, and an inertial sensor provided in the movable section. The driving section is driven on the basis of a detection result of the first position detecting section, a detection result of the second position detecting section, and a detection result of the inertial 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: A robot includes a plurality of joints including a first joint and a second joint that rotates in a direction different from a rotation direction of the first joint, a plurality of arm members including a first arm member provided to be rotatable with respect to a base via the first joint, and a first angular velocity sensor provided in the first arm member or the first joint. A first inertial sensor is provided in the first arm member (or a portion that rotates together with the first arm member in the first joint). The plurality of joints are controlled on the basis of an output of the first inertial sensor.

Abstract: A robot includes a plurality of joints including a first joint and a second joint that rotates in a direction different from a rotation direction of the first joint, a plurality of arm members including a first arm member provided to be rotatable with respect to a base via the first joint, and a first angular velocity sensor provided in the first arm member or the first joint. A first inertial sensor is provided in the first arm member (or a portion that rotates together with the first arm member in the first joint). The plurality of joints are controlled on the basis of an output of the first inertial sensor.