Abstract: A manipulator system configured to perform a work to a workpiece being moved by a moving device, includes a robotic arm, having one or more joints and to which a tool configured to perform the work to the workpiece is attached, an operating device configured to operate the robotic arm, a first imaging means configured to image the workpiece, while following the movement of the workpiece, a second imaging means fixedly provided in a work area to image a situation of the work to the workpiece, a displaying means configured to display an image imaged by the first imaging means and an image imaged by the second imaging means, and a control device configured to control the operation of the robotic arm based on an operating instruction of the operating device, while detecting a moving amount of the workpiece being moved by the moving device and carrying out a tracking control of the robotic arm according to the moving amount of the workpiece.

Abstract: A remote control robot system includes a slave arm, a master main body imitating the shape of an object handled by the slave arm, a manipulation receiving device configured to receive manipulation of an operator based on the position and posture of the master main body, and a control device configured to control operation of the slave arm based on the manipulation received by the manipulation receiving device so that behavior of the object corresponds to behavior of the master main body.

Abstract: To provide an industrial robot and a method of operating the same which are capable of appropriately handling, when an abnormal state occurs during an automatic operation of the robot, the abnormal state without significantly degrading the work efficiency. The industrial robot includes a robot main body (1) having a robot arm, a robot control device (7) configured to control operation of the robot main body (1) and an abnormal state detecting device (8) configured to detect abnormality in a work state of the robot main body (1). The robot control device (7) includes an automatic operation performing means (9) for controlling the operation of the robot main body (1) to perform an automatic operation based on a given operation program, and an automatic operation correcting means (10) for correcting the operation of the robot main body (1) in the automatic operation based on a manual control performed by an operator according to a detection result of the abnormal state detecting device (8).

Abstract: A robot system includes a robot main body, memory part configured to store information for causing robot main body to perform given operation, as saved operational information, motion controller configured to control operation of robot main body by using saved operational information as automatic operational information for causing robot main body to operate, and an operation correcting device configured to generate, by being operated, manipulating information for correcting operation of robot main body during operation. Motion controller controls robot main body to perform an operation corrected from operation related to automatic operational information in response to a reception of the manipulating information while robot main body is operating by using automatic operational information. Memory part is configured to be storable of corrected operational information for causing robot main body to perform corrected operation as saved operational information, when robot main body performs corrected operation.

Abstract: Robot system which includes a master device configured to receive an operating instruction from an operator, slave arm, storage device configured to store operating sequence information that defines processing carried out by slave arm, and control device configured to control operation of slave arm. Control device includes a receiver configured to receive an input signal, motion controller configured to determine whether operating mode of slave arm is to be automatic, manual or correctable automatic mode and control operation of slave arm in determined operating mode, and continuation determinator configured to determine whether continuation of automatic mode is permitted. In a process at which slave arm is scheduled to operate in automatic mode, after motion controller suspends operation of slave arm in automatic mode at a given step of process, continuation determinator determines whether continuation of automatic mode is permitted based on input signal received by receiver when operation is suspended.

Abstract: A manipulator system configured to perform a work to a workpiece being moved by a moving device, includes a robotic arm, having one or more joints and to which a tool configured to perform the work to the workpiece is attached, an operating device configured to operate the robotic arm, a first imaging means configured to image the workpiece, while following the movement of the workpiece, a second imaging means fixedly provided in a work area to image a situation of the work to the workpiece, a displaying means configured to display an image imaged by the first imaging means and an image imaged by the second imaging means, and a control device configured to control the operation of the robotic arm based on an operating instruction of the operating device, while detecting a moving amount of the workpiece being moved by the moving device and carrying out a tracking control of the robotic arm according to the moving amount of the workpiece.

Abstract: An industrial robot and a method of operating the same which are capable of appropriately handling, when an abnormal state occurs during an automatic operation of the robot, the abnormal state without significantly degrading the work efficiency. The industrial robot includes a robot main body having a robot arm, a robot control device configured to control operation of the robot main body and an abnormal state detecting device configured to detect abnormality in a work state of the robot main body. The robot control device includes an automatic operation performing means for controlling the operation of the robot main body to perform an automatic operation based on a given operation program, and an automatic operation correcting means for correcting the operation of the robot main body in the automatic operation based on a manual control performed by an operator according to a detection result of the abnormal state detecting device.

Abstract: A robot system includes a robot main body, memory part configured to store information for causing robot main body to perform given operation, as saved operational information, motion controller configured to control operation of robot main body by using saved operational information as automatic operational information for causing robot main body to operate, and an operation correcting device configured to generate, by being operated, manipulating information for correcting operation of robot main body during operation. Motion controller controls robot main body to perform an operation corrected from operation related to automatic operational information in response to a reception of the manipulating information while robot main body is operating by using automatic operational information. Memory part is configured to be storable of corrected operational information for causing robot main body to perform corrected operation as saved operational information, when robot main body performs corrected operation.

Abstract: Robot system which includes a master device configured to receive an operating instruction from an operator, slave arm, storage device configured to store operating sequence information that defines processing carried out by slave arm, and control device configured to control operation of slave arm. Control device includes a receiver configured to receive an input signal, motion controller configured to determine whether operating mode of slave arm is to be automatic, manual or correctable automatic mode and control operation of slave arm in determined operating mode, and continuation determinator configured to determine whether continuation of automatic mode is permitted. In a process at which slave arm is scheduled to operate in automatic mode, after motion controller suspends operation of slave arm in automatic mode at a given step of process, continuation determinator determines whether continuation of automatic mode is permitted based on input signal received by receiver when operation is suspended.

Abstract: A remote control robot system includes a slave arm, a master main body imitating the shape of an object handled by the slave arm, a manipulation receiving device configured to receive manipulation of an operator based on the position and posture of the master main body, and a control device configured to control operation of the slave arm based on the manipulation received by the manipulation receiving device so that behavior of the object corresponds to behavior of the master main body.

Abstract: The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation.

Abstract: A desired q-axis current is determined based on a desired torque, and a desired d-axis current is determined based on the rotating speed of a synchronous motor when the terminal voltage of the synchronous motor coincides with a predetermined maximum permissible voltage to weaken a magnetic field created by the synchronous motor equivalently and to prevent the drop of the output torque of the synchronous motor. The desired d-axis current is determined based on the desired torque and the rotating speed. Therefore, the desired d-axis current can be reduced when a high torque is not necessary and undesired increase of the desired d-axis current can be prevented. Thus the synchronous motor operates efficiently, heat generation of the synchronous motor is prevented and power factor is improved.

Abstract: A desired q-axis current is determined based on a desired torque, and a desired d-axis current is determined based on the rotating speed of a synchronous motor when the terminal voltage of the synchronous motor coincides with a predetermined maximum permissible voltage to weaken a magnetic field created by the synchronous motor equivalently and to prevent the drop of the output torque of the synchronous motor. The desired d-axis current is determined based on the desired torque and the rotating speed. Therefore, the desired d-axis current can be reduced when a high torque is not necessary and undesired increase of the desired d-axis current can be prevented. Thus the synchronous motor operates efficiently, heat generation of the synchronous motor is prevented and power factor is improved.

Abstract: The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation.

Abstract: Provided is a drive-controlling method and apparatus and a robot having the apparatus for precisely detecting a collision of a arm being driven by a robot with obstacles, and for keeping damages of the arm from the collision minimum: storing a route of the arm being driven by the robot in a memory; detecting a collision by comparing a current value of a servo motor which drives the arm and a reference current value; and controlling the robot such that the arm leaves a predetermined distance from the obstacle based on the stored route, backing up the arm along the same route as before the collision.