Abstract: When a multiaxial robot with a mechanism having spring elements between electric motors of respective axes and robot arms is controlled, the path precision of a tool tip is increased without causing vibrations produced by mechanical interference between axes and high-frequency vibrations of electric motors. A model controller (1) is supplied with position commands Xref—L, Xref—U with respect to the electric motors and outputs model motor position commands &thgr;Mm—L, &thgr;Mm—U, model motor speed commands {dot over (&thgr;)}Mm—L, {dot over (&thgr;)}Mm—U, and model feed-forward commands UFF—L, UFF—U to feedback controllers (10L, 10U) which actuate and control the electric motors and the robot arms. The model controller (1) includes therein corrective quantity calculators (3L, 3U) for calculating corrective quantities (corrective torques) in view of interfering forces acting between the axes from the other axes to cancel the interfering forces.

Abstract: A method of generating a robotic process plan for performing a process on a work structure includes a step of receiving input identifying a template corresponding to a plurality of geometric features of the work structure, each geometric feature associated with one or more robotic process elements. The method further includes a step of receiving input associating work structure data with the identified template. The method also includes a step of generating the robotic process plan based on the associated work structure data and the robotic process elements associate with the template.

Abstract: A method for teaching movements to a robot (12) is disclosed. The robot (12) includes a fixture (14) for cooperating with a workpiece (16), at least one sensor (18) for sensing a spatial relationship of the robot fixture (14) relative to the workpiece (16), at least one motor (20), and a microprocessor (22) for controlling motion of the robot (12) relative to the workpiece (16).

Abstract: A method for preventing collisions between robots by causing a first robot to stop or pause so that a second robot may safely pass by or perform a specified operation. Once the second robot has completed its operation then the first robot is allowed to resume operation. Each robot automatically stops when it reaches a certain point in its job. The robots communicate with a central controller which allows the robots to resume operation when the central controller has determined that all of the robots have reached their respective correct positions. This prevents collisions between robots which are operating in the same area, especially those robots operating on the same workpiece. This method works with existing robot welders, does not require modifications to the robots, and does not require expensive spatial analysis computer programs, which may not even be available for the type of processor used in a particular robot.

Abstract: A remote operation system for a robot for facilitating the restoring operation of the robot. In the system, when an abnormal operation or abnormal parameter on a user side is detected, the information of such an abnormality is displayed on the operation terminal of a service staff side and further operation instruction and comments relating to the restoring operation are applied from the service staff side to the operation terminal of the user side and displayed thereon.

Abstract: A method for automatically tracking the joint between a first component and a second component, or the edge of a component, a welding operation. A preliminary path is defined for the joint or edge (703), a welding torch (100) is moved along the preliminary path while an arc welding current is provided to the welding torch. The welding torch is moved slightly to a first side (705A) of the preliminary path and then to a second side (705B) of the preliminary path as the welding torch is being moved along the preliminary path. A first current measurement is obtained by measuring the arc welding current when the welding torch is to the first side, and a second current is obtained by measuring the arc welding current when the welding torch is to second side. The first current measurement and the second current measurement are compared and used to redefine the preliminary welding path by moving the welding torch slightly to the side having the preferred current measurement.