Abstract: A control device for controlling a machine with axes having a corotational relation includes: axis position detectors; motor position detectors; a position command calculation unit calculating a position command for each of the axes based on an operation program; a position control unit outputting a speed command of each motor based on the position command and the detection position of the corresponding axis; a speed control unit controlling each motor based on the speed command; and a correction value calculation unit calculating a correction value for correcting, based on the corotational relation, the speed command of a motor with a to-be-controlled axis which is an axis rotating dependent on the corotational relation. The speed control unit corresponding to the to-be-controlled axis corrects the speed command based on the correction value so as to be applied to control of the motor with the to-be-controlled axis.

Abstract: A robot including a plurality of joints each configured to rotate about an axis line; a torque sensor S1 configured to detect torque about the axis line of a target joint as one of the plurality of joints; angle information detection units configured to detect information related to a rotation angle of each of the joints about the axis line; a torque change amount estimation unit configured to estimate a change amount of the torque detected by the torque sensor due to a load other than the torque about the axis line of the target joint based on the detected information; and a correction unit configured to correct the torque detected by the torque sensor by using the estimated change amount.

Abstract: A robot control device includes: a creep-information storage unit that stores an amount of bending in correspondence with a cumulative time, the bending occurring in a robot due to creep deformation; a mastering-data storage unit that stores mastering data of the robot; a timer that measures the cumulative time; and a correction unit that corrects the mastering data stored in the mastering-data storage unit based on the amount of bending stored in the creep-information storage unit in correspondence with the cumulative time measured by the timer.

Abstract: A robot control device includes: a creep-information storage unit that stores an amount of bending in correspondence with a cumulative time, the bending occurring in a robot due to creep deformation; a mastering-data storage unit that stores mastering data of the robot; a timer that measures the cumulative time; and a correction unit that corrects the mastering data stored in the mastering-data storage unit based on the amount of bending stored in the creep-information storage unit in correspondence with the cumulative time measured by the timer.

Abstract: The collaborative operation support device includes a display device including a display area; and a processor configured to detect, based on an image in which the operator or the robot is represented, a position of a section of the robot in the display area when the operator looks at the robot through the display area, the section associated with an operation mode of the robot specified by means of an input device; select, in accordance with the specified operation mode of the robot, display data corresponding to the specified mode among display data stored in a memory; and display the selected display data in the display area of the display device in such a way that the selected display data is displayed at a position that satisfies a certain positional relationship with the position of the section of the robot in the display area.

Abstract: A robot includes: a wrist unit including a plurality of wrist joints; and a plurality of basic joints configured to determine the position of the wrist unit in a three-dimensional space. Only the basic joints are provided with torque sensors configured to detect torque of the basic joints about axis lines.

Abstract: A robot control device includes: a creep-information storage unit that stores an amount of bending in correspondence with a cumulative time, the bending occurring in a robot due to creep deformation; a mastering-data storage unit that stores mastering data of the robot; a timer that measures the cumulative time; and a correction unit that corrects the mastering data stored in the mastering-data storage unit based on the amount of bending stored in the creep-information storage unit in correspondence with the cumulative time measured by the timer.

Abstract: To provide a learning model construction device, abnormality detection device, abnormality detection system and server for performing abnormality detection using sound information of the surroundings of a production apparatus. A learning model construction device includes a voice acquisition unit that acquires voice data including the voice of an operator located in the vicinity of a production apparatus, via a mic; a label acquisition unit that acquires an abnormality degree related to a production line including the production apparatus as a label; and a learning unit that constructs a learning model for the abnormality degree, by performing supervised learning with a group of voice data and label as training data.

Abstract: A robot including a plurality of joints each configured to rotate about an axis line; a torque sensor S1 configured to detect torque about the axis line of a target joint as one of the plurality of joints; angle information detection units configured to detect information related to a rotation angle of each of the joints about the axis line; a torque change amount estimation unit configured to estimate a change amount of the torque detected by the torque sensor due to a load other than the torque about the axis line of the target joint based on the detected information; and a correction unit configured to correct the torque detected by the torque sensor by using the estimated change amount.

Abstract: A robot includes a wrist unit including a plurality of wrist joints; and a plurality of basic joints configured to determine the position of the wrist unit in a three-dimensional space. Only the basic joints, and are provided with torque sensors configured to detect torque of the basic joints about axis lines.

Abstract: The collaborative operation support device includes a display device including a display area; and a processor configured to detect, based on an image in which the operator or the robot is represented, a position of a section of the robot in the display area when the operator looks at the robot through the display area, the section associated with an operation mode of the robot specified by means of an input device; select, in accordance with the specified operation mode of the robot, display data corresponding to the specified mode among display data stored in a memory; and display the selected display data in the display area of the display device in such a way that the selected display data is displayed at a position that satisfies a certain positional relationship with the position of the section of the robot in the display area.

Abstract: A robot control device able to accurately estimate an external force applied from a workpiece to a robot in a time-dependently changing manner. The robot control device includes a support force data acquisition section which acquires measurement data of a workpiece support force by the environment, the workpiece support force varying while the robot lifts the workpiece; a disturbance estimation section which estimates a disturbance value applied to the robot using state information of the robot; and a correction section which corrects, using the measurement data acquired by the support force data acquisition section, the disturbance value estimated by the disturbance estimation section or the state information inputted to the disturbance estimation section.

Abstract: A force acting on a link is detected at low cost. Provided is a rotation-shaft joint structure including: a driving-force generating part including a fixed member that is fixed to a base member, and a movable member that is rotationally driven about a predetermined axis relative to the fixed member; a link member that is fixed to the movable member of the driving-force generating part; and a uniaxial strain sensor that is attached to the link member or the movable member, at a surface located in a space between a fixed area over which the link member is fixed to the movable member and the outer circumferential surface of the driving-force generating part about the axis, to detect the strain of the surface.

Abstract: To provide a learning model construction device, abnormality detection device, abnormality detection system and server for performing abnormality detection using sound information of the surroundings of a production apparatus. A learning model construction device includes a voice acquisition unit that acquires voice data including the voice of an operator located in the vicinity of a production apparatus, via a mic; a label acquisition unit that acquires an abnormality degree related to a production line including the production apparatus as a label; and a learning unit that constructs a learning model for the abnormality degree, by performing supervised learning with a group of voice data and label as training data.

Abstract: A force acting on a link is detected at low cost. Provided is a rotation-shaft joint structure including: a driving-force generating part including a fixed member that is fixed to a base member, and a movable member that is rotationally driven about a predetermined axis relative to the fixed member; a link member that is fixed to the movable member of the driving-force generating part; and a uniaxial strain sensor that is attached to the link member or the movable member, at a surface located in a space between a fixed area over which the link member is fixed to the movable member and the outer circumferential surface of the driving-force generating part about the axis, to detect the strain of the surface.

Abstract: A robot control device able to accurately estimate an external force applied from a workpiece to a robot in a time-dependently changing manner. The robot control device includes a support force data acquisition section which acquires measurement data of a workpiece support force by the environment, the workpiece support force varying while the robot lifts the workpiece; a disturbance estimation section which estimates a disturbance value applied to the robot using state information of the robot; and a correction section which corrects, using the measurement data acquired by the support force data acquisition section, the disturbance value estimated by the disturbance estimation section or the state information inputted to the disturbance estimation section.

Abstract: A robot control device includes a first sensor which is used in a first range including the entirety of the operating range of the robot, a second sensor which is used in a second range including at least a part of the operating range of the robot, and a range storing unit for storing a third range included in both the operating range and the second range. The robot control device also includes a ratio setting unit for setting a ratio between a first control input obtained using the first sensor and a second control input obtained using the second sensor with respect to control inputs to the motor based on the comparison of the third range and the position and posture of the robot, and an addition unit for adding the first control input and the second control input together in accordance with the set ratio.

Abstract: A robot control device includes a first sensor which is used in a first range including the entirety of the operating range of the robot, a second sensor which is used in a second range including at least a part of the operating range of the robot, and a range storing unit for storing a third range included in both the operating range and the second range. The robot control device also includes a ratio setting unit for setting a ratio between a first control input obtained using the first sensor and a second control input obtained using the second sensor with respect to control inputs to the motor based on the comparison of the third range and the position and posture of the robot, and an addition unit for adding the first control input and the second control input together in accordance with the set ratio.