Abstract: A safety monitoring device for a robot includes a position detecting unit for detecting the position of a robot, a force detecting unit for detecting an external force applied to the position detecting unit, an external force determination condition setting unit, which sets, as an external force determination condition, an intra-region external force determination condition when the present position of the robot detected by the position detecting unit remains within a predetermined region and which sets, as an external force determination condition, an out-of-region external force determination condition when the present position of the robot is outside of the predetermined region, and a robot stopping unit for stopping the robot when the external force detected by the force detecting unit satisfies the external force determination condition.

Abstract: There is provided a robot control device enabling a robot to carry various types of objects without exceeding an allowable weight thereof. The robot control device for controlling the robot for carrying an object in cooperation with a person includes a force acquisition part configured to acquire force applied from the object to the robot when the object is lifted, a comparison part configured to compare a force component in a gravity direction of the force acquired by the force acquisition part with a first threshold value predetermined with respect to the force component, and a stop command part configured to stop the robot when the force component is greater than the first threshold value.

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 human-collaborative robot system includes a detection unit that directly or indirectly detects a physical quantity which is changed in response to contact force applied to a robot when the robot comes in contact with an external environment, and a stop command unit that compares the physical quantity detected by the detection unit with a first threshold value and a second threshold value greater than the first threshold value, stops the robot according to a predetermined stop method when the physical quantity is equal to or greater than the first threshold value and is smaller than the second threshold value, and stops the robot in a shorter period of time as compared with the predetermined stop method when the physical quantity is equal to or greater than the second threshold value.

Abstract: A robot control apparatus comprises a contact detection unit which judges whether or not a robot is in contact with an object other than the robot, and an operation direction monitor unit which detects an operation direction of the robot after the robot comes in contact with the object and monitors operation of the robot. After the robot comes in contact with the object, the operation direction monitor unit permits operation of the robot being within a permissible range and inhibits operation of the robot falling outside the permissible range.

Abstract: A robot controller includes a first time-series data obtaining part for obtaining first data used for fault diagnosis in time series and store the first data as first time-series data, a second time-series data obtaining part for obtaining second data used for extraction of the first data which is used for the fault diagnosis in time series and store the second data as second time-series data, a time specification part for specifying extraction time of the first data used for the fault diagnosis based on the second time-series data, a data extraction part for extracting the first data corresponding to the extraction time, and a diagnosis performing part for performing the fault diagnosis of the robot based on the first data extracted by the data extraction part.

Abstract: A human cooperation robot system includes: an external force detecting unit that detects an external force acting on a robot; a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is larger than a first threshold value; a position acquiring unit that a current position of the robot; and a retreat operation stopping unit that stops the retreat operation when the current position of the robot acquired by the position acquiring unit departs from a retreat area.

Abstract: A control apparatus in an automaton that operates in cooperation with a peripheral device, includes: an operating time accumulator regarding the output time of a control signal to the peripheral device or the output time of an operating signal from the peripheral device as operating time and determining cumulative operating time by adding up the operating times; a time-at-inspection recorder recording the cumulative operating time when inspection is performed as the cumulative operating time at inspection; a cumulative operating time comparator comparing the difference between the current cumulative operating time and the cumulative operating time at inspection, the cumulative operating time from the latest inspection, or the cumulative operating time after inspection, with a preset inspection interval; and, a maintenance request output unit outputting a maintenance request to the outside when the cumulative operating time after inspection obtained as a result of the comparison exceeds the preset inspection i

Abstract: A human cooperation robot system includes: an external force detecting unit that detects an external force acting on a robot; a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is greater than a first threshold value; and an external force variation monitoring unit that stops the retreat operation when a variation width of the external force at a predetermined time after the retreat operation is commanded by the retreat operation commanding unit is smaller than a second threshold value.

Abstract: A control device includes an estimated torque calculation unit, an actual torque calculation unit, a torque comparison unit, and a stop unit. The estimated torque calculation unit calculates an estimated torque for maintaining the posture of an automatic machine based on preset load information when the machine is in a resting state in which its posture is maintained by a torque applied by a servomotor. The actual torque calculation unit calculates an actual torque actually applied to maintain the posture. The torque comparison unit compares an error between the estimated and actual torques with a predetermined first threshold. The stop unit stops subsequent operations of the automatic machine when the error is greater than the first threshold.

Abstract: A human-collaborative robot system includes a detection unit that directly or indirectly detects a physical quantity which is changed in response to contact force applied to a robot when the robot comes in contact with an external environment, and a stop command unit that compares the physical quantity detected by the detection unit with a first threshold value and a second threshold value greater than the first threshold value, stops the robot according to a predetermined stop method when the physical quantity is equal to or greater than the first threshold value and is smaller than the second threshold value, and stops the robot in a shorter period of time as compared with the predetermined stop method when the physical quantity is equal to or greater than the second threshold value.

Abstract: A robot controller having a function for mitigating damage to a robot when the robot is brought to an emergency stop, and for facilitating restoration of the robot from the emergency stop. The robot controller has a controlling part which controls a motion of a robot based on a predetermined robot program; a first detecting part which detects a predetermined abnormality which does not require the robot to be immediately stopped; a stopping condition judging part which judges as to whether or not a predetermined stopping condition is satisfied when the first detecting part detects the abnormality; and a stopping process executing part which executes a stopping process of the robot when the stopping condition is satisfied, and does not execute the stopping process when the stopping condition is not satisfied.

Abstract: A robot control device includes a correction amount calculation unit that calculates a correction amount for collecting a deviation of a tip position of a tool attached to a tip of a robot due to an external force applied to the tool and a correction profile generation unit that generates a correction profile indicating a relationship between the correction amount calculated by the correction amount calculation unit and time.

Abstract: A multi-joint robot using substantially one sensor, capable of performing a proper repositioning motion of an arm of the robot. The controller has a disturbance torque estimating part which estimates a first disturbance torque and a second disturbance torque, by calculating a torque generated by a mass and motion of the robot and subtracting the calculated torque from the first torque and the second torque detected by a torque detecting part. The controller has a repositioning commanding part which generates a motion command for rotating each axis so that the disturbance torque is reduced, when the disturbance torque exceeds a torque threshold. Since the axis is repositioned based on the motion command, a portion of the robot pushed by the operator is repositioned, whereby the operator can easily perform one's work without using a teaching board, etc.

Abstract: A conveying system includes an external force calculation unit which calculates an external force applied to a robot based on a force or torque applied to the robot detected by a force detection unit, and workpiece parameters changed in accordance with the holding state of a workpiece, and a robot stopping unit which stops the robot when the calculated external force exceeds a threshold. The conveying system further includes a relative movement unit which moves the held workpiece and a workpiece support relative to each other. By the relative movement unit, the workpiece and workpiece support are moved relative to each other without changing the position and posture of the robot.

Abstract: A safety monitoring device monitoring a robot includes a workpiece parameter switching unit switching a workpiece parameter, an external force estimation unit estimating, as an external force estimation value, a force acting on the robot from an external environment by using the workpiece parameter, an external force monitoring unit stopping the robot when the external force estimation value satisfies an external force determination condition, an operation monitoring unit stopping the robot, based on conditions such as a position of the robot being included within a predetermined region, an operation monitoring state switching unit switching between a disabling command and an enabling command for the operation monitoring unit, and an external force determination condition setting unit switching the external force determination condition to an operation monitoring disabling time external force determination condition at the disabling command and to an operation monitoring enabling time external force determina

Abstract: A robot with a learning control function is disclosed. The robot includes a robot mechanism unit, a learning control unit for obtaining data on positional deviation of the robot mechanism unit upon execution of a task program and executing a learning control for calculating a learning correction amount in order to decrease the positional deviation of the robot mechanism unit below a certain value, a normal control unit for executing a learning operation of the robot mechanism unit in order to obtain the data during the learning control and executing an actual operation of the robot mechanism unit based on the learning correction amount calculated by the learning control unit after executing the learning control, and an anti-exception processing unit for executing an anti-exception process in the case where an exception process occurs during the learning operation or the actual operation.

Abstract: A robot with a learning control function is disclosed. The robot includes a robot mechanism unit, a learning control unit for obtaining data on positional deviation of the robot mechanism unit upon execution of a task program and executing a learning control for calculating a learning correction amount in order to decrease the positional deviation of the robot mechanism unit below a certain value, a normal control unit for executing a learning operation of the robot mechanism unit in order to obtain the data during the learning control and executing an actual operation of the robot mechanism unit based on the learning correction amount calculated by the learning control unit after executing the learning control, and an anti-exception processing unit for executing an anti-exception process in the case where an exception process occurs during the learning operation or the actual operation.

Abstract: There is provided a servo controller for a spot welding gun for controlling a pressurizing force, applied by a pair of mutually-opposing gun chips, on an object to be welded, including at least one movable gun chip, which is held between the pair of gun chips, by causing a drive source of the movable gun chip to drive the movable gun chip in a direction in order to pressurize the object to be welded. The servo controller includes a feedback control section for calculating a difference value (Fc?F) between an obtained pressurizing-force value F and a required pressurizing-force value Fc, and a feedforward control section for adding a correcting command value, obtained from a position command value or a speed command value for the drive source, to the difference value (Fc?F).

Abstract: A control device for controlling the motion of a movable part in a machine while suppressing vibration generated in the movable part. The control device includes a state-variable estimating section for estimating a state variable of a controlled system in the machine and outputting an estimated state variable; a reference model for outputting an ideal controlled variable for the controlled system; a compensator for calculating a compensation value for correcting a control input for the controlled system, based on a difference between the estimated state variable and the ideal controlled variable; and a feedback control section for determining the control input, based on a deviation between a desired command value and one of the estimated state variable and the ideal controlled variable.