Abstract: An operation command unit of a robot control device includes a first control mode that, when a near-singular configuration determination unit determines that a robot is not near a singular configuration, outputs an operation command for moving a position and/or a posture of the tip of the robot on the basis of an operation force calculated by a first force calculation unit and a second control mode that, when the near-singular configuration determination unit determines that the robot is near the singular configuration, outputs an operation command for moving the position of an operation axis set by an operation axis setting unit on the basis of an operation force calculated by a second force calculation unit and a moving direction set by the operation axis setting unit.

Abstract: A robot control device includes an operation axis setting unit that sets a axis rotationally moved according to an applied force as an operation axis and sets a rotational moving direction of the operation axis; a first operation force acquisition unit that obtains a first virtual force that is virtually applied to the operation axis to assume that the first virtual force is a first operation force; and an operation command unit that outputs an operation command for moving the operation axis set by the operation axis setting unit on the basis of an operation force determined from the first operation force. The operation command unit obtains a target moving direction and a target moving velocity of the operation axis on the basis of the first operation force and the rotational moving direction set by the operation axis setting unit, so as to move the operation axis.

Abstract: A robot system includes a three-dimensional measuring device for obtaining positional information of a workpiece, a robot having a tool capable of holding a workpiece, and a control device for controlling the robot. The control device stores association data which associate the positional information of the workpiece with a center-of-gravity position of the workpiece. A center-of-gravity position of the workpiece to be picked out is estimated, based on the positional information obtained by the three-dimensional measuring device and on to the association data. The control device determines at least one of the holding position of the workpiece, the picking-out direction and the position and posture of the tool, based on the estimated center-of-gravity position.

Abstract: A robot controller (11) which moves either a tool (4) or a workpiece (W) relative to another one with a hand unit, controls the force acting between the tool and the workpiece, comprising a force detector unit (3) for detecting a force in one axial direction and moments about the axes in two axial directions that are at right angles with the one axis and are, further, at right angles with each other; a force-presuming point setting unit (12) for setting a force-presuming point at where a force acting between the tool and the workpiece is presumed; and a force-presuming unit (13) for presuming forces in the two axial directions and a moment about the one axis based upon the force in the one axial direction and the moments about the axes in the two axial directions, and upon the position of the force-presuming point.

Abstract: A control device for controlling a robot which has a tool for holding a workpiece and a force measuring part for measuring a force acting on the tool. The control device includes a calculating part for calculating a center-of-gravity position of the workpiece, based on force data measured by the force measuring part with a plurality of postures of the robot holding the workpiece, a processing part for performing at least one of a process for estimating a holding state of the workpiece, a process for determining a type of the workpiece, and a process for testing a quality of the workpiece, based on the position of the tool and the center-of-gravity position of the workpiece, and an operating command modifying part for modifying an operating command to the robot, based on a result of the process performed by the processing part.

Abstract: A robot system includes a three-dimensional measuring device for obtaining positional information of a workpiece, a robot having a tool capable of holding a workpiece, and a control device for controlling the robot. The control device stores association data which associate the positional information of the workpiece with a center-of-gravity position of the workpiece. A center-of-gravity position of the workpiece to be picked out is estimated, based on the positional information obtained by the three-dimensional measuring device and on to the association data. The control device determines at least one of the holding position of the workpiece, the picking-out direction and the position and posture of the tool, based on the estimated center-of-gravity position.

Abstract: A robot controller (11) which moves either a tool (4) or a workpiece (W) relative to another one with a hand unit, controls the force acting between the tool and the workpiece, comprising a force detector unit (3) for detecting a force in one axial direction and moments about the axes in two axial directions that are at right angles with the one axis and are, further, at right angles with each other; a force-presuming point setting unit (12) for setting a force-presuming point at where a force acting between the tool and the workpiece is presumed; and a force-presuming unit (13) for presuming forces in the two axial directions and a moment about the one axis based upon the force in the one axial direction and the moments about the axes in the two axial directions, and upon the position of the force-presuming point.

Abstract: A robot control apparatus includes a force measuring unit for acquiring the force data required for the control operation, a calculating unit for calculating the force exerted by gravity on the force measuring unit and the dynamic terms generated by the motion of the robot arm, of all the forces exerted on the force measuring unit from the working tool, a compensation unit for compensating the force measured by the force measuring unit using the force exerted by gravity and the dynamic terms calculated by the calculating unit, and a command adjusting unit for adjusting the operation command for the robot arm in accordance with the force exerted on the force measuring unit by the dynamic terms and gravity in the case where each of the dynamic terms is larger than a predetermined threshold value.

Abstract: A robot control apparatus for controlling force exerted between a working tool mounted at the forward end of a robot arm and a workpiece is disclosed. The apparatus includes a force measuring unit for acquiring the force data required for the control operation, a calculating unit for calculating the force exerted by gravity on the force measuring unit and the dynamic terms generated by the motion of the robot arm, of all the forces exerted on the force measuring unit from the working tool, a compensation unit for compensating the force measured by the force measuring unit using the force exerted by gravity and the dynamic terms calculated by the calculating unit, and a command adjusting unit for adjusting the operation command for the robot arm in accordance with the force exerted on the force measuring unit by the dynamic terms and gravity in the case where each of the dynamic terms is larger than a predetermined threshold value.