Abstract: Provided are a robot control device and a robot system that can automatically correct errors in position and posture when supplying a workpiece. A robot control device for controlling a robot comprises an error correction unit that, when the robot supplies a workpiece to or removes the workpiece from a machine tool, performs force control on the basis of a detection value of a force detector detecting an external force and a moment acting on the workpiece, and corrects errors in position and posture of the workpiece and a securing mechanism securing the workpiece.

Abstract: A teaching device is provided with: a setting information storage unit for storing setting information defining a position and an attitude of a force sensor relative to a coordinate system set in a robot; and a virtual image superimposing and displaying unit for superimposing and displaying a virtual image in a real space including the robot or a prescribed object supporting the force sensor, or in a virtual space including a model of the robot or a model of the prescribed object, in such a way that a virtual image representing the force sensor adopts a position and an attitude corresponding to the setting information in the real space or the virtual space.

Abstract: Provided is a driver configured to be capable of filling gas suitable for a set pressure of a pressure chamber. This driver is provided with: a pressure chamber into which gas is filled; a striker moved in a first direction by pressure within the pressure chamber to strike nails; and an electric motor and a pin wheel, which move the striker in a second direction opposite to the first direction to increase the pressure within the pressure chamber. A pressure regulator for regulating the pressure of the gas filled into the pressure chamber is dedicated for the driver, and the driver is provided with a mounting hole for the pressure regulator.

Abstract: The controller acquires a force applied to a manipulator of a robot, to generate, based on the acquired data, force state data containing information related to the force applied to the manipulator and control command adjustment data indicating an adjustment behavior of a control command related to the manipulator as state data, thereby executing, based on the generated state data, a process of machine learning related to the adjustment behavior of the control command related to the manipulator.

Abstract: Provided is a program creation device capable of creating an operation program for a robot for removal machining of a workpiece even when a sufficient amount of displacement does not exist between a machined surface and a reference surface of the workpiece or even when the amount of displacement changes. The present disclosure pertains to a program creation device for creating an operating program for a robot for removal machining a workpiece having a machining surface, and a reference surface displaced from the machining surface. The robot for removal machining comprises a removal machining tool.

Abstract: A power supply device includes a power supply circuit configured to output different voltages to a plurality of output lines, a plurality of capacitors provided in correspondence with the plurality of output lines, one end of each of the plurality of capacitors being coupled to a corresponding output line of the plurality of output lines and an other end thereof being coupled to a ground potential, a plurality of diodes provided in correspondence with the plurality of output lines, anodes of the plurality of diodes being coupled to the corresponding output lines and cathodes thereof being commonly coupled, and a discharge resistor coupled to the cathodes of the plurality of diodes.

Abstract: A controller of a robot includes an operation device for an operator to perform an operation of manually changing a position and an orientation of the robot. The operation device includes a movable part configured to perform a pushing operation, a pulling operation, and a tilting operation in a predetermined direction, and an operation detection unit configured to detect the operation of the movable part. The processing device includes a manual control unit that controls an inching operation that changes the position and the orientation of the robot by a predetermined minute amount. The manual control unit determines whether or not the inching operation is performed based on the magnitude of the force with which the movable part is operated.

Abstract: The objective of the present invention is to provide a deburring control device capable of easily identifying the cause of a deburring failure.

Abstract: The present invention makes it possible, in force control during production, to automatically adjust a force control parameter optimally so as not to cause oscillation of a robot or failure of work. This robot system comprises: a robot arm having a hand at the end thereof for holding a workpiece; a force detector for detecting a force and moment received by the workpiece held by the hand; and a control device for moving the workpiece held by the hand with respect to a target object while performing force control of the robot arm to correct a position error and an attitude error of the workpiece, on the basis of a predetermined force control parameter and a detected value of the force detector. The control device has a parameter automatic adjustment unit for automatically adjusting the force control parameter by executing the moving of the workpiece with respect to the target object a plurality of times.

Abstract: A machine learning apparatus that can determine the state of a tool from a force applied from the tool to a robot while the robot performs a work using the tool. A machine learning apparatus for learning a state of a tool used for a work by a robot includes a learning data acquisition section that acquires, as a learning data set, data of a force applied from the tool to the robot while the robot causes the tool to perform a predetermined operation, and data indicating the state of the tool during the predetermined operation, and a learning section that generates a learning model representing a correlation between the force and the state of the tool, using the learning data set.

Abstract: Provided is a program generation device capable of automatically generating a route program which takes into account the amount of bending when the tip of a robot abuts against a workpiece. This program generation device is provided with: an acquisition unit that acquires route data indicating a route to be followed by the tip of the robot with respect to an object; a detection unit that detects a pressing force for pressing the tip of the robot to the object; a calculation unit that calculates the amount of misalignment of the followed route caused by bending of the tip of the robot, on the basis of the pressing force detected by the detection unit and a prescribed constant; and a generation unit that automatically generates a route program for controlling a moving route of the tip of the robot, on the basis of the route data acquired by the acquisition unit and the amount of misalignment calculated by the calculation unit.

Abstract: A determination apparatus acquires, as acquired data, the state of force and moment applied to a manipulator and the state of the position and the posture in an operation when a force control of an industrial robot is carried out, and creates an evaluation function that evaluates the quality of the operation of the industrial robot based on the acquired data. Then, it creates determination data for the acquired data using the evaluation function, and creates state data used for machine learning based on the acquired data. Then, it generates a learning model for determining a quality of an operation of the industrial robot using the state data and the determination data.

Abstract: A robot system causing a robot to operate in response to a handling force, wherein a position of the robot can be adjusted with higher accuracy. In one aspect of the present disclosure, a robot system includes a robot having a handle, a force sensor configured to detect a handling force applied to the handle, and an inching motion execution section configured to execute an inching motion of causing the robot to move by a movement amount determined in response to the handling force detected by the force sensor.

Abstract: A control device for a robot includes a comparing unit and a controller. When the robot equipped with a force sensor capable of detecting force components of a same type in a plurality of directions operates, the comparing unit compares a magnitude of each of the force components detected by the force sensor with a predetermined threshold value for each of the directions. If the comparing unit determines that a magnitude of a force component in any of the directions exceeds the threshold value, the controller controls the robot to avoid an increase in the magnitude of the force component in the direction.

Abstract: A robot controller that moves a first workpiece mounted on a robot with respect to a second workpiece, the robot having a sensor for detecting one of magnitude of force acting on the first workpiece and magnitude of torque acting on the robot, the robot controller including a calculation unit configured to calculate a force between the first workpiece and the second workpiece and a moment on the first workpiece, based on the magnitude of the force or the torque, a controller carrying out force control so that the calculated force and the moment correspond to a predetermined force and moment, and a display displaying at least one of a velocity of the first workpiece and an angular velocity, the velocity and the angular velocity occurring as a result of control by the controller, the velocity and the angular velocity being overlapped on an image of the robot.

Abstract: A power supply device includes a power supply circuit configured to output different voltages to a plurality of output lines, a plurality of capacitors provided in correspondence with the plurality of output lines, one end of each of the plurality of capacitors being coupled to a corresponding output line of the plurality of output lines and an other end thereof being coupled to a ground potential, a plurality of diodes provided in correspondence with the plurality of output lines, anodes of the plurality of diodes being coupled to the corresponding output lines and cathodes thereof being commonly coupled, and a discharge resistor coupled to the cathodes of the plurality of diodes.

Abstract: The motor control unit reduces the drive braking torque for applying the braking force to the drive wheel by the reverse rotation timing predicted by the reverse rotation prediction unit at the latest, and the friction braking unit increases a friction braking force applied to the drive wheel by the friction braking device so that the friction braking force exceeds the braking force provided by the drive braking torque by the reverse rotation timing predicted by the reverse rotation prediction unit at the latest.

Abstract: A detection part of a temperature detection element is mounted to ends of drawn portions which are further protruded in the axial direction than coil end portions. The detection part and the ends of the drawn portions provided with the detection part are covered with a covering member. The ends of the drawn portions provided with the detection part and covered with the covering member are inserted into a through hole of a wall member which is disposed so as to axially face an axial end face of a stator core. In this case, the detection part is located at a position deeper (on the rear side) than a position of a stator core side opening of the through hole.

Abstract: A compact, intuitively-operable input device for manipulating a robot is provided. Provided is an input device for manipulating a robot. The input device includes: a base; a movable section supported in a three-dimensionally movable manner relative to the base; and a detector that performs detection by resolving an operation amount of the movable section relative to the base into parallel movement amounts along a first axis and a second axis, which extend parallel to a predetermined surface of the base and are orthogonal to each other, and a parallel movement amount along a third axis that is orthogonal to the first axis and the second axis.

Abstract: An adjustment support device includes: a storage unit for storing, with force state data and position data in an operation when performing force control of the industrial robot as a state variable and with data indicating a result of determining whether a result of the force control is success or failure based on predetermined criteria as determination data, a learning model generated by machine learning; an analysis unit for analyzing the learning model to analyze, for a control parameter used when the force control of the industrial robot has failed, an adjustment method of the control parameter for improving a degree of success of the force control; and an adjustment determination unit for determining, based on a result of the analysis by the analysis unit, an adjustment method of the control parameter in the force control used when the force control has failed and outputting the adjustment method.