Abstract: A robot control device adapted for performing flexible control includes: an operation state monitoring unit for determining the operation state of the robot on the basis of outputs from a position detecting unit for detecting positions of respective shafts of a robot, a force detecting unit for detecting forces of respective shafts of the robot or a time measuring unit for measuring time; a storage unit for storing a plurality of parameter sets indicating flexibility of the flexible control; and an operation generating unit for switching the parameter sets each indicating flexibility on the basis of an output from the operation state monitoring unit at the time of executing the flexible control.

Abstract: A robot control device has the function of limiting the operation of a motor which drives a robot when a predetermined limiting condition is satisfied. The robot control device includes a judging part which judges whether or not the limiting condition is satisfied in accordance with performance results of operation of the robot, and a limiting part which imposes a limit an operation of the motor when the judging part judges that the limiting condition is satisfied.

Abstract: A robot controller of the present invention comprises a movement control part which controls an operation of a robot so that a movable part of the robot moves on a predetermined track, and a return control device which controls an operation of the robot so that if the movable part departs from the track during its movement on said track, the movable part will return to the track. The return control part is configured to limit a force generated by at least one of a plurality of drive devices which drive the robot, to a predetermined upper limit value or less.

Abstract: A robot control device adapted for performing flexible control includes: an operation state monitoring unit for determining the operation state of the robot on the basis of outputs from a position detecting unit for detecting positions of respective shafts of a robot, a force detecting unit for detecting forces of respective shafts of the robot or a time measuring unit for measuring time; a storage unit for storing a plurality of parameter sets indicating flexibility of the flexible control; and an operation generating unit for switching the parameter sets each indicating flexibility on the basis of an output from the operation state monitoring unit at the time of executing the flexible control.

Abstract: A robot control apparatus for soft control operation of a robot has position and velocity control loops for each control axis of the robot. The position control gain and the velocity control gain of a specified control axis in soft control operation is set lower than those of the other control axes. The orientation of the forward end of the robot arm to be assumed while following an external force, i.e., the orientation thereof immediately before starting the follow-up operation is determined. The position command or the velocity command for the control axes other than the specified control axis, which are determined based on the present position of the specified control axis moved by the external force applied to the forward end of the robot arm, the direction to follow the external force and the orientation immediately before starting the follow-up operation, is applied to the control loop of the particular control axis.

Abstract: A control apparatus (10) for a machining robot (1) adapted to machine a workpiece (20) by coming into contact with an effector (19) of a tool (18) attached to the machining robot with the workpiece comprises: detecting means (15) for detecting a force or moment acting between the effector of the tool and the workpiece; converting means (22) for converting the force or moment detected by the detecting means into a force or moment acting on the joint axis of the machining robot; deflection calculating means (25) for calculating a deflection occurring at the joint axis of the machining robot on the basis of the force or moment acting on the joint axis of the machining robot and obtained from the converting means; and correcting means (28) for correcting at least one of a position command or a speed command for the joint axis of the machining robot in such a manner as to compensate for the deflection calculated by the deflection calculating means.

Abstract: An apparatus for carry out a method of diagnosing abnormality of a reduction gear, the reduction gear including an intermediate shaft element disposed between an input shaft and an output shaft and rotating in proportion to a rotation of the input shaft to transmit the rotation to the output shaft, the apparatus has: a disturbance observer that obtains an estimated disturbance value regarding the reduction gear, based on a torque instruction and a velocity feedback-value acquired when a pair of driven members which rotate relative to each other with a motor as a driving source are in relative rotation at a constant velocity; a specific spectral component specifying portion for extracting a specific spectral component corresponding to a constant multiple of a rotational frequency of the intermediate shaft element from a frequency components of the estimated disturbance value obtained by frequency analysis; and a diagnosing portion, which compares an amplitude of the specific spectral component specified by the

Abstract: The robot controller (RC) performs soft control in which a virtual spring or virtual damper is made to act between a tool of a robot and an objective workpiece. The robot controller includes: gain reducing arrangement (41, 42) for selecting an articulated shaft from articulated shafts (J1-J6) of the robot based on a soft control starting position where the soft control is started and the virtual spring or virtual damper when performing the soft control, and reducing a position gain and/or speed gain of the certain articulated shaft lower than a position gain normal value and/or speed gain normal value of the selected articulated shaft; and a correction torque reducing arrangement (43) for reducing a correction torque of the selected articulated shaft calculated based on the soft control starting position and the virtual spring or virtual damper lower than a correction torque normal value of the selected articulated shaft when performing the soft control.

Abstract: A robot with a learning control function for improving the accuracy of the trajectory of an end effector and a method for controlling the robot. An acceleration sensor and a vision sensor are attached to the end effector of the robot. In this state, the motion of the end effector is measured and a test operation of a motion program is repeatedly executed, whereby a robot control device learns an optimized motion of the robot. In a subsequent actual operation, the acceleration sensor and the vision sensor are not used and the motion of the robot is executed based on the learned optimized motion. The sensors may be removed during the actual operation.

Abstract: When an operator (4) applies an external force to a robot (1) via a handle (5) attached to an end portion of an arm of the robot (1), the external force is estimated or detected by a force sensor (30) or an acceleration sensor (40). A copying control means (8) of a robot control unit (2) determines the position of the tool top point (31). When the robot (1) is located in a copying control enabling region (15, 18) or a copying control enabling line segment (16) defined in a block (10) of enabling region settings, the copying control is carried out. The directions of the movement and change of orientation to be followed are determined with reference to the content of the copying control settings in the region where the robot is located at present in the block (9) of the copying control settings, and the copying control is carried out for only the movement and change of orientation in the determined directions, to thereby move the robot (1).