Abstract: The present disclosure provides an abrasive article. The abrasive article includes a spunbond web. The spunbond web includes a first major surface and an opposite second major surface and a fiber component. The article further includes a binder dispensed on the fiber component. The article further includes abrasive particles substantially retained by the binder and dispersed about the first major surface of the nonwoven web and substantially forming a predetermined pattern.

Abstract: Provided is a surface treatment member used by being mounted on a rotary member in a surface treatment system including the rotary member. The surface treatment member includes: a base; a striking member having an annular body portion and a protruding portion that protrudes from the body portion; and a shaft member disposed in a region on an inner side of the body portion. When the surface treatment member is viewed along an imaginary axis about which the base is to be rotated, a portion of the striking member is exposed outside an outer periphery of the base by a centrifugal force when the surface treatment member is rotated, and an entirety of the striking member is retractable toward inside an imaginary circle that passes over an outermost periphery of the base about the imaginary axis after the striking member impinges on a surface treatment object.

Abstract: A quick-change vice base with improved structure, which comprises: a base body, a quick-change coupler, a moveable block set and a central bolt, wherein, the bottoms of the first moveable block and second moveable block are respectively locked with a moveable block positioning base, one end of the moveable block positioning base has a pushing block; when the lead screw rotates clockwise, the first moveable block and the second moveable block will move toward the quick-change coupler, so that the curved stopping blocks on the first moveable block and the second moveable block will be fitted into the recesses of the quick-change coupler; when the lead screw rotates anticlockwise, the first movable block and the second movable block will move away from the quick-change coupler and drive the moveable block positioning seat to move simultaneously.

Abstract: A hidden tool for an electronic device holder includes: a holder; a main body, in connection with the holder, and provided with an adjusting portion; and a side plate, placed on one side of the main body, and provided with a tool turning portion complementary to the adjusting portion. With the adjusting portion and side plate inside the main body, the corresponding tool can be quickly obtained when the torque of holder needs to be adjusted, and the tool can be placed on the main body through the side plate, allowing a user to place the side plate back to the main body after the tool is used, so that the tool can be quickly obtained when needed to use next time and both the tool and adjusting portion can be hidden, thereby having a safe effect.

Abstract: An improved sprinkler head removal tool for use in removing sprinkler heads from cans positioned in the ground. The sprinkler heads have a series of indentations positioned around the head of the sprinkler. The improved sprinkler head removal tool has a U-shaped head that is configured to span across the head such that the opposing arms or prongs of the U-shape are positioned in opposing depressions. The U-shaped head is connected to a handle, which a user grasps and rotates. The U-shaped head is preferably configured to thread onto the handle of a plastic pipe nipple extractor or other sprinkler head tool.

Abstract: A driver for threaded fasteners has helical blades with engagement surfaces on one side and teeth on an opposite side. The engagement surfaces engage surfaces within the recesses in the fastener head to drive the fastener when the driver is rotated in a first direction. The teeth engage the fastener head when the driver is rotated in an opposite direction to remove the fastener.

Abstract: An electric power tool in one aspect of the present disclosure includes a motor, an output shaft, a drive circuit, a rotation controller, a calculator, and a deceleration controller. The output shaft is configured to attach a tool bit thereto, and be rotated by the motor. The rotation controller rotates the output shaft to thereby loosen a fastener from a fastened material. The calculator increases a determination value in accordance with a lapse of time from a first timing, and varies a rate of increase in the determination value in accordance with a speed parameter. The deceleration controller decelerates or stops the motor based on the determination value having reached a threshold value.

Abstract: An impact wrench is provided with a battery to power the motor. The impact wrench provides improved portability since the impact wrench does not need to be connected to an electrical extension cord or a pneumatic hose. The output drive, motor, batteries and main handle may be aligned along the axial direction of the tool. The batteries may be located between the motor and the main handle.

Abstract: A tool includes a socket and an attachment that includes a shaft portion. The shaft portion transmits torque to the socket. The socket includes a distal end face, a proximal end face, an accommodation hole that opens in the distal end face, and a connection hole that opens in the proximal end face and is connected to the accommodation hole. The shaft portion includes an outer peripheral surface provided with a first transmission surface for transmitting torque to the inner peripheral surface of the connection hole. The accommodation hole includes an inner peripheral surface provided with a second transmission surface for transmitting torque to threaded fastener. The accommodation hole forms an accommodation space capable of accommodating threaded fasteners in a row. The shaft portion includes, at a distal end, a contact portion, which contacts one of the threaded fasteners accommodated in the accommodation space.

Abstract: An electric tool system includes an electric tool device and a camera device. The electric tool device has a drive unit and an electric tool communication unit. The drive unit performs tightening work of tightening a tightening component to a work target. The electric tool communication unit performs communication with outside. The camera device has a fixing unit, an image capturing unit, and a camera communication unit. The fixing unit is removably attached to the electric tool device. The image capturing unit captures an image of at least the work target. The camera communication unit performs communication with the outside.

Abstract: A nail gun having a driving and controlling mechanism. The driving and controlling mechanism comprises a driving assembly disposed inside a casing of the nail gun for striking nails in a striking direction; and a control assembly controlling the driving assembly. The driving assembly comprises a piston movably disposed inside the casing and attached to a striking member for striking the nails; at least one power spring in contact with the piston; a pushing component for pushing the piston towards the power spring; and a motor for rotating the pushing component. The control assembly comprises a main switch configured to produce a first electronic signal; and a safety switch configured to produce a second electronic signal. The main switch and the safety switch are in communication with the motor such that the motor is configured to operate when it receives both the first electronic signal and the second electronic signal.

Abstract: A fastening tool using Hall sensor technology as a contactless solution to home position sensing of a drive shaft. In this manner, an omnipolar switch Hall effect sensor PCB assembly can be placed in a fastening tool housing or on a driving mechanism of the tool to detect a magnet that is attached to a drive shaft. The drive shaft is attached to an eccentric member that can control the height or position of a compression piston. On the piston return cycle, the piston must stop within a predetermined range from bottom dead center in order to be in the home position. Through the connection with the eccentric member, the drive shaft carrying the magnet also returns to its home position. In the drive shaft home position, the magnet is within the Hall effect sensor sensing zone. As a result, the Hall effect sensor can detect the magnetic flux and send a corresponding signal to the controller.

Abstract: A nail gun having an energy storage mechanism for storing energy used for striking nails out of the nail gun, the energy storage mechanism comprises a guiding rod attached to a fixed plate assembly; a piston disposed on the guiding rod; a striking member mounted on the piston for striking the nails; at least one power spring disposed around an outer periphery of the guiding rod; a guide sleeve moveably disposed around the outer periphery of the guiding rod and between the power spring and the guiding rod; wherein a first end of the power spring abuts against the piston and is configured to be compressed to store energy.

Abstract: A force-limiting and damping device has a body, a tapping element, an elastic element, and a reinforcing element. The body has a connecting segment with a mounting hole. The tapping element is movably connected to the body and has a mounting segment, a tapping segment, a fixing segment, and a protrusion segment. The protrusion segment is formed on a connecting portion between the mounting segment and the tapping segment. The reinforcing element is mounted on the tapping element between the elastic element and the tapping segment of the tapping element and abuts against the protrusion segment. The force-limiting and damping device can improve structural strength, can prolong service life, and can avoid deflection during a tapping process.

Abstract: A tool for a hydraulic hammer of a work machine is disclosed herein. The tool comprises a spline section and a tool section. The spline section includes a first spline sector including at least six spline grooves and a second spline sector including at least six spline grooves. The first spline sector and second spline sector are separated by a spacer. The tool section diameter is 3.2-4.8 times larger than the spline groove diameter and the tool section diameter is smaller than a spline section diameter.

Abstract: A multi-use hammer and extension pole adapted to act as a hand-held striking tool including a head for striking, a claw for removing nails, a rectangular cavity for engaging and removing lag bolts, and a ring for releasably attaching to an extension pole.

Abstract: An example hydraulic tool includes: a fluid reservoir; a pump; an electric motor; a cylinder; a piston; a first trigger button; a second trigger button; and a controller configured to perform operations comprising: receiving a first signal when the first trigger button is triggered, responsively, causing the electric motor to rotate in a first rotational direction, thereby: (i) causing the pump to provide fluid to the cylinder, and (ii) causing the piston to move in a first linear direction, thereafter, receiving a second signal when the second trigger button is triggered, and responsively to the second signal, causing the electric motor to rotate in a second rotational direction opposite the first rotational direction, thereby: (i) opening a fluid path from the cylinder to the fluid reservoir, and (ii) causing the piston to move in a second linear direction opposite the first linear direction.

Abstract: A hand tool with a buffering effect has a body, a working element, and at least one shock-absorbing element. The body has a holding end and a connecting end respectively disposed on two ends of the body. The working element is connected to the connecting end of the body. The least one shock-absorbing element is disposed on the body between the holding end and the connecting end and has a length being larger than a half of a length of the body and being less than or equal to the length of the body. A user holds the body and uses the working element, and a shock-absorbing and buffering effect is provided by the at least one shock-absorbing element.

Abstract: A drill stand including a base, a mast defining a longitudinal axis and pivotably coupled to the base, a support bracket moveably coupled to the mast and pivotably coupled to the base, a carriage moveably coupled to the mast, and a release valve. The base has, on a bottom side thereof, a first gasket and a second gasket disposed within the first gasket, such that a vacuum chamber is defined between the first gasket, the second gasket, the bottom side of the base, and a mounting surface on which the base is configured to be mounted. The release valve is in fluid communication with the vacuum chamber. Ambient air at atmospheric pressure is permitted to enter the vacuum chamber in response to actuation of the release valve.

Abstract: A teaching device for creating a control program for a robot includes: a screen generation unit which generates a program creation screen for creating a program via commands representing functions constituting the control program for the robot; and a related information display control unit which, in accordance with the selection of or an execute instruction for a command disposed in the program creation screen, displays information relating to the command subject to the selection or the execute instruction.

Abstract: A wrist of an arm robot includes a first motor, a first speed reducer, a second motor, a transmission shaft, and a second speed reducer. The first motor is arranged at a base and generates a first rotational drive force to rotate a first distal portion. The first speed reducer is arranged at the first distal portion, includes a hollow portion, and reduces a rotational speed of the first rotational drive force. The second motor is arranged at the base and generates a second rotational drive force to rotate a second distal portion. The transmission shaft is arranged at the first distal portion and passes through the hollow portion of the first speed reducer. The second speed reducer is arranged at the first distal portion, is arranged coaxial with the first speed reducer, and is arranged along an axial direction of the first speed reducer.

Abstract: A robotic rod bender is disclosed. The robotic rod bender includes an autoclavable top assembly that includes a rod feeding subassembly, a brake subassembly, and a bending subassembly. The rod bending subassembly, the bending subassembly, and the brake assembly are disposed on a top plate. The robotic rod bender also includes a motor housing that includes one or more motors, a spline shaft, and a linear actuated elevator assembly. The linear actuated elevator assembly includes a linear actuator, a movable plate, and a mid-plate. The spine shaft extends from the moveable plate. The autoclavable top assembly is removably disposed atop the mid-plate.

Abstract: A computing system may provide a model of a robot. The model may be configured to determine simulated motions of the robot based on sets of control parameters. The computing system may also operate the model with multiple sets of control parameters to simulate respective motions of the robot. The computing system may further determine respective scores for each respective simulated motion of the robot, wherein the respective scores are based on constraints associated with each limb of the robot and a goal. The constraints include actuator constraints and joint constraints for limbs of the robot. Additionally, the computing system may select, based on the respective scores, a set of control parameters associated with a particular score. Further, the computing system may modify a behavior of the robot based on the selected set of control parameters to perform a coordinated exertion of forces by actuators of the robot.

Abstract: Handling of piece good via a suction gripping device for automated movement of a piece of material via a suction gripping device including docking a suction head of the suction gripping device onto the piece good and gripping the piece good via a vacuum generated in the suction head, automatically moving the suction gripper by automatically moving the suction head, generating an output signal via a load sensor, the output signal comprising information that includes gripping information, and which provides information on how securely the piece of material is held by the suction gripping device and adjusting at least one operating parameter of the suction gripping device as a function of the gripping information.

Abstract: The present disclosure relates to a computer-implemented method for learning operators for planning a behavior of an autonomous device. The method includes obtaining a set of training data including observations of a plurality of skills executable by the autonomous device in an interaction with at least one entity for addressing a first task, obtaining a predetermined set of data defining a hierarchy of entities including the at least one entity, learning a set of individual skills based on the obtained set of training data, generating a set of generalized skills by generalizing the learned set of individual skills based on the predetermined set of data that defining a hierarchy of entities, performing behavior planning of the autonomous device for addressing a second task different from the first task based on the generalized set of skills.

Abstract: A system and method of operation of a robotic system including: receiving a sensor reading associated with a target object; generating a base plan for performing a task on the target object, wherein generating the base plan includes determining a grip point and one or more grip patterns associated with the grip point for gripping the target object based on a location of the grip point relative to a designated area, a task location, and another target object; implementing the base plan for performing the task by operating an actuation unit and one or more suction grippers according to a grip pattern rank, to generate an established grip on the target object, wherein the established grip is at a grip pattern location associated with the grip patterns; measuring the established grip; comparing the established grip to a force threshold; and re-gripping the target object based on the established grip falling below the force threshold.

Abstract: An admittance control method, a robot, and a storage medium are provided. The method includes: obtaining, based on a first admittance controller transfer function between force and position, a desired position of a robot in a current control cycle; determining a corresponding Jacobian matrix according to a configuration of the robot in the current control cycle, and calculating an ill condition number of the Jacobian matrix; and controlling the robot to move by inputting the obtained desired position in the current control cycle to a corresponding joint, in response to the ill condition number being less than a preset maximum ill condition number. In this manner, the configuration of the robot can be maintained within a reasonable rang of the ill condition number, and singularities caused by the admittance controller exceeding the work space can be avoided while the velocity reachability and force reachability of the robot can be ensured.

Abstract: A method includes: accessing a virtual model defining a geometry of a workpiece; navigating an optical sensor about the workpiece; accessing an image of the workpiece; detecting a marker, on the workpiece, depicted in the image; defining a first workpiece region of the workpiece bounded by the marker; defining a toolpath within the first workpiece region based on a geometry of the first workpiece region represented in the virtual model; assigning a first target force to the first toolpath; and during a processing cycle accessing a first sequence of force values output by a force sensor coupled to the sanding head, navigating the sanding head across the first workpiece region according to the first toolpath, and based on the first sequence of force values, deviating the sanding head from the first toolpath to maintain forces of the sanding head on the workpiece proximal the first target force.

Abstract: A robot automation system includes circuitry configured to generate a plurality of task patterns that are candidates of a task flow for performing a job including a plurality of tasks by at least one robot. Each of the plurality of task patterns includes a corresponding relationship between the plurality of tasks and the at least one robot. The circuitry is further configured to calculate an estimated cycle time of the job based on a simulation in which the at least one robot performs the plurality of tasks, for each of the plurality of task patterns. The circuitry is further configured to generate, as an operation program, at least one task flow for performing the job by the at least one robot, in response to comparing a preset reference cycle time for the job with the estimated cycle time for each of the plurality of task patterns.

Abstract: A robot apparatus includes: an arm part including a fixed element and a plurality of linear motion elements assembled in multiple stages extendably with respect to the fixed element; a movement drive mechanism for driving movement of a foremost linear motion element among the plurality of linear motion elements; and a position identification unit for identifying a position of at least one linear motion element of the plurality of linear motion elements other than the foremost linear motion element with respect to the fixed element or the foremost linear motion element.

Abstract: A system and method for providing in hand robotics dexterous manipulation of an object that include determining a geometry of an object, a position of the object, and a placement of at least one robotic finger of a robot upon the object. The system and method also include computing a direction of rolling or rotation of the object by the at least one robotic finger. The system and method additionally include updating a position of the object that is manipulated by the robot. The system and method further include updating contact points of the at least one robotic finger with respect to contacting the object in a manner that ensures that a viable grasp is enforced to have force closure to retain the object.

Abstract: A robot system includes an articulated robot having a base near one end, a wrist flange near an opposite end, and a plurality of robot portions between the base and the wrist flange. A cutting tool is secured to the wrist flange and selectively moveable about at least one tool axis to change an angle of orientation of the cutting tool. A controller coordinates movement of the robot portions and at least one change in the angle of orientation of the cutting tool to move the cutting tool in an uninterrupted manner along a continuous cutting path to cut a slab of material while avoiding a singularity condition in which any two of the robot's axes are collinear.

Abstract: A robot installation position measurement device includes a first position information acquisition unit that acquires first position information, which is a three-dimensional command position of a tool center point fixed with respect to a flange at a tip of a robot, in a state in which the robot is positioned in a desired pose, a second position information acquisition unit that acquires, by a three-dimensional measurement instrument installed with a predetermined measurement coordinate system, second position information, which is a three-dimensional actual position of the tool center point in the pose, and a coordinate system correction unit that corrects a robot coordinate system, with which the robot operates, such that a difference between pieces of the first position information and pieces of the second position information acquired in states in which the robot is positioned in multiple different poses becomes small.

Abstract: A remote operation method of a robot includes: a conversion step of converting an operation input to a joint angle command value of the robot when an operator performs an operation; an acquisition step of acquiring actual visual information of a space in which the robot is present; a generation step of generating virtual visual information of an arbitrary viewpoint in the space in which the robot is present for the operator using a three-dimensional representation; and a projection step of projecting the virtual visual information to a screen viewed by the operator when the actual visual information is not newly acquired and projecting a mixed image in which an image based on the newly acquired actual visual information is combined with the virtual visual information when the actual visual information is newly acquired.

Abstract: A system and method fort determining the relative positions of robotic manipulators makes use of a camera positioned in an operating room so as to capture images or portions of first and second robotic manipulators that are positioned outside a patient body cavity. The camera captures images of first and second robotic manipulators, the images are analyzed in real time to determine a relative distance between the first robotic manipulator and the second robotic manipulator. The system determines whether the relative distance is below a predetermined threshold, and, if it is, initiates a collision avoidance measure.

Abstract: A robotic transport system including a drive section connected to a frame. An articulated arm coupled to the drive section providing the arm with arm motion in a collaborative space, corresponding to the frame, from a first location, in which the arm has a first shape, to another different location of the arm in the collaborative space in which the arm has another different shape. An electromagnetic affection envelope borne by the arm so that the electromagnetic affection envelope is defined by the arm and is close coupled and substantially conformal to at least part of a dynamic contour of each different arm shape of the arm. A controller connected to the drive section and configured so that in response to detection of entry of a collaborative object into the electromagnetic affection envelope, the controller commands a change in at least one predetermined characteristic of the arm motion.

Abstract: A safety system for use in robotics includes a plurality sensors, preferably a heterogeneous set of commercial off the shelf sensors, and at least one processor that assesses an operational state of the sensors, validates a system status based on the assessed operational states of the sensors to determine whether sufficient sensors are operable to provide a safety certified system, and monitors an operational environment for violations of safety rules that specify rules regarding proximity of humans to robots. A control system for use in robotics includes at least one processor that performs motion planning taking into account safety monitor rules implemented by the safety system to thereby reduce triggering of stoppages, slowdowns or precautionary occlusions by the safety system.

Abstract: In relation to work performed by a robot, which is an industrial machine, the objective of the present invention is to enable a cause of a processing failure or abnormality to be understood easily from a stored operation history, and to enable problems that may occur in the future to be prevented. This objective can be achieved by means of a robot system configured such that: an execution history of a program for executing work on a workpiece is stored; information from sensors and information about processing results of the work performed on the workpiece are stored in association with the execution of each program block of the program; and parameter information indicating the cause of a failure in the processing results is added to the execution history when a failure occurs in the processing results.

Abstract: Systems and methods for industrial robotic platforms. Squads of industrial robots autonomously communicate and work together. A control center may monitor the autonomous operations. Software at the control center, squad, and robot levels forms a distributed control system that analyzes various data related to the platform for monitoring of the various systems. Artificial intelligence, such as machine learning, is implemented at the control center, squad, and/or robot levels for swarm behavior driven by intelligent decision making. Each robot includes a universal platform attached to a task-specific tooling system. The robots may be mining robots, with a mining-specific tooling system attached to the universal framework, and configured for mining tasks. The platform is modular and may be used for other industrial applications and/or robot types, such as construction, satellite swarms, fuel production, disaster recovery, communications, remote power, and others.

Abstract: A collaborative dual robot hinge mounting system includes: a first robot including an end effector that moves a pair of bolts in position to be run through a pair of hinges and into a BIW, where the end effector includes a first bolt runner and a second bolt runner; and first and second cameras that detect locations or orientations of hinge mounting holes on the BIW for the pair of hinges. A control module sends to a second robot the locations or orientations of the hinge mounting holes to signal the second robot to position the pair of hinges relative to the BIW and, in response to detecting the pair of hinges being placed relative to the BIW, drives the pair of bolts via the first bolt runner and the second bolt runner through the pair of hinges and into the hinge mounting holes in the BIW.

Abstract: In some implementations, a robot host may receive a video associated with assembly using a plurality of sub-objects. The robot host may determine spatio-temporal features based on the video and may identify a plurality of actions represented in the video based on the spatio-temporal features. The robot host may map the plurality of actions to the plurality of sub-objects to generate an assembly plan and may combine output from a point cloud model and output from a color embedding model to generate a plurality of sets of coordinates corresponding to the plurality of sub-objects. The robot host may perform object segmentation to estimate a plurality of grip points and a plurality of widths corresponding to the plurality of sub-objects. Accordingly, the robot host may generate instructions, for robotic machines, based on the assembly plan, the plurality of sets of coordinates, the plurality of grip points, and the plurality of widths.

Abstract: A robotic singulation system is disclosed. In various embodiments, sensor data including image data associated with a workspace is received. The sensor data is used to generate a three dimensional view of at least a portion of the workspace, the three dimensional view including boundaries of a plurality of items present in the workspace. A grasp strategy is determined for each of at least a subset of items, and for each grasp strategy a corresponding probability of grasp success is computed. The grasp strategies and corresponding probabilities of grasp success are used to determine and implement a plan to autonomously operate a robotic structure to pick one or more items from the workplace and place each item singly in a corresponding location in a singulation conveyance structure.

Abstract: The present disclosure provides methods, apparatuses, and computer-readable mediums for evaluating a reliability of three-dimensional shape predictions.

Abstract: Systems, methods, and apparatuses for controlling a robot including a manipulator, including: determining three-dimensional (3D) geometry information about a target object based on an image of the target object; determining 3D geometry information about a scene in which the target object is to be placed based on at least one image of the scene; obtaining affordance information by providing the 3D geometry information about the target object and the 3D geometry information about the scene to at least one neural network model; commanding the robot to grasp the target object using the manipulator according to a grasp orientation corresponding to the affordance information; and commanding the robot to position the manipulator according to a placement direction corresponding to the affordance information in order to place the target object at a location in the scene.

Abstract: A robotic system is disclosed. The robotic system includes (i) a robotic arm positioned in a known location adjacent to a work zone with respect to which the robotic arm is configured to manipulate one or more items, (ii) one or more sensors each positioned in a corresponding fixed location relative to the work zone, and (iii) one or more processors configured to configure the robotic system to use the robotic arm to manipulate the one or more items, the robotic system being configured based at least in part on sensor data, the sensor data comprising information indicative of a relative position of the robotic arm and one or more other objects in the work zone.

Abstract: A method for controlling a robotic system includes determining a location and/or a pose of a power system component based on data received from one or more sensors, and determining a mapping of a location of a robotic system within a model of an external environment of the robotic system based on the data. The model of the external environment provides locations of objects external to the robotic system. A sequence of movements of components of the robotic system is determined to perform maintenance on the power system component based on the locations of the objects external to the robotic system and/or the location or pose of the power system component. One or more control signals are communicated to remotely control movement of the components of the robotic system based on the sequence or movements of the components to perform maintenance on the power system component.

Abstract: An apparatus includes a controller that performs control for acquiring a signal expressing an external stimulus acting on the apparatus; setting, based on the signal, a pseudo-emotion; and adjusting, based on the set pseudo-emotion, a content of control for the sound outputter or the driver of the apparatus, the content of the control being stored in advance in a storage.

Abstract: A method for delivering materials includes: at a loading system located within a sanitary zone at the facility, accessing a materials manifest specifying compliant materials associated with the manufacturing operation; in response to identifying compliant materials at the loading system corresponding to the materials manifest, assigning the compliant materials a delivery location within the facility and a baseline material compliance score; triggering a loading system to load the compliant materials onto an autonomous cart; triggering the autonomous cart to maneuver the compliant materials from a first zone to the delivery location within a second zone at the facility; calculating a material compliance score of the tray based on the locations traversed by the autonomous cart; and, in response to the material compliance score exceeding a threshold score, triggering the autonomous cart to maintain an offset distance from an operator at the delivery location.

Abstract: A manipulator may include a base link having a ring shape; a first ring-shaped link having a ring shape and disposed to rotate at a predetermined angle at a front end of the base link; a second ring-shaped link having a ring shape and disposed to rotate at a predetermined angle at a front end of the first ring-shaped link; a first Borden cable and a second Borden cable connected to the first ring-shaped link and formed to rotate the first ring-shaped link; a third Borden cable and a fourth Borden cable connected to the second ring-shaped link and formed to rotate the second ring-shaped link; and a driving device that operates the first Borden cable, the second Borden cable, the third Borden cable, and the fourth Borden cable.

Abstract: This control device is provided with a processing unit for calculating a permissible value of an external force that is permissible to be applied on a robot, a workpiece, or a hand. The permissible value of load that can be exerted on a constituent member of the robot is determined in advance. The processing unit calculates a permissible value of an external force in an application direction in which the external force is applied, on the basis of the position and attitude of the robot, the position of an application point where the external force is applied, and the permissible value of load of the constituent member of the robot.