Abstract: A system, method and apparatus for resource reallocation based on ambient condition data is disclosed herein. The system includes a planning module (102) for configuring plan data to include a primary sequence and an auxiliary sequence, a rule table (116) for storing the auxiliary sequence, an ambient condition receiver (124) for receiving the ambient condition data, and a routing processor (126) for accessing the rule table (116) to allocate an auxiliary sequence in place of a primary sequence in the event that particular ambient data is received.

Abstract: A method for autonomously controlling a vehicle includes establishing decision variables for maneuvering the vehicle. Behavior functions are established for behaviors of the vehicle as a function of at least one of the established decision variables. These behavior function give a score which may be weighted, indicating the desirability of engaging in the associated behavior. A summation of the weighted behavior functions can be solved while the vehicle is operating to determine the values of the decision variables giving the highest summation of scores. In a preferred method, an optimal structure for the behavior functions and summation solution is taught. The method then guides the vehicle in accordance with the determined decision variable values.

Abstract: A method and an electronic search system for operating an automatic device, preferably an automatic lawnmower. The system comprises at least one first electrical cable (1,4,5,6) connected to at least one first signal generator (3,7,8) and at least one sensing system arranged on said device. Said sensing system detects at least one magnetic field being transmitted via said cable (1,4,5,6) and propagating through the air, the sensing system transmitting a processed signal to at least one driving element which contributes to the movements of said device in relation to a surface.

Abstract: The present invention may provide a method of generating a walking pattern for a humanoid robot. The method of generating the walking pattern for the humanoid includes determining a position of a next Zero Moment Point (ZMP) along a moving direction of the humanoid robot, obtaining a first condition for generating a walking pattern based on the determined ZMP by using a periodic step module, generating trajectories of a ZMP and a Center of Mass (CoM) in an initial step based on the first condition and an initial value obtained from an initial state of the humanoid robot by using a transient step module, generating trajectories of a ZMP and a CoM in a steady step based on the ZMP of two steps by using a steady step module, and generating trajectories of a ZMP and a CoM in a final step by using the transient step module.

Abstract: Ground contact portions 10 are classified into a tree structure such that each of the ground contact portions 10 of a mobile body 1 (mobile robot) equipped with three or more ground contact portions 10 becomes a leaf node and that an intermediate node exists between the leaf node and a root node having all the leaf nodes as its descendant nodes. On each node (a C-th node) having child nodes, the correction amounts of the desired relative heights of the ground contact portions 10 of the C-th node are determined such that the relative relationship among the actual node floor reaction forces of the child nodes of the C-th node approximates the relative relationship among the desired node floor reaction forces of the child nodes of the C-th node, and joints of the mobile body 1 are operated so that a desired relative height obtained by combining the correction amounts is satisfied.

Abstract: A mine vehicle and a method of preventing a mine vehicle from colliding. The mine vehicle (1) includes at least one scanner (13, 14) to scan the environment in front of the vehicle. On the basis of the scanning, an obstacle-free route is determined whose outermost points in a sideward direction are stored as memory points (21). At least one sideward safe area (15b) has been predetermined around the vehicle (1). A control system checks that no memory point (21) resides within the safe area (15b).

Abstract: A method of implementing a plurality of unmanned vehicles over an obstacle field. The method includes obtaining a physical map of the obstacle field. Discretizing the physical map into traversable edges that avoid the obstacles, the traversable edges meeting at nodes. Replacing sections of the traversable edges that are beyond the maneuverability of the unmanned vehicles with traversable arcs. Determining traverse time parameters associated with paths through the obstacle fields, each path made up of select traversable edges and select traversable arcs and using the traverse time parameters in planning and scheduling the vehicles.

Abstract: Ground contact portions are categorized in a tree structure manner such that all of the ground contact portions of a mobile body (mobile robot) equipped with three or more ground contact portions become leaf nodes and that an intermediate node exists between the leaf nodes and a root node having all the leaf nodes as its descendant nodes. On each node (a C-th node) having child nodes, the correction amounts of the desired relative heights of the ground contact portions of the C-th node are determined such that at least the difference between an actual posture inclination and a desired posture inclination of a predetermined portion, such as a base body, (posture inclination difference) is approximated to zero, and joints of the mobile body 1 are operated so that a desired relative height obtained by combining the correction amounts is satisfied.

Abstract: A method of navigating a mobile machine dependent upon the relationship of the mobile machine to a target path includes operating a steering system to change the heading of the mobile machine in response to the mobile machine deviating from a first navigational dead band. Additionally, the method may include subsequently operating the steering system to make a heading change of the mobile machine only in response to predetermined events, which may include operating the steering system to make a heading change of the mobile machine if the mobile machine deviates from a second navigational dead band.

Abstract: A robot system can grasp and take out one of a plurality of workpieces placed in a basket-like container by a hand mounted at the forward end of a robot arm. The workpiece is detected by a visual sensor, and the robot is controlled depending on a position and an orientation of the workpiece. When a problem such as interference or the like occurs, information relating to the problem is stored in a robot control unit or a visual sensor control unit. Information relating to the problem includes a predetermined amount of the latest data retrospectively traced from the time point of problem occurrence, a position which the robot has reached, the target position data, the content of the process executed by the visual sensor, and the detection result. When the problem is reproduced, these data are used to simulate the situation at the time of problem occurrence by using simulation unit. The situation at the time of problem occurrence can also be reproduced by using the actual robot without using the simulation unit.

Abstract: A robot platform includes perceptors, locomotors, and a system controller, which executes instructions for autonomously navigating a robot. The instructions repeat, on each iteration through an event timing loop, the acts of defining an event horizon based on the robot's current velocity, detecting a range to obstacles around the robot, testing for an event horizon intrusion by determining if any range to the obstacles is within the event horizon, and adjusting rotational and translational velocity of the robot accordingly. If the event horizon intrusion occurs, rotational velocity is modified by a proportion of the current rotational velocity reduced by a proportion of the range to the nearest obstacle and translational velocity is modified by a proportion of the range to the nearest obstacle. If no event horizon intrusion occurs, translational velocity is set as a ratio of a speed factor relative to a maximum speed.

Abstract: The present invention is intended to achieve more accurate and facilitated positioning of a carrier onto a table, in a substrate processing apparatus configured for placing the carrier storing multiple sheets of wafers therein, on the table, by using a carrier arm. Before the carrier is actually carried by the carrier arm, a carrier jig having the same shape as the carrier is held by a holding part provided to the carrier arm. The carrier jig is provided with a camera, such that a central position of a region of an image taken by the camera will be coincident with a central position of an opening formed in the table, if the carrier jig is accurately located in an ideal position above the table. First, the carrier arm is actuated to move the holding part of the carrier arm to a preset lowering start position. Then, the image of the region including the opening is taken by the camera.

Abstract: A robot platform includes perceptors, locomotors, and a system controller. The system controller executes instructions for producing an occupancy grid map of an environment around the robot, scanning the environment to generate a current obstacle map relative to a current robot position, and converting the current obstacle map to a current occupancy grid map. The instructions also include processing each grid cell in the occupancy grid map. Within the processing of each grid cell, the instructions include comparing each grid cell in the occupancy grid map to a corresponding grid cell in the current occupancy grid map. For grid cells with a difference, the instructions include defining a change vector for each changed grid cell, wherein the change vector includes a direction from the robot to the changed grid cell and a range from the robot to the changed grid cell.

Abstract: The present invention relates to an obstacle detection device, adapted for an autonomous mobile system, which comprises: a conducting wire, a first unit and a second unit. The first unit further comprises a first conducting part, electrically connected to an end of the conducting wire; and the second unit further comprises a second conducting part, electrically connected to another end of the conducting wire other than that connecting to the first conducting part. As an abnormality, such as the autonomous mobile system comes into contact with an obstacle, or misses a step, is happening and detected by the obstacle detection device, a reactive force will be generated to force the two conducting parts to contact with each other so as to enable an electrical conduction for issuing an electrical signal to the control unit of the autonomous mobile system and thus enabling the autonomous mobile system to react with respect to the abnormality.

Abstract: The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.

Abstract: A method for controlling a plurality of manipulators, such as multiaxial or multiaxle industrial robots. At least one manipulator functions as the reference manipulator and is moved in a plurality of preset poses within its working area at which internal position values are determined as first desired poses. For each desired pose, subsequently a first actual pose of the reference manipulator is determined by an external measuring system. Subsequently at least one further manipulator moves up to specific poses of the reference manipulator as second desired poses and for each of these poses an actual pose of the further manipulator is determined by an external measuring system. On the basis of actual-desired deviations between the thus determined desired and actual poses of the two manipulators, subsequently a parameter model for the further manipulator is established and with it it is possible to compensate simultaneously both its own errors and those of the reference manipulator.

Abstract: A mobile apparatus or the like capable of moving or acting by avoiding contact with an object, such as a person, while reducing the possibility of inducing a change of the behavior of the object. It is determined whether or not there is a first spatial element Q1 that satisfies a contact condition that there is a possibility of contact with a reference spatial element Q0 on a discriminant plane. The reference spatial element Q0 and the first spatial element Q1 represent current images of a robot 1 and an object x, respectively. When it is determined that there is a first spatial element Q1 that satisfies the contact condition on the discriminant plane, a route that allows the reference spatial element Q0 to move by avoiding contact with a second spatial element Q2 is set as a new “first action plan element” on the discriminant plane.

Abstract: The present invention relates to a robot with personality characters. The robot communicates with another robot within a predetermined coverage area. The robot stores at least one personality attribute of the robot, at least one personality attribute of another robot, at least one predetermined action, and a relationship among the personality attribute of the robot, the personality attribute of another robot and the predetermined action. The present invention also provides a behavior control method adapted for the robot. In the method, the robot detects a second robot within the predetermined area to obtain the personality attribute of the second robot, fetches the personality attribute of the robot, and performs the predetermined action according to the relationship.

Abstract: Computer-implemented methods, computer-readable storage media, and systems for control of a plant provide a plurality of repeating interconnected structures that can reduce software coding complexity, a limbic module that can provide an operational change in a type of control resulting in improved control flexibility in unknown environments, and different hierarchical levels of behavioral control that can offload some processing to rote control.

Abstract: An ambulatory robot including a lower body part having two or more legs and an upper body part installed on an upper end of the lower body part and capable of performing positional displacement by moving the lower body part, includes slope-detection means for sensing a slope of a floor, rotating means installed on a bottom surface of each of the two or more legs, and control means for controlling a motion of the ambulatory robot using the lower and upper body parts, wherein the control means controls a speed of revolution of the rotating means based on the slope of the floor, and controls the motion of the ambulatory robot so that the positional displacement of the ambulatory robot is performed by any of running, walking and sliding, depending on the controlled speed of revolution.

Abstract: In a robot arm controlling device, a mechanical impedance set value of the arm is set by an object property-concordant impedance setting device based on information of an object property database in which information associated with properties of an object being gripped by the arm is recorded, and a mechanical impedance value of the arm is controlled to the set mechanical impedance set value by an impedance controlling device.

Abstract: A multi-function robotic device may have utility in various applications. In accordance with one aspect, a multi-function robotic device may be selectively configurable to perform a desired function in accordance with the capabilities of a selectively removable functional cartridge operably coupled with a robot body. Localization and mapping techniques may employ partial maps associated with portions of an operating environment, data compression, or both.

Abstract: A paste dispenser and a method for controlling the same are disclosed. The paste dispenser includes a stage having a substrate mounted thereon, at least one nozzle dispensing a paste on the substrate by relative movement between the nozzle and the substrate, a measuring means provided at a position facing into an outlet of the nozzle and directly measuring a position of an exchange nozzle, and a controller converting a compensation value in accordance with a displacement of the exchange nozzle based on data measured by the measuring means.

Abstract: A robot that is capable of traveling while moving an object such that the object and the robot itself will not step out of a predetermined area is provided. If a traveling requirement that the robot and the object remain within a pathway area is not met, then an action scheme of the robot is corrected so as to meet the traveling requirement. Then, the robot travels while moving the object according to the corrected action scheme, thus enabling the robot to travel while moving the object such that both the object and the robot do not step out of the pathway area.

Abstract: A robot having a force sensor and a tool fixture for operating on a workpiece that may have a complex surface contour is programmed by an operator first teaching the robot by a suitable technique such as lead through teaching a few gross points of the contour. These points, known as guiding points, are used to generate a program to be followed by the robot under the control of the robot controller and using force control during which the robot finalizes the guiding points and teaches one or more points on the contour intermediate adjacent guiding points. The controller or other computing device uses the points so taught to generate the path the robot tool fixture will follow when the tool is to operate on the workpiece.

Abstract: It is aimed to provide a cooking assistance robot and a cooking assistance method capable of efficient mixing, with which ingredients are unlikely to be unevenly heated. A cooking assistance robot for cooking by physically moving ingredients in a cooking container selects a mixing direction for leveling a mountain and performs a mountain leveling operation in the selected mixing direction in the presence of a mountain of a specified height or higher in the cooking container.

Abstract: The invention relates to a method for carrying out a robot-assisted measurement of measurable objects. The paths of a sensor (S) are defined and transmitted to a robot co-ordinate system. The actual paths of the sensor (S) guided on the robot are recorded. A plurality of measurable objects (200) is measured, the sensor (S) being guided with the robot along said actual paths. A compensating device makes it possible to compensate internal and/or external influences produced on the robot (R). The compensation stage is carried out after a determined number of measurements.

Abstract: The system includes a sensor for detecting a state of a space; a robot for executing a handling job for an article; an article identifying part for identifying, when an article is handled by a movable body, the article in response to a detection result obtained by the sensor; and an article handling subject identifying part for identifying an article handling subject that handles the article. When the movable body that handles the article is the robot, the article handling subject identifying part identifies a subject having issued a job instruction to the robot as the article handling subject.

Abstract: A robot includes a traveling rail supported by struts, and a robot body attached to a slider that slides on the traveling rail. A robot controller comprises speed calculation means for calculating moving speeds of the robot hand portion on the coordinate axes of a rectangular coordinate system set for the robot controller; comparator means for comparing the moving speeds on the coordinate axes calculated by the speed calculation means with threshold values on the coordinate axes of the rectangular coordinate system, respectively; and halting means for halting the robot in case at least any one of the moving speeds is higher than the corresponding threshold value. The strength required for the struts can be lowered without limiting the dynamic capability of the robot.

Abstract: A docking system includes: a station including: a light emitter comprising light emitting elements arranged in a circular arc form so as to cause optical axes of light generated from the light emitting elements to pass through a curvature center of the circular arc; and a self-moving robot including: a body part having a circular arc part being substantially the same in curvature radius as the circular arc of the station; a movement mechanism attached to the body part to move the body part and capable of causing the body part to conduct on-the-spot rotation at a curvature center of the circular arc part; light receivers attached to the body part to receive a light signal from the light emitter; a direction detector detecting a direction in which the light signal is emitted; and a controller controlling the movement mechanism to move the body part in the direction detected by the direction detector.

Abstract: An autonomous mobile robot. The robot includes a computing device and a modeling module. The modeling module is communicably connected to the computing device, and is configured for autonomously generating a model for each navigation mode of the robot.

Abstract: A manipulator arm system on a ducted air-fan UAV is disclosed herein. The target site may be accurately located by the UAV, and the manipulator system may accurately locate the payload at the target site. The manipulator arm may select tools from a toolbox located on-board the UAV to assist in payload placement or the execution of remote operations. The system may handle the delivery of mission payloads, environmental sampling, and sensor placement and repair.

Abstract: A desired gait is generated so as to satisfy a dynamical equilibrium condition concerning the resultant force of gravity and an inertial force applied to a legged mobile robot 1 using a dynamics model which describes a relationship among at least a horizontal translation movement of a body 24 of the robot 1, a posture varying movement in which the posture of a predetermined part, such as the body 24, of the robot 1 is varied while keeping the center of gravity of the robot 1 substantially unchanged and floor reaction forces generated due to the movements and is defined on the assumption that a total floor reaction force generated due to a combined movement of the movements is represented as a linear coupling of the floor reaction forces associated with the movements. The dynamics model represents movements as a movement of a body material particle or the like and a rotational movement of a flywheel.

Abstract: The present invention provides a robot for use inside an open abdominal cavity during minimally-invasive surgery. The robot may include various sensors, imaging devices or manipulators.

Abstract: An allowable ranges of a horizontal component of the translation floor reaction or a floor-surface-parallel component of the translation floor reaction force of a legged mobile robot 1 or a horizontal component of a total center-of-gravity acceleration or a floor-surface-parallel component of a total center-of-gravity acceleration of the robot 1 (hereinafter referred to as a friction force component) is set, and a provisional movement of the robot 1 is determined so as to satisfy a predetermined dynamical equilibrium condition. When the friction force component determined by this provisional movement departs from the allowable range, a rate of change of an angular momentum around the center of gravity of the robot 1 is changed from the provisional movement so as to satisfy the dynamical equilibrium condition while limiting the friction force component within the allowable range to thereby determine a movement of a desired gait.

Abstract: A method and a system for operating a mobile robot comprise a range finder for collecting range data of one or more objects in an environment around the robot. A discriminator identifies uniquely identifiable ones of the objects as navigation landmarks. A data storage device stores a reference map of the navigation landmarks based on the collected range data. A data processor establishes a list or sequence of way points for the robot to visit. Each way point is defined with reference to one or more landmarks. A reader reads an optical message at or near one or more way points. A task manager manages a task based on the read optical message.

Abstract: The present invention relates to a network-based robot system and an executing method thereof. According to an exemplary embodiment of the present invention, predefine environment information is expressed in a universal data model (UDM) described by a linkage that shows a relationship among nodes, each node being an object of a virtual space abstracted by a real physical space. The universal data model is updated based on the context information, event occurrence information is transmitted to a task engine when the context information data value is changed, and the task engine executes a corresponding task through reasoning and invokes an external service. The robot can better recognize the context information by utilizing the external sensing function and external processing function. In addition, the robot system can provide an active service by reasoning the recognized context information and obtaining high-level information.

Abstract: A robot control apparatus allows a plurality of mobile robots to carry out tasks at a reduced or minimized cost as a whole with consideration given to costs derived from an encounter with an obstacle is provided. An action optimization controller provided in the robot control apparatus generates an instruction for optimizing actions of the plurality of mobile robots so that the plurality of mobile robots carry out the tasks at a minimized cost, based upon locomotion plan information indicative of locomotion plans of the plurality of mobile robots. A possibility that any robots have an encounter with an obstacle is determined by comparing distances from the robots to the obstacles. A locomotion plan implementation cost is calculated with consideration given to the possibility of encounter, and thus an optimum route is selected based upon the locomotion plan implementation cost with the encounter-derived cost. In accordance with the optimum route, the locomotion plan for the robot is modified.

Abstract: A legged mobile robot which permits improved follow-up of an actual floor reaction force to a desired floor reaction force and which can be stably controlled is provided. According to a robot 1 in accordance with the present invention, a deformation amount (mechanism deformation amount) of a compliance mechanism 42 that occurs due to a desired floor reaction force of a foot (ground contacting portion) 22 is determined, and the operation of a leg 2 is controlled such that the foot 22 lands onto a floor at a predetermined velocity in a vertical direction or in a direction perpendicular to the floor surface on the basis of a component of the mechanism deformation amount in the vertical direction or a component thereof in the direction perpendicular to the floor surface.

Abstract: A method for automatically correcting the position of a patient support for a targeted irradiation of a patient is provided. The patient support correction is carried out according to patient data. A patient support deformation occurring as a result of the positioning the patient on the couch is calculated from the patient data. The position of the patient couch is then adjusted according to the calculated patient support deformation for a targeted irradiation. The method enables a more accurate irradiation of patient.

Abstract: The invention relates to a method for controlling walking of humanoid bipedal walking robot. More specifically, the invention comprises steps of designing a zero momentum position (ZMP) of a robot for the ground surface (a); calculating trajectories of a center of gravity (COG) of the robot along with the trajectory of the ZMP (b); calculating an angular velocity of driving motors of two feet, which has the robot walk according to the trajectory of the ZMP (c); and controlling walking of the robot by driving the driving motors according to the angular velocity of the driving motors calculated above. The robot walking control method according to the invention has stability against disturbances.

Abstract: An autonomous robot performs maintenance and repair activities in oil and gas wells, and in pipelines. The robot uses the well and pipeline fluids to provide most of the energy required for its mobility, and to charge a turbine from which it may recharge batteries or power a motor for additional propulsion. A control system of associated systems controls the robot, enabling the robot to share plans and goals, situations, and solution processes with wells, pipelines, and external control systems. The control system includes decision aids in a series of knowledge bases that contain the expertise in appropriate fields to provide intelligent behavior to the control system. The intelligent behavior of the control system enables real time maintenance management of wells and pipelines, through actively collecting information, goal-driven system, reasoning at multiple levels, context sensitive communication, activity performing, and estimation of the operators' intent.

Abstract: A path planning system and method for an object, such as a vehicle, provides a randomized adaptive path planning that handles real-time path planning for a vehicle operating under kinodynamic constraints in dynamically changing and uncertain environments with probabilistic knowledge of vehicle and obstacle movement.

Abstract: A robot of the present invention moves to a place where a user is, in response to the voice of the user who is calling the robot. Then, when the user presses a switch, the robot recognizes that the user desires to send an urgent call and dials a pre-registered telephone number for sending urgent calls. When a receiver responds, the robot reads out and delivers a predetermined message to the receiver as a voice message, and switches the telephone to the handfree state so that the user can talk without holding the telephone.

Abstract: The object of the invention is to make the movable parts of a robot reproduce the movement of the movable parts of an animated object, via the transmission of movement parameters to the robot in a primary signal PS. The primary signal PS comprises sets of parameters associated with the movable parts of the animated object, the sets of parameters being inserted in said primary signal according to a hierarchical graph structure reflecting the structure of the movable parts of said animated object. The movable parts of the robot reproduce the movement characterized by the movement parameters comprised in the sets of parameters which are associated with them. Use: An animation system for a robot.

Abstract: A mobile apparatus or the like capable of moving or acting while surely preventing contact with an object such as a human being, by avoiding the situation where the object inappropriately changes its behavior for the purposes of preventing contact with the mobile apparatus, is provided. According to the robot (1) of the present invention, a path that can prevent contact with the selected third spatial element satisfying the requirement regarding the size in the element space (QS), among a plurality of third spatial elements (Q3i) arranged around the second spatial element (Q2), is set as a target path (Rk+1). This allows the robot (1) to move in accordance with a consistent rule that is modified in response to the width of the clearance between the object (2) and the boundary of the passable region.

Abstract: An automatic charging station for an autonomous mobile machine includes a base, a housing, and a signal transmitter. The base is mounted on the ground or on a planar surface. The housing is rotatably mounted on the base, having at least one guide member and a plurality of electrically conductive members on a surface thereof. The electrically conductive members are located on the housing. The signal transmitter is mounted on the housing for transmitting a signal. When the autonomous mobile machine senses the signal transmitted by the transmitter while moving, the autonomous mobile machine moves along a route towards the housing and then forces the guide member to enable the housing to rotate for facing and accommodating the autonomous mobile machine and to further enable the autonomous mobile machine to contact against the housing to have its electrodes in contact with the electrically conductive members for charging.

Abstract: Apparatus and method for reference point teaching for an articulated member, such as a robotic arm. An end effector is moved to form a witness mark on a medium at a target location. An updated reference point for the end effector is generated in relation to a detected coordinate of the witness mark. The end effector preferably supports a gage with a tapered probe, and a distal end of the probe contactingly engages the medium to form the witness mark. A vision system preferably detects the position of the witness mark after retraction of the end effector away from the mark. The medium preferably comprises paper, and the witness mark preferably comprises a hole punched therethrough. Alternatively, the medium comprises pressure sensitive paper and the mark is formed by the application of pressure thereto. The gage can comprise two probes that make two spaced apart witness marks, as desired.

Abstract: The invention refers to a crane or excavator for the transaction of a load, which is carried by a load cable with a turning mechanism for the rotation of the crane or excavator, a seesaw mechanism for the erection or incline of an extension arm and a hoisting gear for the lifting or lowering of the load which is carried by a cable with an actuation system. The crane or excavator has, in accordance with the invention, a track control system, whose output values are entered directly or indirectly as input values into the control system for position or speed of the crane or excavator, whereas the set points for the control system in the track control are generated in such a way that a load movement results from it with minimized oscillation amplitudes.

Abstract: A robot system efficiently performing an operation of moving a robot to close to and/or separate from a target point, such as teaching operation. A camera of a visual sensor is mounted to the robot such that a distal end of an end effector is seen within the field of view of the camera, and the end effector's distal end and a target position on an object are specified on a monitor screen. When an approach key is depressed, a target position is detected on an image, and a difference from a position of the end effector's distal end is calculated. Whether the difference is within an allowable range is checked. Depending on the result, an amount of robot motion is calculated, and the robot is operated. The processing is repeated until the depressed approach key is released. When a retreat key is depressed, the robot moves away from the object. The robot may be caused to stop using a distance sensor.