Abstract: A control device 1A mainly includes a display control means 15A and an operation sequence generation means 16A. The display control means 15A is configured to transmit display information S2 relating to a task to be executed by a robot to a display device 2A. The operation sequence generation means 16A is configured, in a case that the display control means 15A has received, from the display device 2A, task designation information that is input information which schematically specifies the task, to generate an operation sequence to be executed by the robot based on the task designation information Ia.

Abstract: A robot system includes a mobile robot configured to move, a portable teaching device including a display section configured to display information, the portable teaching device teaching the mobile robot, a first detecting section configured to detect a present position of the portable teaching device, a second detecting section configured to detect a present position of the mobile robot, and a display control section configured to cause, based on a detection result of the first detecting section and a detection result of the second detecting section, the display section to display the present position of the portable teaching device and the present position of the mobile robot.

Abstract: System includes: an operation terminal that (i) receives an operation instruction that is given by the operator to a movable section of a machine and (ii) senses an operation standby state that allows the operation instruction to be received; an image sensor estimating section configured to estimate a positional relationship between the operator and the machine; a model generating section configured to, in response to sensing of the operation standby state by the operation terminal, generate an operating direction indicating image; and in accordance with the positional relationship, in a direction that is in accordance with a direction in which the operator views the machine, the operating direction indicating image indicating an operating direction of the movable section; an combining section configured to generate a combined image obtained by combining the operating direction indicating image with a captured image of the movable section that has been photographed.

Abstract: After a forward end of a workpiece is inserted into a through-hole and fitting is started, a follow operation of moving the workpiece to follow the shape of the through-hole is performed during the movement of the workpiece in a fitting direction. At this time, the workpiece is fitted into the through-hole while a control point of a robot is changed in a direction opposite to the fitting direction according to the amount of movement of the workpiece in the fitting direction.

Abstract: A method for training a robot to execute a robotic task in a work environment includes moving the robot across its configuration space through multiple states of the task and recording motor schema describing a sequence of behavior of the robot. Sensory data describing performance and state values of the robot is recorded while moving the robot. The method includes detecting perceptual features of objects located in the environment, assigning virtual deictic markers to the detected perceptual features, and using the assigned markers and the recorded motor schema to subsequently control the robot in an automated execution of another robotic task. Markers may be combined to produce a generalized marker. A system includes the robot, a sensor array for detecting the performance and state values, a perceptual sensor for imaging objects in the environment, and an electronic control unit that executes the present method.

Abstract: A method for training a robot to execute a robotic task in a work environment includes moving the robot across its configuration space through multiple states of the task and recording motor schema describing a sequence of behavior of the robot. Sensory data describing performance and state values of the robot is recorded while moving the robot. The method includes detecting perceptual features of objects located in the environment, assigning virtual deictic markers to the detected perceptual features, and using the assigned markers and the recorded motor schema to subsequently control the robot in an automated execution of another robotic task. Markers may be combined to produce a generalized marker. A system includes the robot, a sensor array for detecting the performance and state values, a perceptual sensor for imaging objects in the environment, and an electronic control unit that executes the present method.

Abstract: A method and apparatus for providing motor vehicle sub-assemblies with unrestricted model mix and quick changeover between models. The apparatus includes a track; a carriage mounted for longitudinal movement along the track between first and second positions; and first and second turrets rotatably mounted on the carriage at longitudinally spaced locations and each including a plurality of circumferentially spaced individual faces and unique tooling fixtures on the respective faces for receiving unique work piece components corresponding to a plurality of motor vehicle body styles.

Abstract: An offline programming device for preparing an operation program for making a robot with a hand perform a handling operation for an object with respect to a machine tool.

Abstract: A teaching position correcting apparatus corrects plural teaching point positions of a robot in a robot operation program, by sequentially moving the robot to each of the plural teaching points and by sequentially reading a current position of the robot at each of the plural teaching points. The apparatus includes: a position correction amount calculating unit that calculates a position correction amount, based on corrected teaching point positions and teaching point positions before correction; and a corrected-position calculating unit that calculates corrected positions of teaching point positions before correction out of the plural teaching points, based on the position correction amount. At the time of moving the robot to uncorrected teaching points, a moving unit moves the robot to corrected positions of the teaching point positions before correction.

Abstract: A target position detection apparatus for a robot includes: a robot including an arm configured to be freely moved in at least two directions of X and Y axes, the arm having a wrist axis provided at a distal end of the arm and configured to be freely moved in a horizontal direction, and the wrist axis being provided with an end effector; and a control unit adapted for driving a memory to store a teaching point therein and controlling an operation of the robot such that the end effector will be moved toward the teaching point stored in the memory.

Abstract: A method for monitoring the condition of an industrial robot having a plurality of links movable relative to each other, and a plurality of actuators controlling the movements of the links. A feed forward torque is calculated for at least one of the actuators based on reference values for the position of the actuator and a mathematical model of the robot calculating a feedback torque for the actuators based on measured values from the actuators and reference values for the position of the actuator. A torque is calculated for the actuator at least based on the feedback torque. A difference is monitored between the calculated torque for the actuator and the feed forward torque. It is determined whether the difference is normal or non-normal, and based thereon monitoring the condition of the robot.

Abstract: A robot controller (7) controlling a robot (1) used combined with a machine tool (5, 6) provided with a communication unit (9) connecting the robot controller to a machine tool, a detection unit (52) detecting through the communication unit a type and number of machine tools, and a setting unit (55) setting the robot controller based on the type and number of machine tools detected by the detection unit. Due to this, machine tool and robot startup work can be simply and easily performed without requiring skill or increasing the startup man-hours. The setting unit selects one setting file from among a plurality of setting files for the robot controller, stored in the robot controller, based on the type and number of machine tools detected by the detection unit.

Abstract: The present invention relates to a method and a system for facilitating calibration of a robot cell including one or more objects (8) and an industrial robot (1,2,3) performing work in connection to the objects, wherein the robot cell is programmed by means of an off-line programming tool including a graphical component for generating 2D or 3D graphics based on graphical models of the objects.

Abstract: A trainer for training a human to use a physical robot in a physical environment, the physical robot being controlled in the physical environment by an operator control unit, the trainer comprising an input device; a visual display; a computer connected to the input device and the visual display; and computer software disposed in the computer for creating a virtual robot and a virtual environment on the visual display, the virtual robot and the virtual environment being simulations of the physical robot and the physical environment wherein interaction between the virtual robot and the virtual environment simulates interaction between the physical robot and the physical environment.

Abstract: A lead-through teaching device for an industrial robot is calibrated by moving the device to each of a predetermined number of reference poses. A controller responds to a signal from the device induced by gravity at each of the reference poses to calibrate the device to a predetermined coordinate frame. If necessary, a removable weight can be mounted to the device. The robot can hold either the tool that is to perform work on a workpiece or the workpiece. In those applications where the tool has a removable component, the lead-through teaching device can replace the removable component during its calibration to the predetermined coordinate frame.

Abstract: A controller for work piece-conveying robot having: a coordinate system storage section for storing one or more manual jog feed coordinate systems; a working area setting section for setting to a machine tool a working area to which the manual jog feed coordinate system is assigned; a hand position obtaining section for obtaining a current position of the robot hand at each specified sampling period; a determination section for determining whether or not the current position of the robot hand obtained by the hand position obtaining section is within the working area set by the working area setting section; and a coordinate system switching section for switching a present manual jog feed coordinate system to the manual jog feed coordinate system assigned to the working area if it is determined by the determination section that the current position of the robot hand is within the working area.

Abstract: A device is provided for controlling multiaxial joint unit. The device includes a multiaxial joint unit, an estimating module, a path determining module, a path editing module. The multiaxial joint unit is to perform at least an action. The estimating module estimates parameter changes of the multiaxial joint unit while performing the action. The path determining module determines a work path according to the parameter changes. The path editing module determines multiple turning points of the work path and determines a simplified path according to the turning points, thereby controlling the multiaxial joint unit so that it moves according to the simplified path and performs the action repeatedly. A method for controlling the multiaxial joint unit is further provided.

Abstract: A laser processing robot control system is provided with a robot (1), a laser beam scanning device (3) and a robot controlling apparatus (7). The laser beam scanning device (3) is movable in a three-dimensional direction with respect to the robot (1) to scan a laser beam on a workpiece (W). This system selectively positions the robot and the laser beam scanning device to a prescribed position, and controls the laser beam scanning device (3) to scan the laser beam at a processing spot in a scan pattern based on a detected posture of the robot (1) and the scan pattern retrieved from the robot controlling apparatus (7). The teaching operations for positioning the robot (1) and the laser beam scanning device (3) to the prescribed position are performed independently of the teaching operations for controlling the scanning of the laser beam at the processing spot in the scan pattern.

Abstract: A charging system for a legged mobile robot that facilitates positioning of a robot to be charged and does not put a load on the robot is provided. The charging system includes a battery 2, a power receiving connector 4 and a movable shutter member 5 capable of being opened and closed on a rear cover 3, which are provided on a robot 1, and a holder 21, a power supplying connector 22, a slide mechanism 23, a base plate 25, a charging power supply 26 and the like, which are provided on a charging station 20. The robot 1 performs a predetermined positioning on the base plate 25 and then moves the center of gravity rearward to connect the power receiving connector 4 to the power supplying connector 22. In this step, when the rear cover 3 of the robot 1 is guided by a first guide section 21a of the holder 21, the slide mechanism 23 allows the holder 21 to move horizontally. Thus, even if the robot 1 and the charging station 20 are slightly misaligned with each other, the robot 1 can be easily positioned correctly.

Abstract: An automatic machine system and its communication control method not stopping the robot action even if wireless communication of a wireless portable teaching/operating unit fails. The automatic machine system comprises a mechanism unit having one or more drive mechanisms, a controller for driving/controlling the mechanism unit, and a portable teaching/operating unit for operating/teaching the mechanism unit. The controller (2) has a controller wireless communication section (24) for wireless communication with the portable teaching/operating unit (3) and a drive section (22) for driving the mechanism unit (1) according to a command signal received at the controller wireless communication section (24) from the portable teaching/operating unit (3).

Abstract: A method for detecting a casting curve for a controller of a robot guiding a pouring spoon includes the steps of manually pouring a smelt from the pouring spoon using a remote control apparatus, detecting and storing at least one time characteristic, and making available the at least one stored time characteristic for use in the robot controller. The at least one time characteristic includes at least of a first time characteristic of a movement of the robot and a second time characteristic of weights of the poured smelt during the pouring. In addition, a method for casting cast parts using a robot having a pouring spoon and a robot controller is disclosed as is a robot system.

Abstract: A target position detection apparatus for a robot includes: a robot including an arm configured to be freely moved in at least two directions of X and Y axes, the arm having a wrist axis provided at a distal end of the arm and configured to be freely moved in a horizontal direction, and the wrist axis being provided with an end effector; and a control unit adapted for driving a memory to store a teaching point therein and controlling an operation of the robot such that the end effector will be moved toward the teaching point stored in the memory.

Abstract: A method for aligning the position of a movable arm includes: providing an alignment element on the apparatus projecting a distance above the apparatus in the z-direction and having a surface lying in a plane formed by an x and y axis; providing a movable arm having a tool at the free end; positioning the object such that the surface of the element faces the tool; moving the tool in a direction towards the surface of the element; sensing when the tool reaches a predetermined point on or above the surface of the element, whereby the position of the tool in the z-direction is determined based on the relationship between the measured response of the tool and the height of the tool above the surface of the alignment element; placing the tool on or at a distance in the z-direction from the surface; moving the tool in the x-direction while sensing the surface of the element; moving the tool in the x-direction until an edge of the element is sensed; determining the center in the x-direction based on the known distan

Abstract: Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.

Abstract: Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.

Abstract: A robot apparatus and a motion controlling method for the robot apparatus wherein a reflex motion or the like can be performed at a high speed while decreasing the calculation amount of and the concentrated calculation load to a control apparatus. The robot has a control configuration having a hierarchical structure including a higher order central calculation section corresponding to the brain, reflex system control sections corresponding to the vertebra, and servo control systems and actuators corresponding to the muscles. From restrictions to the power consumption and so forth, there is a limitation to increase of the speed of a control cycle of the higher order central calculation section. External force acting upon the machine body is a disturbance input of a high frequency band, and a very high speed control system is required.

Abstract: Methods and apparatus that provide a hardware abstraction layer (HAL) for a robot are disclosed. A HAL can reside as a software layer or as a firmware layer residing between robot control software and underlying robot hardware and/or an operating system for the hardware. The HAL provides a relatively uniform abstract for aggregates of underlying hardware such that the underlying robotic hardware is transparent to perception and control software, i.e., robot control software. This advantageously permits robot control software to be written in a robot-independent manner. Developers of robot control software are then freed from tedious lower level tasks. Portability is another advantage. For example, the HAL efficiently permits robot control software developed for one robot to be ported to another. In one example, the HAL permits the same navigation algorithm to be ported from a wheeled robot and used on a humanoid legged robot.

Abstract: A method and system for controlling an industrial controller based on technology objects are disclosed. Technology object types may be loaded and instantiated into the run time system of a controller, thereby increasing the functionality and providing technological scaling of the controller. Technology object types may be loaded in the form of technology packages and a user may use the functionality of the invention directly in a user program.

Abstract: A process for programming an automation application program on an automation equipment programming station, including defining several structured type objects each representing an input-output channel of automation equipment, declaring symbolic input-output variables of the program as an instance of a previously defined structured type object, a configuring symbolic input-output variables comprising a definition of the physical location of inputs-outputs of the automation equipment, automatically interpreting the program to execute it on the automation equipment, comprising replacing symbolic variables in the program with the complete topological address of corresponding input-output information.

Abstract: An operation confirming method capable of making, in order to enhance an operation program correction efficiency, an operation path at an operation confirming time (teaching mode) identical with that at an actual job time (play mode) as much as possible; and a control device therefor. The method comprises the steps of inputting respective shaft operation instruction values (&ohgr;j) based on an actual operation speed to a mechanical simulator-carrying low-speed instruction converter (7), and instructing to a servo controller unit (4) a quantity (&ohgr;ij) (=&ohgr;sj/P), obtained by dividing an output (&ohgr;sj) from the mechanical simulator by a specified positive real number P at the low-speed instruction converter, as respective shaft operation values N times (N; maximum natural number not exceeding the real number P).

Abstract: A programming apparatus having an arrangement for formulating an automating task to be performed in the form of a programming language for automating apparatuses is described, which simplifies a process error analysis for an analysis unit. For this purpose, the programming apparatus is provided with an arrangement that store operands (9; 27), marked to be monitored, in the order in which they appear in the network in a logic list. Furthermore, the programming apparatus has an arrangement that store the operands of this network in an operand list in the order in which they appear in the network. The lists can be transferred into the analysis unit for analysis.

Abstract: An interference avoiding device for determining occurrence of an interference in a robot operation in advance and automatically avoiding the interference, to be suitably applied to an automatic picking-up operation of randomly stored workpieces. A position/orientation of a workpiece and a position/orientation of a tool for getting hold of the workpiece in a teaching operation, and shapes/dimensions of the tool and the storage box are determined and stored in a storage device. A command position/orientation Ta of the tool for getting hold of an objective workpiece is determined based on a detected position/orientation Wa of the workpiece and it is determined whether or not an interference between the tool an the storage box will occur based on the position/orientation Ta and the stored information.

Abstract: A moving robot first moves straight in a first forward path. When encountering an obstacle such as shelf, the robot makes a U-turn to move straight in a backward path located with a prescribed distance away from the first forward path. When encountering another obstacle, the robot again makes a U-turn to move straight in a second forward path extending in the same direction as that of the first forward path but located with a distance away from the backward path. When the robot exceeding the point of the U-turn in the first forward path is detected during running in the second forward path, presence of a region where the robot has not run yet is recognized, and running in that region is carried out thereafter.

Abstract: The invention is a method for positioning a conveying mechanism having a holding portion for semiconductor wafers. Respective provisional position coordinates of an orienting teaching standard position and a container teaching standard positions are inputted into a controlling unit in advance. A wafer to be conveyed precisely positioned with respect to and held by the holding portion is conveyed and placed on the rotating orienting device according a control based on the provisional coordinates of the orienting teaching standard position. A posture detector then detects the eccentric volume and eccentric direction of the wafer. Appropriate position coordinates are made by amending the provisional coordinates. Then, a wafer to be conveyed precisely positioned with respect to the container teaching standard position is conveyed and placed on the rotating orienting device according a control based on the provisional coordinates of the orienting teaching standard position.

Abstract: A system for manipulating a workpiece in an industrial robot system having a manipulator device for manipulating the workpiece, a tooling adapter coupled to the manipulator device for manipulating the workpiece, and an image referencing system for acquiring image data corresponding to the workpiece without interference from the manipulator device.

Abstract: Process for the automatic determination of an optimal movement program of a robot comprising at least one moving member, a motor associated with the moving member and a control unit capable of activating the motor according to a movement program to move the moving member along a trajectory with a predetermined movement parameter. The process comprises the steps of: acquiring data indicating the load state of the motor and the precision of movement of the robot during the execution of a movement program, comparing the information on the load state and on the precision of movement with predetermined limit values, repeatedly executing the movement program while progressively varying the movement parameter until a measured value of the load state and/or of the precision of movement exceeds a corresponding limit value, and storing as the optimal movement program the last movement program which has been executed without exceeding the limit values.

Abstract: An interacting term existing in a control system is decoupled on the basis of a regular condition of a decoupling matrix. Then, an hyperplane &sgr; which has been obtained to satisfy the Lyapunov stability condition is designed. A control quantity is converged along the hyperplane &sgr;. In this case, even if the uncertainty is generated in a C matrix for connecting a state variable x(t) and an output y(t) of an object to be controlled, it is possible to converge the control quantity while always satisfying the Lyapunov stability condition. A non-linear input gain ki (x,t) used in the control system is designed to be greater than a predetermined value when there is no uncertainty in the C matrix to satisfy the Lyapunov stability condition. Also, a control input signal based upon the sliding mode decoupling control is converted to an articulation torque by a Jacobian. Also, for the control input signal, reverse dynamics of non-linear force are added thereto.

Abstract: An attitude control method of a visual sensor (3) utilized for a robot (1), with the object of simplifying the teaching operation for adjusting the attitude of the visual sensor, enabling continual control of sensor attitude, and obtaining highly reliable measuring accuracy of the sensor for detecting positions of objects. The positions of a starting point and an end point on a path of the tool (2) through which the tool moves are taught. The initial attitude data representing the attitude at the starting point of the visual sensor (3) are memorized. The moving attitude data representing the attitude of the visual sensor when the tool moves through the path are periodically sampled and memorized. The attitude of the sensor (3) is controlled so that the attitude of the sensor after sampling the moving attitude data at each sampling time matches the attitude represented by the initial attitude data, based on both the initial attitude data and the moving attitude data.

Abstract: A system and method for using a camera and an associated display means for facilitating the loading of the distinguishing characteristics of a workpiece into the control system for a machining system to allow machining of workpieces in accordance with a stored program.

Abstract: The station comprises a revolving table for receiving, positioning and clamping in an operating position a pallet of the type provided with adjustable anchoring elements for components of clamping fixtures, a magazine for modular components of clamping fixtures and a robot capable of executing adjustment functions of the anchoring elements of pallet, of the clamping and transfer of the modular components and of the application to and separation from the components themselves with respect to anchoring elements of pallet. There is provided a control centre with a computer, whereby just one operator may automatically and repetitively execute the work for the entire station.

Abstract: A system for testing integrated circuits is disclosed which uses a mechanical microprobe and the integrated circuit's CAD database. The system is integrated with the CAD database in such a manner that after an initial alignment operation between the CAD database and the integrated circuit being tested, the microprobe can be moved automatically to any spot on the circuit by choosing a point in the CAD database and placing a cursor on that spot. The microprobe is then automatically moved to the point so indicated. A contact sensing circuit allows the probe to be driven into the actual circuit to take measurements or inject test signals without fear of damaging the integrated circuit. The system can operate in numerous modes, each of which provide a different way of visualizing the circuit being tested.

Abstract: Disclosed is a teaching apparatus for a robot comprising a graphic display capable of displaying characters, symbols, and figures, a pointing device capable of indicating any point on the display screen, a storage for storing character, symbol, and graphic information, and an arithmetic and logic unit for taking in three dimensional data and data of hand coordinates system stored in the storage, calculating a conversion matrix t.sub.v for conversion to data of hand coordinates system and a conversion matrix T.sub.p for projection to the hand coordinates system, converting three dimensional data to two dimensional data according to the thus calculated conversion matrices T.sub.v and T.sub.p, and allowing a display of surroundings viewed from a view point of the robot in motion or at rest to be made on the graphic display.

Abstract: In an industrial robot according to this invention, at least three points among a large number of off-line teaching points set for tasks are directly taught in the actual site of the tasks, the "deviations" between the actual teaching points and the off-line set teaching points respectively corresponding to each other are computed in directions X, Y and Z, and all the large number of off-line teaching points are corrected on the basis of the errors detected for at least the three points.

Abstract: A multi-axle programmable manipulator is described which includes a corresponding multi-axle training arm for programming the manipulator. A support for the training arm is disclosed which allows the training arm to so be anchored to the manipulator that the first axle of the training arm extends constantly in the extension of the first axle of the manipulator. The displacement of the second axle of the training arm is mechanically compensated to be rotatable about the second axis of the manipulator.

Abstract: An industrial robot having a controllably movable arm is taught position data for controlling the movable of the arm. A support member is provided on the arm and has a through-hole therein. First, an optical magnifying devices inserted into the through-hole for aligning the arm in a proper position so as to teach the position data to the industrial robot. Thereafter, the optical magnifying device is removed from the through-hole, and a manipulating device is inserted into the same through-hole. The manipulating device is movable together with the arm according to the taught data for sequentially manipulating workpieces.

Abstract: The invention is directed to remotely-controlled manipulator carrier systems for use in maintaining and servicing process equipment housed in large-area cells affected by radioactivity wherein industrial processes are conducted. The cells are part of a nuclear facility for reprocessing irradiated nuclear fuel materials. The process equipment is arranged along mutually adjacent walls of the cell and so defines a canyon-like passageway extending in the direction of the longitudinal axis of the cell. The system includes a first overhead bridge crane having a trolley movable thereon in a direction transverse to said longitudinal axis. The trolley includes a hoist for lowering and raising a hook for engaging and moving a component of the process equipment in a first vertical plane transverse to said axis. A second overhead bridge crane is disposed beneath the first bridge crane.

Abstract: A grinding robot of playback system to grind 3-D curved surface is disclosed which is comprised of No. 1 arm being horizontally oscillatable around a vertical axis, No. 2 arm pivoted horizontally oscillatable to the head of said No. 1 arm, fluid cylinder attached vertically to the head of said No. 2 arm, abrasive tool attached freely ascendable/descendable and turnable to the bottom of said fluid cylinder, workpiece-fixing table arranged freely turnable and inclineable from horizontal to vertical below said abrasive tool, and designed to make it possible to trace the 3-D curved-surface profile by constantly pressing down the workpiece perpendicularly toward the same by the action of said fluid cylinder and to perform the 3-D curved-surface's automatic grinding-work with the use of 2-D positional data and also to playback-control a retirement locus of the abrasive tool when retiring it temporarily from work area.

Abstract: There is provided a device for programming motions and operational forces or torques of a robot, and a device for carrying out the method. The device includes a handle grip-sensor unit which includes a known sensor of forces and/or torques of the type which defines a load pick-up plate connected via spokes to a peripheral ring and via upright supports to a rigid base part. The peripheral ring is connected to an inner wall of a hollow body whose outer wall is shaped to match the contours of the human hand. The base part is rigidly connected either to an inertial platform or to an end link of the robot. The output of the sensor is connected to link driving means of the robot via a data-processing unit which converts the output signals from the sensor into data corresponding to forces or torques applied by the operator to the handgrip-sensor unit.

Abstract: Control apparatus for manipulator welding apparatus is provided that includes a vision correction system for workpiece sensing. During an initial teach mode, the manipulator is taught the desired welding path on a workpiece and data is recorded representing the welding path relative to a frame of reference defined by the workpiece. In addition to the data representing the taught welding path and the frame of reference, data representing one or more reference images or templates are also recorded in the teach mode. As successive workpieces are presented to the manipulator for performing the desired welding path, the control apparatus in a repeat work cycle mode is first controlled to measure and define the new location and orientation of the frame of reference in accordance with the workpiece. The new frame of reference data is utilized to modify the path data.