The purpose of the present invention is to construct a system in which a robot cell receives output from a laser oscillator separate from the robot cell and is irradiated with a laser beam, wherein the need for complicated wiring is obviated without introducing a safety support system such as a safety PLC. In the present invention, a safety signal from a robot cell is communicated from a robot controller to a laser oscillator, where the robot controller serves as a master unit and the laser oscillator serves as a slave unit, thereby making it possible to obviate the need for numerous wires and to carry out installation such that wiring is uncomplicated.

A learning assistance system includes an operation control unit, a parameter acquisition unit, and a display control unit. The operation control unit causes an apparatus to be controlled to operate in accordance with force tactile sensation during operation by a user. The parameter acquisition unit acquires control parameters that are used for the control by the operation control unit. The operation control unit and the display control unit comparably provide, to a second user, a first control parameter acquired by the parameter acquisition unit in a case where the operation control unit controlled the operation of the apparatus based on operation by the first user and a second control parameter acquired by the parameter acquisition unit in a case where the operation control unit controlled the operation of the apparatus based on operation by the second user.

A medical manipulator system includes a manipulator having a first joint; a first detecting means detecting an orientation of the first joint; an operation unit having a second joint associated with the first joint for operating the first joint; a second detecting means detecting an orientation of the second joint; a control unit outputting a signal for operating the first joint, the signal being based on the orientation of the second joint detected by the second detecting means; and a display unit displaying information output by the control unit, wherein a display of the information by the display unit includes a first display indicating a predetermined range of an orientation determined by using the orientation of the first joint that is detected by the first detecting means as a reference and a second display indicating the orientation of the second joint that is detected by the second detecting means.

A medical manipulator system includes a manipulator having a first joint; a first detecting means detecting an orientation of the first joint; an operation unit having a second joint associated with the first joint for operating the first joint; a second detecting means detecting an orientation of the second joint; a control unit outputting a signal for operating the first joint, the signal being based on the orientation of the second joint detected by the second detecting means; and a display unit displaying information output by the control unit, wherein a display of the information by the display unit includes a first display indicating a predetermined range of an orientation determined by using the orientation of the first joint that is detected by the first detecting means as a reference and a second display indicating the orientation of the second joint that is detected by the second detecting means.

A sequence of input samples that are measures of position or orientation of an input device being held by a user are received. A current output sample of a state of linear quadratic estimator, LQE, is computed that is an estimate of the position or orientation of the input device. The current output sample is computed based on i) a previously computed output sample, and ii) a velocity term. An updated output sample of the state of the LQE is computed, based on i) a previously computed output sample, and ii) a new input sample. Other embodiments are also described and claimed.

A sequence of input samples that are measures of position or orientation of an input device being held by a user are received. A current output sample of a state of linear quadratic estimator, LQE, is computed that is an estimate of the position or orientation of the input device. The current output sample is computed based on i) a previously computed output sample, and ii) a velocity term. An updated output sample of the state of the LQE is computed, based on i) a previously computed output sample, and ii) a new input sample. Other embodiments are also described and claimed.

A robot system control method includes a first step through a fifth step. Particularly in the second step, a second transformation matrix that represents the positional relation between a first slave robot and a second slave robot is generated and stored in a master robot. In the fourth step, based on a second command obtained using a first transformation matrix and the second transformation matrix, the master robot instructs the second slave robot to operate. In the fifth step, the first slave robot and the second slave robot perform a cooperative operation with the master robot. Thus, in the state where a working robot that can perform TCP matching with only part of the other robots is set to a master robot, all of the robots can perform a cooperative operation.

A robot system control method includes a first step through a fifth step. Particularly in the second step, a second transformation matrix that represents the positional relation between a first slave robot and a second slave robot is generated and stored in a master robot. In the fourth step, based on a second command obtained using a first transformation matrix and the second transformation matrix, the master robot instructs the second slave robot to operate. In the fifth step, the first slave robot and the second slave robot perform a cooperative operation with the master robot. Thus, in the state where a working robot that can perform TCP matching with only part of the other robots is set to a master robot, all of the robots can perform a cooperative operation.

The present invention discloses a method and system for switching an operating state of a robot. The method comprises the following steps of: providing an excitation device for an opening terminal and an excitation device for a closing terminal on a mask of the robot; transmitting, by the excitation device, a mask state signal to a slave computer processor when the mask is opened or closed; by the slave computer processor, processing the received mask state signal and then transmitting the processed mask state signal to a master computer processor; and controlling, by the master computer processor, the switchover of the operating state of the robot according to the received processed mask state signal. With regard to the technical solutions of the present invention, through the opening and closing of a mask, the system of a robot can be in two operating states and perform different functions.

The present invention discloses a method and system for switching an operating state of a robot. The method comprises the following steps of: providing an excitation device for an opening terminal and an excitation device for a closing terminal on a mask of the robot; transmitting, by the excitation device, a mask state signal to a slave computer processor when the mask is opened or closed; by the slave computer processor, processing the received mask state signal and then transmitting the processed mask state signal to a master computer processor; and controlling, by the master computer processor, the switchover of the operating state of the robot according to the received processed mask state signal. With regard to the technical solutions of the present invention, through the opening and closing of a mask, the system of a robot can be in two operating states and perform different functions.