A robot system and a method, by which a robot can effectively and sequentially take out a plurality of randomly located workpieces, while avoiding interference by a simple calculation. A first detection coordinate system for determining the motion of the robot is defined on the lateral surface of the workpiece. The first detection coordinate system is translated by a predetermined distance in the negative direction of a Z-axis, and then an X-Z plane is rotated about an X-axis of the workpiece so that the X-Z plane is perpendicular to an X-Y plane of a robot coordinate system, whereby a work coordinate system is obtained. Next, the work coordinate system is rotated about the X-axis by a target angle, and then is translated by a distance corresponding to a radius of the workpiece in the positive direction of the Z-axis, whereby a second detection coordinate system is obtained and output.

A trajectory generation apparatus for robot includes a load judgement unit which compares a load applied to a component of a robot when the robot is operated on a reference trajectory with a load judgement value and a speed reduction unit which reduces a speed of the robot when the load is greater than the load judgement value. The trajectory generation apparatus includes a comparison trajectory generation unit which sets a comparison teaching point obtained by changing a position of a reference teaching point when the speed is reduced and generates a comparison trajectory based on the comparison teaching point and a trajectory selection unit which compares a transit time of the comparison trajectory with a transit time of the reference trajectory and selects a trajectory of which a transit time is shorter.

A channel on an upstream side of a third expansion device and a channel on an upstream side of a second expansion device are connected during a heating operation, and medium pressure refrigerant generated by the third expansion device during the heating operation is introduced on a suction side of a compressor via the second expansion device and a suction injection pipe.

There is provided a control system for controlling a surgical arm device of a multi-link structure in which a plurality of links is coupled together by a joint unit in a force control mode. In generalized inverse dynamics, the control system sets a motion purpose and a constraint condition in an operation space describing an inertia of force acting on a multi-link structural body and an acceleration of the multi-link structural body, and for implementing an operation space acceleration indicating the motion purpose, calculates a virtual force acting on the operation space on the basis of a motion equation relating to the operation space including a term of an operation space bias acceleration in consideration to gravity compensation according to inclination information of the surgical arm device, and calculates a torque command value for a joint unit on the basis of a real force converted from the virtual force.

A method for controlling a field device coupled to an automation network, in which the field device has an associated tool device selected from a group of predetermined tool devices, includes the steps of: coupling the selected tool device to a control device having a physical port device; choosing a virtual link unit from a group of virtual link units included in the control device as a function of the selected tool device, wherein each of the virtual link units corresponds to one of the predetermined tool devices; and establishing a control link between the chosen control device and the selected tool device being associated to the field device via the physical port device using control data included in the chosen virtual link unit.

A hand-held robot operating device combination has: an autonomous safety-related basic control device that includes a housing, a safety-relevant switching means on the housing, and a communication device for connecting the autonomous safety-related basic control device for control purposes to a controller of a robot; an autonomous mobile terminal that includes a terminal controller and at least one terminal position sensor designed to sense positional data in respect of the autonomous mobile terminal in at least one of the degrees of freedom thereof; and a holder designed to mechanically connect the autonomous safety-related basic control device to the autonomous mobile terminal in a manually detachable combined arrangement so as to form the hand-held robot operating device combination; the autonomous safety-related basic control device includes at least one basic-control position sensor which is designed to sense positional data in respect of the autonomous safety-related basic control device in at least one degrees of freedom thereof.

An item setter sets a plurality of first analysis parameters included in first analysis condition data acquired by an analysis condition data acquirer in a first item that is dependent on characteristics of a first analysis device and a second analysis device, and a second item that is not dependent on the characteristics of the first and second analysis devices. A parameter value converter converts a value of a first analysis parameter of the first item that is set by the item setter into a value of a second analysis parameter corresponding to a second data processing device for the second analysis device, and takes a value of a first analysis parameter of the second item that is set by the item setter as a value of a second analysis parameter as it is.

An item setter sets a plurality of first analysis parameters included in first analysis condition data acquired by an analysis condition data acquirer in a first item that is dependent on characteristics of a first analysis device and a second analysis device, and a second item that is not dependent on the characteristics of the first and second analysis devices. A parameter value converter converts a value of a first analysis parameter of the first item that is set by the item setter into a value of a second analysis parameter corresponding to a second data processing device for the second analysis device, and takes a value of a first analysis parameter of the second item that is set by the item setter as a value of a second analysis parameter as it is.

A manipulator system configured to perform a work to a workpiece being moved by a moving device, includes a robotic arm, having one or more joints and to which a tool configured to perform the work to the workpiece is attached, an operating device configured to operate the robotic arm, a first imaging means configured to image the workpiece, while following the movement of the workpiece, a second imaging means fixedly provided in a work area to image a situation of the work to the workpiece, a displaying means configured to display an image imaged by the first imaging means and an image imaged by the second imaging means, and a control device configured to control the operation of the robotic arm based on an operating instruction of the operating device, while detecting a moving amount of the workpiece being moved by the moving device and carrying out a tracking control of the robotic arm according to the moving amount of the workpiece.

A blast plan control system and method used to control a drill and blast event is disclosed. The system and method customizes results for specific conditions. The system can receive certain inputs, such as conditions of the area to be blasted and the desired rock fragment size, and use these inputs to output a plurality of blast plans characterized by a set of characteristics that achieve the desired fragmentation size. A user can select a blast plan for execution from the plurality of blast plans. When the control system receives a selected blast plan, the control system can generate a work order for the selected blast plan and communicate the work order to operators and/or drilling equipment associated with execution of the drill and blast event. The operators and/or drilling equipment can then prepare for and execute the selected blast plan.