Method for extending an embedded software component of a field device (F), wherein an extending software component is loaded into a memory of the field device (F), wherein by means of the extending software component at least one supplemental application function is provided for the field device (F), and wherein the embedded software component and the extending software component interact, in order to execute the supplemental application function.

A robot system includes: a robot that is movable according to an external force applied thereto by a worker; a force detecting unit that is provided in the robot and that detects the magnitude of an external force acting on the robot; a warning part that vibrates the robot when an external force having a magnitude equal to or greater than a first predetermined threshold is detected by the force detecting unit; and a stop part that stops the robot when an external force having a magnitude equal to or greater than a second predetermined threshold that is greater than the first predetermined threshold is detected by the force detecting unit.

There is provided a method and computer program product for programming a robot by manually operating it in gravity-compensation kinesthetic-guidance mode. More specifically there is provided method and computer program product that uses kinesthetic teaching as a demonstration input modality and does not require the installation or use of any external sensing or data-capturing modules. It requires a single user demonstration to extract a representation of the program, and presents the user with a series of easily-controllable parameters that allow them to modify or constrain the parameters of the extracted program representation of the task.

There is provided a method and computer program product for programming a robot by manually operating it in gravity-compensation kinesthetic-guidance mode. More specifically there is provided method and computer program product that uses kinesthetic teaching as a demonstration input modality and does not require the installation or use of any external sensing or data-capturing modules. It requires a single user demonstration to extract a representation of the program, and presents the user with a series of easily-controllable parameters that allow them to modify or constrain the parameters of the extracted program representation of the task.

A robot system includes a robot body configured to perform a work, a robot controlling module configured to control operation of the robot body according to an operator command, a manipulator configured to send the operator command to the robot controlling module according to manipulation by an operator, a motivation information acquiring module configured to acquire motivation information for motivating the operator so that the operator increases an amount of work or a speed of work of the robot body, and a motivation information presenter configured to present to the operator the motivation information acquired by the motivation information acquiring module.

An robot operation device attached to a robot having a long tool fixed to a flange provided at a distal end of the robot, the robot operation device includes a handle having an inner hole through which the tool is inserted, the handle configured to be held by one of hands of an operator in a manner that a longitudinal axis of the tool is enclosed by the one of the hands, and a sensor configured to attach the handle to the flange, the sensor detecting force or moment applied to the handle by the operator. The robot is operable by lead-through control which changes a position and posture of the robot in response to the force or the moment detected by the sensor.

A robot system includes a robot, and an information processing portion. The information processing portion is configured to obtain a learned model by learning first force information about a force applied by a worker to a workpiece, first position information about a position of a first portion of the worker, and first workpiece information about a state of the workpiece, and control the robot on a basis of output data of the learned model.

A dragging demonstration system and method. The dragging demonstration system comprises: a model identification module configured to build a static model of a robot and identify model parameters, wherein the static model comprises a gravity model and a Coulomb friction model; a feedforward compensation module configured to convey the identified model parameters to a current ring of each joint motor of the robot in a feedforward way according to the identified model parameters; and a data recording module configured to record the position information of each joint of the robot so that the robot can repeat the demonstration action. The system and method can make a user push the robot quite easily to implement dragging demonstration.

A dragging demonstration system and method. The dragging demonstration system comprises: a model identification module configured to build a static model of a robot and identify model parameters, wherein the static model comprises a gravity model and a Coulomb friction model; a feedforward compensation module configured to convey the identified model parameters to a current ring of each joint motor of the robot in a feedforward way according to the identified model parameters; and a data recording module configured to record the position information of each joint of the robot so that the robot can repeat the demonstration action. The system and method can make a user push the robot quite easily to implement dragging demonstration.

The invention relates to a robot, a robot control system, and a method for controlling a robot. The robot comprises a movable, multi-membered robot structure (102) that can be driven by means of actuators (101), at least one marked structural element S being defined on the movable robot structure (102), with at least one point P.sub.S marked on the structural element S. The robot is designed such that, in an input mode, it learns positions POS.sub.PS of the point PS and/or poses of the structural element S in a work space of the robot, the user exerting an input force F.sub.EING on the movable robot structure in order to move the structural element S, which is conveyed to the point P.sub.S as F.sub.EING,PS, and/or to the structural element S as torque M.sub.EING,S. A control device (103) of the robot is designed such that, in the input mode, the actuators (101) are controlled on the basis of a pre-defined space-fixed virtual 3D grid that at least partially fills the work space, such that the structural element S is moved with a pre-defined force F.sub.GRID (POS.sub.PS), according to the current position POS.sub.PS of the point P.sub.S in the 3D grid, to the adjacent grid point of the 3D grid or in a grid point space defined around the adjacent grid point of the 3D grid, the point P.sub.S of the structural element S remaining on said adjacent grid point or in said grid point space in the event of the following holding true: |F.sub.EING,PS|<|F.sub.GRID(POS.sub.PS) and/or, in the input mode, the actuators (101) are controlled on the basis of a pre-defined virtual discrete 3D orientation space O, where the 3D orientation space O=: (.sub.i, .sub.j, .sub.k) where i=1, 2, . . . , I, j=1, 2, . . . J, k=1, 2, . . . , K is defined or can be defined by a pre-defined angle .sub.i, .sub.j, .sub.k, in such a way that the structural element S is moved with a pre-defined torque)(SO ROM according to the current orientation OR.sub.S of the structural element, towards the adjacent discrete orientation of the 3D orientation space O=: (.sub.i, .sub.j, .sub.k), S, the structural element remaining in said adjacent discrete orientation of the 3D orientation space O in the event that the following holds true: |M.sub.EING,S|<|M.sub.O(OR.sub.S).