A robot and method for controlling an industrial robot, which has a first robot arm, a second robot arm, a joint defining a kinematic pair between the first and second robot arms, an actuator for generating relative movement between the first and second robot arms, and a robot controller for controlling the movements of the actuator. The method includes the steps of: determining a presence of a first torque indication at the actuator to be interpreted as a first command to the robot controller; repeatedly obtaining an external torque value (.sub.ext) to obtain an external torque behavior; comparing the external torque behavior with the first torque indication; and executing a robot function corresponding to the first command upon detecting that the external torque behavior corresponds to the first torque indication. The obtained external torque behavior depends on a reference torque value (.sub.ref) obtained from a dynamic model of the robot.

A direct teaching method of a robot includes specifying one of a plurality of robot arms as a master arm and specifying as a slave arm at least one of the robot arms which is other than the master arm; causing the slave arm to operate cooperatively with the master arm so that relative positions and postures of a wrist part of the master arm and a wrist part of the slave arm become a predetermined relation, while a teaching person is directly applying a force to an arbitrary location of the master arm including a tool, to move the master arm to a desired teaching position; and storing position information of at least one of the master arm and the slave arm at a time point when the master arm has reached the desired teaching position.

A robot controller comprising a processor that is configured to execute computer-executable instructions so as to controls a robot including an arm capable of moving at least one of a target object and a discharger capable of discharging a discharge object to the target object, wherein the processor is configured to use a first position based on a jig removably attached to the discharger to generate teaching information on a position of the arm.

A robot controller comprising a processor that is configured to execute computer-executable instructions so as to controls a robot including an arm capable of moving at least one of a target object and a discharger capable of discharging a discharge object to the target object, wherein the processor is configured to use a first position based on a jig removably attached to the discharger to generate teaching information on a position of the arm.

A robot learning system for trajectory learning of a robot (RB) having a robot arm between a base and a tool center point (TCP). A user interface allows the user to control the robot arm in order to follow a desired trajectory during a real-time. A probe sensor (PS) is mounted on the TCP during the learning session. The probe sensor (PS) measures a distance parameter (Z) indicative of distance from the TCP and a surface forming the trajectory to be followed, and an orientation parameter (X, Y) indicative of orientation of the TCP and the surface forming the trajectory to be followed. These distance and orientation data are provided as a feedback to the controller of the robot (CTL) during the real-time learning session, thereby allowing the robot controller software to assist the user in following a desired trajectory in a continuous manner. Especially, the probe sensor (PS) may have a displaceable tip (TP) to follow a surface and having a neutral or center position, and where the robot controller software controls the robot movements to seek the neutral or center position irrespective of the user's control inputs. Data (DT) is logged during the learning session, so as to allow later control of the robot (RB) in response to the data (DT) logged during the learning session.

A robot learning system for trajectory learning of a robot (RB) having a robot arm between a base and a tool center point (TCP). A user interface allows the user to control the robot arm in order to follow a desired trajectory during a real-time. A probe sensor (PS) is mounted on the TCP during the learning session. The probe sensor (PS) measures a distance parameter (Z) indicative of distance from the TCP and a surface forming the trajectory to be followed, and an orientation parameter (X, Y) indicative of orientation of the TCP and the surface forming the trajectory to be followed. These distance and orientation data are provided as a feedback to the controller of the robot (CTL) during the real-time learning session, thereby allowing the robot controller software to assist the user in following a desired trajectory in a continuous manner. Especially, the probe sensor (PS) may have a displaceable tip (TP) to follow a surface and having a neutral or center position, and where the robot controller software controls the robot movements to seek the neutral or center position irrespective of the user's control inputs. Data (DT) is logged during the learning session, so as to allow later control of the robot (RB) in response to the data (DT) logged during the learning session.

A control device of robot arm including a pressure sensing module and a control module is provided. The pressure sensing module, disposed on an operating portion of a robot arm, has a touch-sensing surface for detecting an operation command applied to the touch-sensing surface. The control module receives at least a pressure sensing signal outputted by the pressure sensing module and outputs a motor driving signal to the robot arm in response to the operation command. The touch-sensing surface includes a first touch-sensing region and a second touch-sensing region. The first touch-sensing region is for defining a first reference coordinate system satisfying a translational motion mode. The second touch-sensing region is for defining a second reference coordinate system satisfying a rotational motion mode. The control module controls the robot arm according to the operation command.

A control device of robot arm including a pressure sensing module and a control module is provided. The pressure sensing module, disposed on an operating portion of a robot arm, has a touch-sensing surface for detecting an operation command applied to the touch-sensing surface. The control module receives at least a pressure sensing signal outputted by the pressure sensing module and outputs a motor driving signal to the robot arm in response to the operation command. The touch-sensing surface includes a first touch-sensing region and a second touch-sensing region. The first touch-sensing region is for defining a first reference coordinate system satisfying a translational motion mode. The second touch-sensing region is for defining a second reference coordinate system satisfying a rotational motion mode. The control module controls the robot arm according to the operation command.

An industrial robot having high operability for a user is provided. An industrial robot includes a manipulator, a controller which controls an operation of the manipulator, and a detection device attached to the manipulator and detecting a gesture input. The controller executes a process corresponding to the detected gesture input.

A manually taught robot which may include a main controller, at least one joint comprising two arms and a drive mechanism with a servo motor, a driver, and an encoder. The main controller is electrically connected to the drivers and an output of each encoders. Additionally, a method for manually teaching a robot may include the steps of the robot entering into a torque mode and moving according to a desired track, the main controller storing output values from the encoders, the servo motor resetting into a positional or speed mode controlled by the driver controls and the operational output values of each encoder changing at the end of each operation period.