By repeating for each control axis, that an axis angle of each control axis of an arm is detected during a direct teaching of a robot, a current position of a standard point defined on the arm or a tool is obtained based on the axis angle, a position instruction value that uses a position obtained by projecting the current position on a given movement route (moving direction) is generated as a target position, and each control axis is driven based on the position instruction value, until a deviation of an instruction angle corresponding to the position instruction value and the detected axis angle, or a deviation of the position instruction value and the current position of the standard point corresponding to the detected axis angle reaches a given value or below, the robot is taught, after the deviation becomes the given value or below, positional information on the arm.

A robot arm permitting a more sensitive and precise operation in the offline programming of a robot having a robot arm with a number N of arm components A.sub.n, which can be connected to a robot body via a number N of actuator-drivable joint connections GV.sub.n, where n=1, 2, . . . , N.

A robot arm allowing an improved ergonomic operation during a learning programming process of a robot having a robot arm with a number N of arm components A.sub.n, which can be connected to a robot body via a number N of actuator-drivable joint connections GV.sub.n, where n=1, 2, . . . , N.

Provided is a robot system including a robot; a control device configured to control the robot; a portable teach pendant connected to the control device; and a teaching handle attached to the robot and connected to the control device, where the teach pendant is provided with a first enable switch configured to permit operation of the robot by the teach pendant, the teaching handle is provided with a second enable switch configured to permit operation of the robot by the teaching handle, and the control device enables operation of the robot by the teaching handle only when the first enable switch is in an off state and the second enable switch is switched to the on state, and enables operation of the robot by the teach pendant only when the second enable switch is in an off state and the first enable switch is switched to the on state.

A servo motor is driven to rotate a feed axis to move a movable part of a machine tool controlled by a numerical controller in a feed axis direction. A sensor that senses force from the outside (worker) applied to the movable part and a direction of the force is provided on the movable part. The numerical controller generates a movement command for moving the movable part in the direction of the force detected by the sensor and drives the servo motor based on the movement command.

A servo motor is driven to rotate a feed axis to move a movable part of a machine tool controlled by a numerical controller in a feed axis direction. A sensor that senses force from the outside (worker) applied to the movable part and a direction of the force is provided on the movable part. The numerical controller generates a movement command for moving the movable part in the direction of the force detected by the sensor and drives the servo motor based on the movement command.

A rehabilitation system for rehabilitation of a subject including at least one end-effector for interacting with the subject, the end-effector having at least two degrees of freedom of motion, at least one actuator for actuating the at least one end-effector, at least one sensor for measuring at least the position and the speed of the at least one end-effector; at least one sensor for measuring the interaction force between the subject and the end-effector; a memory including at least two initial coefficients and a session including at least one exercise including at least one reference trajectory to be carried out by the subject through actuation of the end effector; and an actuator controlling unit. The memory delivers the initial coefficients and the session, the sensors deliver measurement signals to the controlling unit, and the controlling unit provides a force-controlled feedback based on the initial coefficients.

A control device includes a processor that is configured to be capable of displaying, on a display, a first setting form capable of setting a plurality of first setting items related to force control performed using an output of a force sensor included in a robot and a second setting form capable of setting, as one second setting item, at least a pair of the first setting items among the plurality of first setting items included in the first setting form.

In one embodiment a method comprises: accessing information associated with a first actor, including sensed activity information associated with an activity space; analyzing the activity information, including analyzing activity of the first actor with respect to a plurality of other actors; and forwarding feedback on the results of the analysis, wherein the results includes identification of a second actor as a replacement actor to replace the first actor, wherein the second actor is one of the plurality of other actors. The activity space can include an activity space associated with performance of a task. The analyzing can comprise: comparing information associated with activity of the first actor within the activity space with anticipated activity of the respective ones of the plurality of the actors within the activity space; and analyzing/comparing deviations between the activity of the first actor and the anticipated activity of the second actor.

A positioning controller (50) including an imaging predictive model (80) and inverse control predictive model (70). In operation, the controller (50) applies the imaging predictive model (80) to imaging data generated by an imaging device (40) to render a predicted navigated pose of the imaging device (40), and applies the control predictive model (70) to error positioning data derived from a differential aspect between a target pose of the imaging device (40) and the predicted navigated pose of the imaging device (40) to render a predicted corrective positioning motion of the imaging device (40) (or a portion of the interventional device associated with this imaging device) to the target pose. From the predictions, the controller (50) further generates continuous positioning commands controlling a corrective positioning by the interventional device (30) of the imaging device (40) (or said portion of interventional device) to the target pose based on the predicted corrective positioning motion of the interventional device (30).