The invention relates to a robot controller controlling a robot arm, the robot controller is configured to maintain the robot arm in a static posture when only gravity is acting on the robot arm and allow change in posture of the robot arm when an external force different from gravity is applied to the robot arm. The free-drive mode of operation is activatable by a user establishing a free-drive activation signal to the robot controller, which then is configured to:monitor a value of at least one joint sensor parameter;compare the value of the mode of joint sensor parameter to a maintain free-drive joint sensor parameter threshold value;maintain the robot arm in said free-drive mode of operation for a predetermined maintain free-drive period of time; andleave the free-drive mode of operation if the value of the joint sensor parameter does not exceed the maintain free-drive joint sensor parameter threshold value within the maintain free-drive period of time.

A human pilot controls a robotic arm and gripper by simulating a set of desired motions with the human hand. In at least one embodiment, one or more images of the pilot's hand are captured and analyzed to determine a set of hand poses. In at least one embodiment, the set of hand poses is translated to a corresponding set of robotic-gripper poses. In at least one embodiment, a set of motions is determined that perform the set of robotic-gripper poses, and the robot is directed to perform the set of motions.

A method of correcting angles of a welding torch positioned by a user while training a robot of a robotic welding system is provided. Weldment depth data of a weldment and a corresponding weld seam is acquired and 3D point cloud data is generated. 3D plane and intersection data is generated from the 3D point cloud data, representing the weldment and weld seam. User-placed 3D torch position and orientation data for a recorded weld point along the weld seam is imported. A torch push angle and a torch work angle are calculated for the recorded weld point, with respect to the weldment and weld seam, based on the user-placed torch position and orientation data and the 3D plane and intersection data. The torch push angle and the torch work angle are corrected for the recorded weld point based on pre-stored ideal angles for the weld seam.

Provided are a robotic arm control method and apparatus, and a robotic arm. The control method includes a dragging preparation phase and a dragging phase. The dragging preparation phase includes determining a target arm body and a position characteristic value of the target arm body, determining a relationship expression between the position characteristic value and the positions of multiple joints, and determining a target joint as the control object in the dragging phase. The dragging phase includes determining the target value of the position characteristic value and the positions of multiple joints except the target joint at the current moment; substituting the obtained parameters into a first calculation expression to solve for the next position of the target joint when a robotic arm is dragged from a current position.

Disclosed herein is a method, system, and non-volatile storage medium for simplifying the automation of a process of flow. The method may include determining a machine-independent process model based on data representing a handling of a work tool for performing a process flow. The process flow may include a plurality of sub-processes and the process model may link a process activity with spatial information for each sub-process. The method may also include mapping the machine-independent process model to a machine-specific control model of a machine using a model of the machine. The machine-specific control model may define an operating point of the machine for each sub-process, and the operating point may correspond to the process activity and to the spatial information.

Disclosed herein is a method, system, and non-volatile storage medium for simplifying the automation of a process of flow. The method may include determining a machine-independent process model based on data representing a handling of a work tool for performing a process flow. The process flow may include a plurality of sub-processes and the process model may link a process activity with spatial information for each sub-process. The method may also include mapping the machine-independent process model to a machine-specific control model of a machine using a model of the machine. The machine-specific control model may define an operating point of the machine for each sub-process, and the operating point may correspond to the process activity and to the spatial information.

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.

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 process of controlling an industrial robot includes the steps of calculating, in a calculation module, a control articular force setpoint of the axis controller module; calculating, in an articular converter, the articular conversion matrix from articular positions; providing the axis controller module with the multi-dimensional external forces exerted on the effector; calculating, in the axis controller module, the vector of the articular forces; calculating, in the axis controller module, the current loop control setpoints, taking into account the articular force vector and the articular force setpoint; and calculating, in the axis controller module, the control setpoints for the power units according to the control setpoints for the current loops.

Provided are a robot system, a robot control device, a control method, and a program which make it possible to more simply teach a robot action. The robot system comprises: a feature point teaching unit which causes a storage unit to store the position of a feature point that has been taught using lead-through; an input accepting unit which accepts the input of an angle value of a tool with respect to a workpiece W; a posture determining unit which determines the posture of the tool on the basis of the angle value of the tool; and a program generating unit which generates a robot program for a robot on the basis of the position of the feature point and the posture.