A robot system includes: a robot; a robot controller configured to control the robot based on sequential taught positions; and a teaching device communicative with the robot controller and configured to receive operations by an operator, wherein the robot controller includes circuitry configured to: generate, in response to determining that a target position is designated by the operator on the teaching device, a path from a current position of the robot to the target position by simulation of moving the robot based on surrounding environmental information of the robot; and move the robot toward the target position along the generated path.

A robot system includes: a robot; a robot controller configured to control the robot based on sequential taught positions; and a teaching device communicative with the robot controller and configured to receive operations by an operator, wherein the robot controller includes circuitry configured to: generate, in response to determining that a target position is designated by the operator on the teaching device, a path from a current position of the robot to the target position by simulation of moving the robot based on surrounding environmental information of the robot; and move the robot toward the target position along the generated path.

A multi-turn limiting device for limiting movement of an element driven by a motor includes a sensor configured to provide a sensor signal corresponding to a position of the element, a movable member mechanically couplable to the element via a transmission having a non-unitary first transmission ratio and a further sensor configured to provide a further sensor signal corresponding to the position of the movable member. A controller switches the motor via a switching signal determined on the basis of the two sensors. A method of limiting movement of an element driven by a motor includes sensing the position of the element using two sensors and a movable member which is coupled to the element via a non-unitary transmission ratio.

A multi-turn limiting device for limiting movement of an element driven by a motor includes a sensor configured to provide a sensor signal corresponding to a position of the element, a movable member mechanically couplable to the element via a transmission having a non-unitary first transmission ratio and a further sensor configured to provide a further sensor signal corresponding to the position of the movable member. A controller switches the motor via a switching signal determined on the basis of the two sensors. A method of limiting movement of an element driven by a motor includes sensing the position of the element using two sensors and a movable member which is coupled to the element via a non-unitary transmission ratio.

-- A method for welding together two parts along a weld line using a welding system enabling an operator to remotely perform welding operations. The operator defines reference points on the parts to be welded and/or on the weld line to be followed. A general movement direction of the welding torch is defined from the reference points. A local frame of reference is defined relative to the general movement direction of the welding torch. The welding torch is automatically moved from a welding starting point in the general movement direction. A flow of movement instructions linked to actions of the operator on the human-machine interface is generated to move the welding torch away from the general movement direction to adapt a trajectory of the welding torch to an actual shape of the weld line. The welding torch is moved corresponding to the flow of instructions generated by the human-machine interface.

An automatic path generation device includes a preprocessing unit creating teacher data based on a temporary motion path which is a motion path between a plurality of motion points where a robot moves and which is automatically generated with a motion planning algorithm and an actual motion path which is a motion path between the motion points and which is created by a skilled worker and a motion path learning unit generating a learned model which has learned a difference between the temporary motion path and the actual motion path with teacher data created by the preprocessing unit.

An automatic path generation device includes a preprocessing unit creating teacher data based on a temporary motion path which is a motion path between a plurality of motion points where a robot moves and which is automatically generated with a motion planning algorithm and an actual motion path which is a motion path between the motion points and which is created by a skilled worker and a motion path learning unit generating a learned model which has learned a difference between the temporary motion path and the actual motion path with teacher data created by the preprocessing unit.

A robot control device that creates a control program for work of a robot with a force detector, the device includes a processor. the processor is configured to: display an input screen including an operation flow creation area for creating an operation flow of work including a force control operation on a display device; convert the created operation flow into a control program; and execute the control program to control the robot, and when an operation of the robot is not a predetermined operation set in advance after the control program is executed, the processor displays a screen for presenting a countermeasure for realizing the predetermined operation set in advance on the display device.

A teaching method is for teaching a position and attitude of a robot arm to a robot configured to switch between a first state where the third axis is located at one side of a first imaginary line and a second state where the third axis is located at the other side of the first imaginary line, the first imaginary line being set as a straight line passing through a first axis and a second axis when the robot arm is viewed from a direction along the first axis. The method includes performing a switching operation of switching between the first state and the second state according to a result of detection by a force detection unit.

A teaching method is for teaching a position and attitude of a robot arm to a robot configured to switch between a first state where the third axis is located at one side of a first imaginary line and a second state where the third axis is located at the other side of the first imaginary line, the first imaginary line being set as a straight line passing through a first axis and a second axis when the robot arm is viewed from a direction along the first axis. The method includes performing a switching operation of switching between the first state and the second state according to a result of detection by a force detection unit.