A mobile robot and method for interactively providing waypoints to a mobile robot for use in the marking of a geometric figure on a ground surface including the steps of: i) Selecting a control function accepting manual positioning of a mobile robot at two or more target locations on a ground surface; ii) Positioning the mobile robot in proximity to a first target location to be marked on a surface, and directing a position determining device of the mobile device to said first target location to be marked; iii) Instructing the mobile robot to store the first target location as a first waypoint; iv) Repeating steps ii)-iii) to obtain at least a second waypoint; v) Selecting a control function accepting manual selection of a geometric figure for being marked on said ground surface; vi) Instructing the mobile robot to compute the best fit for the selected geometric figure on the surface based on the two or more waypoints; vii) Instructing the mobile robot to compute waypoint coordinates of the geometric figure for being marked from the fitted position of said geometric figure; and viii.a) Instructing the mobile robot to store the computed waypoint coordinates of the geometric figure; or viii.b) Instructing the mobile robot to mark the geometric figure on the surface.

A robot teaching system includes a teaching unit and a robot including a robotic arm and a robot controller. In the robot teaching system, a workpiece includes an internal space having an opening, and a target object of a work by the end effector exists in the internal space. The robot controller determines a possibility that the arm part interferes with an edge of the opening while the robotic arm is jogging or inching.

The present disclosure proposes a method and an apparatus for generating an action sequence of a robot. The method includes: obtaining a directed graph, in which the directed graph comprises a plurality of nodes for instructing actions of the robot, and directed edges connecting the nodes; obtaining target actions involved in a task, and an execution order of the target actions; in the directed graph, performing a search in directions indicated by the directed edges to obtain a target path, in which nodes on the target path comprises target nodes corresponding to the target actions, and an order of the target path passing through the target nodes matches an execution order of the target actions; and generating the action sequence of the robot according to actions instructed by the target path and an execution order of the actions instructed by the target path.

A robot system includes a manufacturing system including a robot and peripheral equipment. There is a controller communicably connected to the robot, the peripheral equipment, and a portable information terminal. The controller includes a memory storing the operation program, operation mode setting circuitry to set an operation mode a teaching mode or a playback mode, operation controlling circuitry configured to control the operation of the robot in the teaching mode based on the operation command, and control the robot and the peripheral equipment in the playback mode in accordance with the operation program, and display controlling circuitry configured to control the portable information terminal in the teaching mode to display on a display an operation screen through which the operation command is inputted, and control the portable information terminal in the playback mode to display on the displaying part a screen different from the operation screen.

A robot includes a robot control unit configured to control an operation of a robot, wherein the robot control unit is configured to set a coordinate system of the robot installed on a reference flat surface using measurement results of at least position coordinates in a vertical direction of three or more measurement points on the reference flat surface on which the robot is installed and measurement results of position coordinates of a plurality of reference reflection portions provided on a base portion of the robot.

A robot includes a robot control unit configured to control an operation of a robot, wherein the robot control unit is configured to set a coordinate system of the robot installed on a reference flat surface using measurement results of at least position coordinates in a vertical direction of three or more measurement points on the reference flat surface on which the robot is installed and measurement results of position coordinates of a plurality of reference reflection portions provided on a base portion of the robot.

A robot controller includes a contact detection unit that detects contact of a welding wire protruding from a welding torch with a welding target, an override-value adjustment unit that sets and changes an override value for increasing or decreasing an operating speed of the robot from a predetermined speed, and a control unit which receives an operation signal from a teaching operation device and that controls the robot according to the operation signal at the operating speed based on the override value which is set by the override-value adjustment unit. When the contact of the welding wire with the welding target is detected by the contact detection unit, the control unit temporarily stops the robot, and the override-value adjustment unit decreases the override value.

A substrate transfer robot, first and second sensors are provided in a hand such that a planar-view intersection point of optical axes is located on a center of a substrate when the hand holds the substrate in planar view, and a control device operates an arm, scans a target placed at a teaching position with the first and second sensors, and acquires the teaching position when the target is located at the planar-view intersection point of the optical axes.

A substrate transfer robot, first and second sensors are provided in a hand such that a planar-view intersection point of optical axes is located on a center of a substrate when the hand holds the substrate in planar view, and a control device operates an arm, scans a target placed at a teaching position with the first and second sensors, and acquires the teaching position when the target is located at the planar-view intersection point of the optical axes.

A teaching apparatus configured to include a display device and perform a teaching operation for a robot includes a template storage section configured to store a plurality of templates corresponding to a plurality of programs of the robot, a program explanatory content storage section configured to store plural pieces of explanatory content for explaining the respective plurality of programs, a template display section configured to display the plurality of templates stored in the template storage section on the display device, a template selection section configured to select one template from the plurality of templates displayed on the template display section, and a program explanatory content display section configured to read out the explanatory content of the program corresponding to the one template selected by the template selection section from the program explanatory content storage section and configured to display the explanatory content on the display device.