To provide a shaft feeder with which an operation for setting a shaft movement amount can be performed on a touch panel and numerical values for the shaft movement amount can be accurately set. A shaft feeder is used for moving a shaft in an industrial device and includes a display device including a touch panel, an operation detector that detects a left/right swipe operation on the touch panel, a display control unit that displays coordinate values relating to the shaft on the display device and changes the displayed coordinate values on the basis of the swipe operation detected by the operation detector, and a shaft movement unit that moves the shaft to a position indicated by the coordinate values on the basis of the displayed coordinate values.

Disclosed example robotic welding systems include: a robotic manipulator configured to manipulate a welding torch; a first input device attached to the robotic manipulator and configured to receive rotational and translational inputs; a second input device attached to the robotic manipulator and configured to receive a masking input; and a robot control system, comprising: a processor; and a machine readable storage medium comprising machine readable instructions which, when executed by the processor, cause the processor to: in response to activation of the masking input via the second input device, masking at least a portion of the inputs received via the first input device; and in response to inputs to the first input device, move the robotic manipulator according to the inputs and based on whether the inputs are masked.

A skill transfer mechanical apparatus includes an operating part, a controller, a motion information detector and an operation apparatus. The controller includes a basic motion instructing module, a learning module, a motion correcting instruction generator, a motion correcting instruction, and a motion information storing module. The learning module carries out machine learning of the motion correcting instruction stored in the motion correcting instruction storing module by using the motion information stored in the motion information storing module, and after the machine learning is finished, accepts an input of the motion information during the operation of the operating part, and outputs the automatic motion correcting instruction. The operating part moves the working part according to an automatic motion instruction based on the basic motion instruction and the automatic motion correcting instruction, and the manual motion correction.

A method of controlling a robot system including an articulated robot and a control device is provided. The articulated robot includes links connected by joints, motors configured to drive the joints respectively, and detection devices configured to detect rotation amounts of the joints respectively. The control device controls the motors. The method includes the steps of, by the control device, recording movement information of the joints based on outputs of the detection devices; when detecting an abnormality in the operation of the articulated robot, determining presence or absence of a failure in the articulated robot based on the movement information recorded in at least a period from before detection of the abnormality until detection of the abnormality; and specifying a failure portion of the articulated robot if it is determined that there is a failure in the articulated robot in the step of determining.

A method of controlling a robot system including an articulated robot and a control device is provided. The articulated robot includes links connected by joints, motors configured to drive the joints respectively, and detection devices configured to detect rotation amounts of the joints respectively. The control device controls the motors. The method includes the steps of, by the control device, recording movement information of the joints based on outputs of the detection devices; when detecting an abnormality in the operation of the articulated robot, determining presence or absence of a failure in the articulated robot based on the movement information recorded in at least a period from before detection of the abnormality until detection of the abnormality; and specifying a failure portion of the articulated robot if it is determined that there is a failure in the articulated robot in the step of determining.

Technical solutions are described for generating and providing a motor torque command in electric systems such as an electric power steering (EPS) system. For example, an example EPS system includes a motor, and a controller that operates the motor to generate torque. The controller determines a torque reference twist based on a torque reference. The controller further determines a motor angle reference twist based on an angle-difference by multiplying the angle-difference by an autonomous mode enable signal. The autonomous mode enable signal is indicative whether the EPS is operating in autonomous mode. The controller further computes a total reference twist based on the torque reference twist and the motor angle reference twist, and computes a motor angle reference based on the total reference twist and a handwheel angle. The controller further generates the motor torque command using the motor angle reference, and sends the motor torque command to the motor.

Technical solutions are described for generating and providing a motor torque command in electric systems such as an electric power steering (EPS) system. For example, an example EPS system includes a motor, and a controller that operates the motor to generate torque. The controller determines a torque reference twist based on a torque reference. The controller further determines a motor angle reference twist based on an angle-difference by multiplying the angle-difference by an autonomous mode enable signal. The autonomous mode enable signal is indicative whether the EPS is operating in autonomous mode. The controller further computes a total reference twist based on the torque reference twist and the motor angle reference twist, and computes a motor angle reference based on the total reference twist and a handwheel angle. The controller further generates the motor torque command using the motor angle reference, and sends the motor torque command to the motor.

An example method includes receiving position data indicative of position of a demonstration tool. Based on the received position data, the method further includes determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool. The method additionally includes determining a replication control path for a robotic device, where the replication control path includes one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool. The method also includes providing for display of a visual simulation of the one or more robot movements within the replication control path.

An example method includes receiving position data indicative of position of a demonstration tool. Based on the received position data, the method further includes determining a motion path of the demonstration tool, wherein the motion path comprises a sequence of positions of the demonstration tool. The method additionally includes determining a replication control path for a robotic device, where the replication control path includes one or more robot movements that cause the robotic device to move a robot tool through a motion path that corresponds to the motion path of the demonstration tool. The method also includes providing for display of a visual simulation of the one or more robot movements within the replication control path.

A robot teaching system includes a hand guide unit including a stick for use in a teaching operation of a robot, and a wireless communication unit configured to communicate by radio with a teach pendant; a relative position setting unit configured to set relative position information between the hand guide unit and the robot; and a coordinate calculation unit configured to calculate, based on the relative position information, coordinates having as an origin a flange surface of the robot or a distal end point of a tool attached to the robot, in such a manner as to correspond to an operation direction of the stick.