A robot control device executes assist control for generating an assist force in a direction of an external force applied to a robot in a case where a position of the robot is located in a first area set in a work area of the robot when the external force is applied to the robot. The robot control device stops the execution of the assist control in a case where the position of the robot is located in a second area set outside the work area of the robot. The robot control device restricts the execution of the assist control in a case where the position of the robot is located in a third area set outside the first area and inside the second area.

Example methods and systems are disclosed for performing automated tasks with a robot system. In one example, a robot system includes a robotic arm and an end-effector coupled to the robotic arm. The end-effector is actuatable among more than two states of actuation. The robot system also includes an analog control switch located on the end-effector. The analog control switch is actuatable among more than two switch positions. The analog control switch is configured such that actuation of the analog control switch among the more than two switch positions causes a corresponding actuation of the end-effector among the more than two states of actuation.

A method and apparatus for welding a first component to a second component. A scanning head is positionally calibrated within a localised work envelope including the components, the positional calibration being referenced to at least one datum feature within the work envelope. Profiles of the components are scanned within the localised work envelope using the calibrated scanning head. A cloud point data image of defined coordinate positions of surfaces and edges to be welded within a space envelope is generated from the scanned profiles. A robotic welding torch electrode tip is scanned using the calibrated scanning head to determine a defined coordinate position of the electrode tip within the space envelope. The components are welded using the torch, the torch controlled using the cloud point data image and the defined coordinate position such that the electrode tip is held at pre-determined stand-off positions around the components during the welding.

A teaching apparatus for a manipulator is provided, including: a fixing member for fixing to the manipulator; a main body connected to the fixing member; and a handle connected to the main body. The main body includes a plurality of sensors and an operation display member, wherein at least one of the sensors is disposed on one side of the main body adjacent the fixing member and configured for sensing a force, a stress or a torque applied to the main body, and the operation display member is disposed on the other side of the main body and includes a plurality of function keys and a display screen disposed thereon. The teaching apparatus allows the path-teaching process for a manipulator to be completed quickly and easily.

This patent defines a method for making robot programming more intuitive for tasks such as welding. The method further is an enhancement of manual guiding methods of robot positioning and can improve situations in which finer resolution or control of the robot end-effector is required. A motion sensor is mounted in series with the n1 joint and in parallel with the n.sup.th joint, where n is the number of degrees of freedom or number of joints of the serial manipulator. The motion sensor is further mounted directly in-line with the n.sup.th joint and becomes part the opposing portion of the n.sup.th joint. The motion sensor further is uniquely adapted to apply to non-spherical wrist robots. The motion sensor senses input movements by a robot operator and controls the output tool motion in a controlled manner with resolution defined by user input at the motion sensor.

A robot system includes a robot, a vision sensor, and a controller. The vision sensor is configured to be detachably attached to the robot. The controller is configured to measure a reference object by using the vision sensor and calibrate a relative relationship between a sensor portion of the vision sensor and an engagement portion of the vision sensor, and teach the robot by referring to the relative relationship and by using the vision sensor, after the vision sensor is attached to the robot.

A method for the safety control, through direct teaching, of a robotised system comprises a learning step, wherein a processing unit determines a relative distance (RD) between at least one link (L) of the robot manipulator and an operator (O) and controls whether the relative distance (RD) of the at least one link (L) exceeds a predefined distance threshold value (TV); wherein the predefined distance threshold value (TV) is equal to or greater than the distance covered by the robot manipulator in the amount of time needed to stop starting from a respective maximum linear speed (VMAX); in case the relative distance (RD) is smaller than the predefined distance threshold value (TV), the method entails stopping the robot.

To generate a correct path for a robot to perform a certain action while avoiding interference. The teaching program generation device generates a teaching program for teaching a robot a predetermined action, based on information about the robot and its surroundings. The device includes an acquisition unit that acquires, from a robot controller that controls driving of the robot, information to be used for the robot to perform the predetermined action while avoiding interference, and a teaching program generation unit that generates a movement path for the robot to perform the predetermined action while avoiding interference, based on the information.

A robot system includes a robot, a vision sensor, and a controller. The vision sensor is configured to be detachably attached to the robot. The controller is configured to measure a reference object by using the vision sensor and calibrate a relative relationship between a sensor portion of the vision sensor and an engagement portion of the vision sensor, and teach the robot by referring to the relative relationship and by using the vision sensor, after the vision sensor is attached to the robot.

The present invention relates to a method and a system for manufacturing a board body (10), such as a skateboard, from a blank (20) having an indefinite shape. The blank (20) with the indefinite shape is collected by a handling robot (50). The shape of the blank (20) is scanned in three dimensions by means of a vision system (47) and a virtual image of said blank (20) is stored in a memory and used to calculate a three dimensional cutting path for milling the blank (20) into said board body (10).