A vibration measurement method for a moving part is a vibration measurement method in which vibration of a moving part is measured using a first inertial sensor. The method includes: performing measurement by the first inertial sensor in a state where the moving part is resonating, driven by a drive unit which drives the moving part; and finding a magnitude of vibration of the moving part, based on an output from the first inertial sensor. An example of the moving part may be a plurality of arms or the like provided in such a way as to be able to rotate about a rotation axis.

The present disclosure relates to a drilling robot and a method for controlling a drilling robot including a driven mechanical structure allowing to place a drilling tool in a sequence of drillings programmed in terms of position and orientation of the drilling of a part such as a technical skin. The method includes a step of determining the acceleration of the drilling tool at the end of the approach on a drilling position, then also testing a stabilization condition of the drilling tool to finally establish a drilling authorization.

The disclosed technology relates to an intelligent motion control system that utilizes onboard sensors and processing to guide a surface manipulation machine along a path of travel on a surface, confirm a position of the machine with respect to the surface, and actuate a surface manipulation tool to achieve a desired surface profile or locate a point of interest. The system may include a first and second surface profiler that is configured to scan a surface on which the system travels and a positional sensor configured to generate positional data representing a position of the machine. The processor is configured to generate topography data based on output received from the first surface profiler, generate intermediate data based on output received from the second profiler, compare the intermediate data with the topography data to calculate an offset; and control motion of the system based on the offset.

A system for performing interactions within a physical environment including: a robot base that undergoes movement relative to the environment; a robot arm mounted to the robot base, the robot arm including an end effector mounted thereon; a first tracking system that measures a robot base position; a second tracking system that measures movement of the robot base; and, a control system that uses a robot base position to at least partially control the robot arm to move the end effector along an end effector path, wherein the control system: determines the robot base position at least in part using signals from the first tracking system; and, in the event of failure of the first tracking system: determines a robot base position using signals from the second tracking system; and, controls the robot arm to move the end effector along the end effector path at a reduced end effector speed.

A robot instructing apparatus for a robot having an end effector includes a teaching pendant, and orientation device, and at least one processor. The orientation device is configured to output an orientation of the teaching pendant based on an angular position of the teaching pendant about a vertical axis. The at least one processor is configured to generate movement instructions to move the robot during one or more teaching operations. The at least one processor is configured to generate the movement instructions in a translation teaching mode in which a translational change of the end effector, in response to the movement instructions, corresponds to an input direction input to the teaching pendant by a user relative to the orientation of the teaching pendant.

A manipulator and a method for controlling the manipulator are disclosed. The manipulator includes: a plurality of links respectively corresponding to a user’s upper arm, fore arm, and hand, a plurality of motors rotating the plurality of links, a communication interface comprising communication circuitry, a memory storing at least one instruction, and a processor configured to execute the at least one instruction, wherein the processor is configured to: based on first rotation angle information for motors corresponding to the upper arm and the fore arm among the plurality of motors, obtain information for a body frame of a link corresponding to the fore arm, obtain equilibrium angle information that positions the body frame in equilibrium with a specified reference frame, based on receiving a sensing value indicating the posture of the hand from an external sensor through the communication interface, obtain second rotation angle information for motors corresponding to the hand among the plurality of motors based on the sensing value and the equilibrium angle information, and control the motors corresponding to the hand based on the second rotation angle information.

A sensor unit, a control method, and a recording medium are provided for reducing data amount of failure diagnosis data while detecting a failure of a device performing work while moving more reliably. The disclosure includes an output limiting part outputting the failure diagnosis data only for a period in which an absolute value of the acceleration is equal to or less than a predetermined threshold.

A controller of a motor that drives a driven body includes: an inertia estimating unit that estimates inertia on the basis of feedback information (torque and current) of the motor; a computing unit that computes an acceleration or deceleration time constant of the motor from the estimation inertia estimated by the inertia estimating unit; a storage unit that stores an inertia difference which is a difference between the estimation inertia and at least one known actual inertia and a time constant difference which is a difference between an actual acceleration or deceleration time constant corresponding to the actual inertia and an acceleration or deceleration time constant calculated on the basis of the estimation inertia; and a correction unit that corrects the acceleration or deceleration time constant calculated by the computing unit using the inertia difference and the time constant difference stored in the storage unit.

A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data and a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.

A robotic system is provided for assembling parts together. In the assembly process, both parts are moving separately with one part moving on an assembly base and another part moving on a moveable arm of a robot base. Motion data is measured by an inertial measurement (IMU) sensor. Movement of the robot base or moveable arm is then compensated based on the measured motion to align the first and second parts with each other and assemble the parts together.