A robot device includes an arm holding a probe of an ultrasonic diagnostic device and a force sensor provided on the arm, supports a manual operation of the probe by an operator based on a signal from the force sensor, operates the arm to automatically operate the probe based on an instruction of the operator, and includes a storage device and a control device. The storage device stores a position and a posture of the probe for each point among multiple random points by the manual operation. The control device interpolates a trajectory between the multiple points stored in the storage device, and operates the arm such that the probe moves along the trajectory in the automatic operation and can stop at a desired position between the multiple points based on the instruction of the operator.

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.

This teaching device comprises a teaching unit that, using a force detector, binds a force parameter of a force control command for a machine, and a movement trajectory of the machine which executes force control, and that simultaneously teaches the force parameter and the movement trajectory.

A method of correcting angles of a welding torch positioned by a user while training a robot of a robotic welding system is provided. Weldment depth data of a weldment and a corresponding weld seam is acquired and 3D point cloud data is generated. 3D plane and intersection data is generated from the 3D point cloud data, representing the weldment and weld seam. User-placed 3D torch position and orientation data for a recorded weld point along the weld seam is imported. A torch push angle and a torch work angle are calculated for the recorded weld point, with respect to the weldment and weld seam, based on the user-placed torch position and orientation data and the 3D plane and intersection data. The torch push angle and the torch work angle are corrected for the recorded weld point based on pre-stored ideal angles for the weld seam.