A robot and an operation method thereof are disclosed. A robot may include a loading box provided to load goods, and to be movable at a certain distance with respect to the robot when closed and opened, a drive wheel configured to drive the robot, an auxiliary wheel provided at a position spaced apart from the drive wheel, and a variable supporter configured to change the position of the auxiliary wheel, and supporting the loading box, and the variable supporter may move the auxiliary wheel so as to correspond to the movement direction of the center of gravity of the robot. The robot may transmit and receive a wireless signal on the mobile communication network constructed according to a 5 Generation (G) communication.

A teach pendant includes an input unit and allowing teaching of operation of a robot by an input to the input unit, the teach pendant further includes a measurement reference surface which comes into surface contact with a measured surface of the robot, a tilt sensor whose position is fixed with respect to the measurement reference surface, and an output means which outputs a detection value of the tilt sensor to a control device of the robot in a state where the measurement reference surface is in surface contact with the measured surface and when a predetermined input operation is performed on the input unit or a contact detection sensor for detecting surface contact between the measurement reference surface and the measured surface detects the surface contact.

A method and an associated controller for safely operating a multi-axis kinematic system by using a safety function are disclosed. The method includes calculating compensation values at the run time of a controller of the multi-axis kinematic system, wherein the calculation is performed based on predefinable error values of respective axes, geometric parameters of the multi-axis kinematic system, and current axis values of the multi-axis kinematic system. The method further includes operating the safety function based on the calculated compensation values.

A determination value calculated based on a distance from a work point of a tip of robot arm (10) to virtual straight line (30) passing through an axis of second joint (J2) and an axis of third joint (J3) is compared with a predetermined threshold. A method of calculating deflection compensation amounts for second joint (J2) and third joint (J3) is changed depending on whether the determination value is larger or smaller than the threshold. Second joint (J2) and third joint (J3) are caused to pivot based on the calculated deflection compensation amounts.

Load information on a tool to be attached to a robot arm and collision sensitivity are input. Gravitational torque is calculated based on the input load information. A deflection amount of the robot arm is calculated based on the gravitational torque. A correction amount is calculated based on the collision sensitivity input. The deflection amount is corrected while the robot arm moves.

A system and method for reducing mechanical oscillations in a multi-axis control system provides a first command for a dynamic notch filter at a first update rate to multiple motor drives. Each motor drive is operatively connected to a motor for an axis in the multi-axis control system. Each motor drive receives a second command for desired operation of the motor at a second update rate. Operation of the dynamic notch filter in each motor drive is changed as a function of the first command at the first update rate, and each motor drive generates a desired output voltage for desired operation of the motor at a third update rate. The third update rate is faster than the second update rate, the second command is passed through the dynamic notch filter to generate a filtered command, and the desired output voltage is generated as a function of the filtered command.

A medical manipulator includes a manipulator arm, an end effector secured to the manipulator arm and having at least one tool with a changing mass and/or mass distribution, and a manipulator controller for controlling the medical manipulator. In each control step, the manipulator controller uses a current load data matrix including the changing mass and/or mass distribution of the tool to prevent deviations from a target position or target path of the tool.

A controlling unit obtains an error in position and orientation of each joint of a robot. The controlling unit uses an error component in a driving direction of an actuator included in the error in position and orientation u.sub.i of the joint to obtain a first correction quantity, to obtain a residual error excluding the error component in the driving direction of the actuator from the error in position and orientation of the joint, and to obtainan error in position and orientation of the end point of the robot based on the residual error of each joint. The controlling unit uses the error in position and orientation of the joint based on the error in position and orientation of the end point of the robot to obtain a second correction quantity q.sub.i, and uses the first correction quantity and the second correction quantity to correct a joint instruction value.

A method for determining an orientation or installation of a robot relative to a direction of gravity for at least one installation location of the robot, and for horizontal alignment or alignment relative to the direction of gravity of a robot includes creating a model wherein joint forces are identified in at least one calibration pose. The robot is then into a new installation location and the joint forces of the robot are identified in at least one measuring pose. Based on the identified joint forces and the model of the robot, the orientation, i.e. the orientation or the installation, of the robot relative to the direction of gravity is determined. The orientation of the robot is corrected by tilting the robot base such that the identified joint forces do not deviate from the forces defined in the model.

A device for positioning a processing tool: a processing tool for processing the to-be-processed workpiece's surface while pressing the surface to be processed; a movement mechanism able to displace processing tool's distal end in a first direction orthogonal to the surface to be processed and/or a second direction parallel with the surface to be processed; a force sensor able to detect a force in the first and second direction applied to the processing tool's distal end pressed onto the surface to be processed; and a control device for executing a correction step for controlling the movement mechanism so the surface to be processed is pressed while the distal end's position of the processing tool is aligned with a processing reference position on the surface to be processed, and correcting the processing tool's position so that the force in the second direction is within a specific value or less.