A mobile manipulator includes a moving apparatus, a manipulator that is connected to the moving apparatus, a controller configured to control the moving apparatus and the manipulator, and an environment acquisition sensor configured to acquire predetermined environmental data originating from an environment at the movement destination to which the mobile manipulator is moved by the moving apparatus in association with a position at the movement destination, and the controller controls at least one of the moving apparatus and the manipulator based on the environmental data.

A processing system and a method for controlling a processing machine of the system, by which the processing accuracy of the processing machine due to the motion of the robot can be prevented from being deteriorated, without reducing the working ratio of the processing system. A processing machine controller has: a vibration suppression controlling section configured to operate at least one of a table and a processing tool, and calculate an amount of motion correction for reducing the change in a relative position between the table and the processing tool measured by vibration sensors respectively arranged on the table and a tool driving part; a storing section configured to store the calculated amount motion correction; and a program executing section configured to, during the robot performs the predetermined motion, execute the processing program while executing vibration suppressing motion based on the stored amount of motion correction.

A control system that mitigates stick-slip vibrations at higher harmonics than currently available is disclosed. A controller of a top drive is set to a torque control mode instead of a speed control mode. The controller receives torque measurements and compares to a target torque value. The controller accelerates or decelerates the top drive by a generated current adjustment command. A slow integration speed control loop, at least an order of magnitude slower in response than the torque control loop, receives a RPM set point. The slow integration speed control loop compares the RPM set point to an actual RPM measurement and generates a torque command. The torque command is sent to the torque control loop which results in an acceleration or deceleration of the top drive to maintain a desired torque amount. The speed of the top drive is bounded by a speed limit control loop.

A maintenance device is applied to a bulk feeder including a feeder main body section, a track member, a vibration device, and a cavity group, and includes an initialization section and a vibration force control section. When the use time of the bulk feeder elapses a predetermined time, the initialization section returns a supply component existing in the cavity group toward a receiving region, and sets the cavity group to an initialization state in which the supply component does not exist in the cavity group. The vibration force control section increases the vibration force to be applied by the vibration device to the track member in the initialization section as compared with a case where the supply component is returned from the supply region toward the receiving region in order to adjust the number of the supply components conveyed to the cavity group when a board product is produced.

A control apparatus that controls a robot system including a part feeder having a container that accommodates a part and a plurality of vibration actuators for vibrating the container, and a robot having an end effector for picking up a part from the container, the apparatus comprising: a processor that is configured to execute computer-executable instructions so as to control the part feeder and the robot, wherein the processor is configured to select one or more control commands from a plurality of control commands respectively including control parameters of the plurality of vibration actuators and transmits the selected control command to the part feeder for causing the part feeder to perform an operation according to the selected control command.

A control device includes a processor wherein the processor is configured to: receive designation of one or more frequency components, generate one or more second control signals obtained by reducing at least one of the frequency components from a first control signal, generate one or more third control signals obtained using two control signals among the first control signal and the one or more second control signals, output one control signal among the first control signal, the one or more second control signals, and the one or more third control signals, and generate and output a driving signal to drive a robot based on the one control signal.

A control apparatus includes: a control computing unit that generates an operation amount based on a control deviation, calculated by performing subtraction of a command value and a control amount, and a control gain; an adjustment-execution-command generating unit that generates an adjustment-execution command value indicating ON or OFF; a binary output unit that generates an adjustment-time addition value based on the control deviation and a hysteresis-width setting value; a standard-deviation estimating unit that calculates a low-frequency-component removed signal obtained by removing low-frequency components of the control amount or the control deviation and calculates a standard-deviation estimated value, which is an estimated value of a standard deviation; and a hysteresis-width computing unit that calculates a hysteresis-width computed value based on the standard-deviation estimated value and changes the hysteresis-width setting value of the binary output unit to the hysteresis-width computed value.

A robot system is provide with a robot control device that includes an operation control unit and a learning control unit. The learning control unit performs a learning control in which a vibration correction amount for correcting a vibration generated at a control target portion of a robot is calculated and the vibration correction amount is employed in the operation command at a next time. The learning control unit includes a plurality of learning control parts for calculating the vibration correction amount and a selection unit that selects one of the plurality of learning control parts on the basis of operation information of the robot when the robot is made to be operated by an operation program that is a target of the learning control.

A robot control system includes an operation control unit, a learning control processing unit and a storage unit. Whenever the operation control unit performs a single learning control, the learning control processing unit stores the number of learning controls, which indicates how many learning controls have been performed, and obtained time-series vibration data in correspondence with each other in the storage unit. The learning control processing unit calculates a convergence determination value to determine whether or not a vibration of a certain portion of a robot converges based on the time-series vibration data at each number of learning controls stored in the storage unit, and determines the number of learning controls having a minimum convergence determination value, out of the calculated convergence determination values, as the optimal number of learning controls.

A control apparatus that controls a robot system including a part feeder having a container that accommodates a part and a plurality of vibration actuators for vibrating the container, and a robot having an end effector for picking up a part from the container, the apparatus comprising: a processor that is configured to execute computer-executable instructions so as to control the part feeder and the robot, wherein the processor is configured to select one or more control commands from a plurality of control commands respectively including control parameters of the plurality of vibration actuators and transmits the selected control command to the part feeder for causing the part feeder to perform an operation according to the selected control command.