An end effector includes a pair of machining tools. The pair of machining tools is separated by an interval in one direction perpendicular to a tool rotational axis and rotatable around the tool rotational axis. The pair of machining tools is position-controlled, and is force-controlled in a machining direction perpendicular to the one direction and an axial direction of the tool rotational axis, and is torque-controlled around the tool rotational axis.

A robot control apparatus includes a robot control part that controls a robot; and a force detection information acquisition part that acquires force detection information from a force detector. The robot control part allows the robot to move a first object closer to a second object and, if a magnitude of at least one of a force and moment contained in the force detection information exceeds a predetermined first threshold value, to perform an operation of bringing a first surface of the first object into surface contact with a second surface of the second object according to position control and force control based on a predetermined distance and a predetermined velocity.

A control method for a robot includes a first working step of executing first work on a first working object by operating a robot arm by force control based on a predetermined position command value, a first memory step of storing first position information of a trajectory in which a control point set for the robot arm passes at the first working step, and a second working step of updating a position command value for the robot arm based on the first position information stored at the first memory step, and executing second work on a second working object by operating the robot arm by the force control based on an updated value as the updated position command value.

There is provided a robot hand that grips and positions a work with a certain gripping force, and that rapidly conveys the work to execute assembling after gripping the work.

A robot control system according to an embodiment is a control system for a robot comprising an arm, the arm being capable of holding a tool while rotating the tool and capable of moving the tool in at least two-dimensional directions, the arm being equipped with a rotating mechanism provided for the tool. The robot control system comprises a load-acquiring unit and a control-signal-generating unit. The load-acquiring unit is configured to acquire a force measured by a force sensor configured to measure a force applied from the tool to the arm during profile copying performed on a machining object by moving the arm while a copying guide attached to the arm and a copying mold placed on the machining object are kept in contact with each other. The control-signal-generating unit is configured to automatically control the arm by generating a control signal for the arm in accordance with the force acquired by the load-acquiring unit and with control information for the arm regarding the profile copying, and by outputting the control signal to the arm.

A position/force controller performs a first conversion for distributing control energy to at least one of velocity or position energy and force energy, in accordance with a function to be realized, based on velocity (or position) and force information, which correspond to information relating to a position based on an operation of an actuator, and information serving as reference of control. The position/force controller calculates at least one of a velocity or position control amount and a force control amount based on at least one of the energies obtained through the distribution. The position/force controller integrates the calculated control amounts, performs a second conversion, and determines input to the actuator. The position/force controller performs a process, corresponding to increasing or decreasing performed on at least one of the velocity or position energy and the force energy together or independently, with satisfaction of a condition set for the control energy.

There is provided a display control method for controlling a display section configured to display a display image including a virtual robot, which is a simulation model of a robot including a robot arm that performs work according to force control, the display control method including a receiving step for receiving information concerning force control parameters including first information concerning a target force, which is a target of force received by the robot arm during the work, and a display step for displaying, in the display image, the virtual robot, a first indicator indicating the first information, and a second indicator indicating second information concerning force applied to the robot arm during the work, the virtual robot, the first indicator, and the second indicator temporally overlapping one another and being distinguished from one another.

A robot control system includes circuitry configured to: acquire velocity of a robot in a working space in which the robot processes a workpiece based on a force control axis and a position control axis, the velocity being along the force control axis; select an equivalent mass matrix representing a relationship between acceleration and force in the working space, based on the acquired velocity, from a first equivalent mass matrix corresponding to the velocity being zero and a second equivalent mass matrix corresponding to the velocity not being zero; and generate a control signal for controlling the robot based on the selected equivalent mass matrix.

A method for controlling movement of a robot having a plurality of links connected by rotatably driven joints includes the steps of: a) defining a target speed vector of a reference point of the robot in Cartesian space; b) determining rotation speeds ({dot over (q)}.sub.ref) of the joints which minimize a weighted sum, the weighted sum having for summands i) a discrepancy (∥{dot over (x)}.sub.ref.sup.k−J{dot over (q)}.sub.ref.sup.k∥.sub.W.sub.x) between the target speed vector ({dot over (x)}.sub.ref) and an actual speed vector ({dot over (x)}.sub.act) calculated from actual rotation speeds of the joints; and ii) a rate of change $\left(\frac{1}{T_S}{.Math.{\stackrel{.}{q}}_{\mathrm{ref}}^k-{\stackrel{.}{q}}_{\mathrm{ref}}^{k-1}.Math.}_{W_a}\right)$
of the target rotation speeds; and c) setting the rotation speeds ({dot over (q)}.sub.ref) determined in step (b) as target rotation speeds of the joints.

Provided is a control apparatus configured to control a parallel wire mechanism.

The control apparatus for a parallel wire apparatus configured to pull a movable portion with a plurality of wires decomposes a control model in which the movable portion is driven by a pair of opposed motors with use of the wires to a center of gravity mode in which a motor C is controlled to make the movable portion achieve desired acceleration and a relative mode in which a motor R is controlled to make an elastic force that acts on the wires constant, by mode decomposition, and performs coordinate transformation on an acceleration reference value for the motor C determined in the center of gravity mode and an acceleration reference value for the motor R determined in the relative mode, to thereby obtain an acceleration reference value for the pair of motors.