A control device comprising a processor controls a robot including a first arm driven via a first reduction gear by a first motor, wherein the processor receives a signal for instructing first processing for deriving parameters for improving position accuracy of the first arm and controls the first motor and cause the first arm to perform a first specific operation, wherein the first specific operation includes a first operation element for moving the first arm from a first position to a second position and a second operation element for moving the first arm in an opposite direction of a direction of the first operation element.

A control apparatus makes a robot hand grip a work for measurement. The control apparatus controls the operation of a robot arm so that the robot arm keeps a force of striking the work for measurement against a reference constant, while making the end portion of the robot arm rotate around the end axis, in a state of making the outer periphery F3 of the work for measurement, which is gripped by the robot hand, strike against the reference jig. The control apparatus acquires a detection result detected by an encoder of each of the joints when the end portion of the robot arm has been rotated. The control apparatus calculates a correction amount of trajectory data based on eccentricity of a central axis with respect to an end axis, by using the detection result of the encoder, and corrects the trajectory data, based on the correction amount.

A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.

A method for an external force to drive a moving piece in a mechanical joint, wherein less force is used to drive the moving piece in the mechanical joint. The joint comprises a stationary piece, the moving piece and a driving mechanism (13), the driving mechanism comprises a servomotor (131), a driver (132) and an encoder (133), and the servomotor is connected to the moving piece. The driving method is: when the joint is in a stationary state, the servomotor is in a torque mode, and the servomotor outputs a resistance-reducing torque having a direction which changes with time; the external force is used to drive the moving piece, so that the moving piece moves with respect to the stationary piece; the driver determines the movement direction of the moving piece according to an output of the encoder; if the moving piece is moving in a positive direction with respect to the stationary piece, the servomotor is controlled to stop outpacing the resistance-reducing torque or output an assistance torque enabling the moving piece to have a positive direction movement trend; if the moving piece is moving in reverse with respect to the stationary piece, the servomotor is controlled to stop ontputting the resistance-reducing torque or output an assistance torque enabling the moving piece to have a reverse movement trend.

A system and a method of controlling a surgical tool of a robotic system during autonomous movement of the surgical tool are provided. A path of movement for the surgical tool is determined. At least one acceptable orientation of the surgical tool with respect to the path is generated. The surgical tool autonomously moves along the path in the at least one acceptable orientation. Forces applied to the surgical tool are sensed. An altered orientation is identified based on the sensed forces. The surgical tool autonomously moves along the path in response to comparing the altered orientation to the at least one acceptable orientation.

CLEAN COPY OF THE ABSTRACT

A method to control a closed robotised system comprises a learning step and a reproduction step, wherein, during the learning step, an operator exerts a force and/or a torque (Fc) on a driving assembly, whose sensor detects an applied force and/or torque (Fext); and wherein a processing system carries out an admittance control obtaining, depending on the data detected by the sensor, indications (Xref, X*ref) of movement for the robot manipulator in the Cartesian space; the processing system, following the admittance control, delivers the indications (Xref, X*ref) of movement in the Cartesian space to a trajectory interpolation unit of the robotised system so as to generate a desired trajectory through interpolation.

A robot control device includes a processor that is configured to execute computer-executable instruction so as to control a robot, wherein the processor is configured to determine that a control target of force control is achieved, based on two conditions made up of a range condition in the case where an output from a force detection unit provided in a robot is within a predetermined range and a continuation condition in the case where a state that satisfies the range condition is continued.

A positioning device is adapted for positioning a tool at a setpoint position on a flat substrate in an X-Y plane, the tool exerting a process force in its axial direction perpendicularly onto the substrate. The tool includes a multicomponent force sensor to measure unwanted process-force components in the lateral direction. The setpoint position of the tool is correctable by the positioning device such that the lateral process-force components are minimized.

A robot control device includes a processor that is configured to execute computer-executable instruction so as to control a robot that is capable of displacing a control target of a robot in a plurality of directions, wherein the processor is configured to cause the robot to perform displacement actuation of displacing the control target in a direction different from a direction of the external force among the plurality of directions in a case where a force detector detects external force.

A method for the safety control, through direct teaching, of a robotised system comprises a learning step, wherein a processing unit determines a relative distance (RD) between at least one link (L) of the robot manipulator and an operator (O) and controls whether the relative distance (RD) of the at least one link (L) exceeds a predefined distance threshold value (TV); wherein the predefined distance threshold value (TV) is equal to or greater than the distance covered by the robot manipulator in the amount of time needed to stop starting from a respective maximum linear speed (VMAX); in case the relative distance (RD) is smaller than the predefined distance threshold value (TV), the method entails stopping the robot.