A method for controlling a mechanical system having a plurality of components interlinked by a plurality of driven joints, the method comprising: measuring torques or forces about or at the driven joints and forming a load signal representing the measured torques or forces; receiving a motion demand signal representing a desired state of the system; implementing an impedance control algorithm in dependence on the motion demand signal and the load signal to form a target signal indicating a target configuration for each of the driven joints; measuring the configuration of each of the driven joints and forming a state signal representing the measured configurations; and forming a set of drive signals for the joints by, for each joint, comparing the target configuration of that joint as indicated by the target signal to the measured configuration of that joint as indicated by the state signal.

A control device adapted to control a robot including a robot arm provided with a force detector includes a processor that is configured to execute computer-executable instructions so as to control the robot, wherein the processor is configured to: operate the robot arm to move a screw gauge which is disposed on a tip side of the force detector of the robot arm, used for an inspection of a screw hole, and provided with an external thread, to make the external thread have contact with the screw hole; then detect force applied to the screw gauge using the force detector to perform force control in a direction perpendicular to a direction of an axis of the screw hole based on detection information of the force detector; and operate the robot arm to move the screw gauge based on the force control.

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 robot control apparatus includes an instruction portion, and a control portion. The instruction portion is configured to transmit a switching condition to the control portion configured to perform feedback control in accordance with the robot program. In a state where a status of the robot matches the switching condition, the control portion transmits information indicating that the status of the robot has matched the switching condition to the instruction portion, the instruction portion transmits an operation command corresponding to the information to the control portion, and the control portion switches the operation of the robot in accordance with the operation command.

A system for motion control is presented. In one embodiment, a motion control 3D projection system includes a projector; and a projection surface coupled to a robotic arm, where the robotic arm moves the projection surface through a set of spatial coordinates, and a 3D projection from the projector is projected onto a set of coordinates of the projection surface and matches the 3D projection to the set of coordinates of the projection surface as the projection surface moves through the set of spatial coordinates. In additional embodiments, a master control system may integrate additional robotic arms and other devices to create a motion control scene with a master timeline.

The invention relates to a device and method for performing open-loop and closed-loop control of a robot manipulator which is driven by a number M of actuators ACT.sub.m and has an end effector. The invention comprises a first unit which registers and/or makes available an external force winder {right arrow over (F)}.sub.ext(t)={{right arrow over (f)}.sub.ext(t),{right arrow over (m)}.sub.ext(t)} acting on the end effector, a regulator which is connected to the first unit and to the actuators ACT.sub.m and which comprises a first regulator R1, which is a force regulator, and a second regulator R2 which is connected thereto and which is an impedance regulator, an admittance regulator, a position regulator or a cruise controller, wherein the regulator determines manipulated variables u.sub.m(t) with which the actuators ACT.sub.m can be actuated in such way that when contact occurs with the surface of an object, the end effector acts on said object with a predefined force winder {right arrow over (F)}.sub.D(t)={{right arrow over (f)}.sub.D(t),{right arrow over (m)}.sub.D(t)}; where u.sub.m(t)=u.sub.m,R1(t)+u.sub.m,R2(t), wherein the first regulator R1 is embodied and configured in such a way that the manipulated variable u.sub.m,R1(t) is determined as a product of a manipulated variable u.sub.m,R1(t)* and a function S(v(t)) or as a function S*(v(t), u.sub.m,R1(t)*), where: u.sub.m,R1(t)=S(v(t)) u.sub.m,R1(t)* or u.sub.m,R1(t)=S*(v*(t), u.sub.m,R1(t)*); v(t)=v({right arrow over (F)}.sub.D(t), {right arrow over (R)}(t)); v[v.sub.a, v.sub.e], v*(t)=v*({right arrow over (F)}.sub.D(t), {right arrow over (R)}(t))=[v.sub.1*({right arrow over (F)}.sub.D(t), {right arrow over (R)}(t)), . . . , v.sub.Q*({right arrow over (F)}.sub.D(t), {right arrow over (R)}(t))].

A robot control device adapted for performing flexible control includes: an operation state monitoring unit for determining the operation state of the robot on the basis of outputs from a position detecting unit for detecting positions of respective shafts of a robot, a force detecting unit for detecting forces of respective shafts of the robot or a time measuring unit for measuring time; a storage unit for storing a plurality of parameter sets indicating flexibility of the flexible control; and an operation generating unit for switching the parameter sets each indicating flexibility on the basis of an output from the operation state monitoring unit at the time of executing the flexible control.

Provided is a robot including a hand and a control unit that operates the hand. The control unit rotates a first object around a predetermined position of the first object with the hand and moves the first object with respect to a second object, based on a captured image including the hand and the first object.

A method for controlling a telerobot using an input device having a movable control includes detecting an adjustment of the control and an external load acting on the telerobot; determining a target adjustment of a telerobot reference fixed to the robot, based on the detected adjustment of the control; detecting an actual adjustment of the telerobot reference; and controlling drives of the telerobot based on a difference between the actual adjustment and target adjustment. A first operating mode is implemented if the detected load falls in a first range, and a second operating mode is implemented if the detected load falls in a second range. The drives of the telerobot are controlled in the first operating mode such that drive loads of the drives increase with an increase in a one- or multi-dimensional component of the difference in order to reduce the component; and, the drives of the telerobot are controlled in the second operating mode such that drive loads of the drives likewise increase with the same increase in this component of the difference in order to reduce the component, but less than in the first operating mode.

The invention concerns a method of programming an industrial robot, exhibiting the steps of selecting a program command, the assigned rigidity parameter of which is to be verified, changed and/or saved in the program mode; moving the manipulator arm into a test pose, in which the industrial robot is configured and/or arranged to manually touch and/or move the manipulator arm; and the automatic actuation of the manipulator arm by the control device such that the manipulator arm in the test pose exhibits the rigidity corresponding to the assigned rigidity parameter of the selected program command. The invention further concerns an industrial robot, exhibiting a control device designed and/or configured to execute such a method.