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 detection unit. The robot control part, in which a range of control values for operating a robot by force control based on the force detection information is designated, operates the robot based on the control values and the designated range.

A robot control device includes a robot control section that controls a robot. The robot control device outputs, to another device, second information associated with first information indicating operation being executed by the robot control section, the operation being operation for causing the robot to perform work.

A robot control method for a robot performing an insertion operation of inserting a second target object with force control into a first target object conveyed by a conveyor device is provided. The robot control method includes: a follow step of causing the second target object to follow the first target object from an operation start location, based on a conveyance speed of the first target object; a contact step of bringing the second target object into contact with the first target object, the second target object being in a tilted attitude in relation to the first target object, with the force control; an attitude change step of changing the attitude of the second target object in such a way that the tilt in relation to the first target object is eliminated, while pressing the second target object against the first target object, with the force control; and an insertion step of inserting the second target object into the first target object.

In order to attain the object to enable a teacher to easily carry out teaching with enhanced safety of the teacher who is to teach an action to a robot, a robot includes a force sensor, an arm part, and an end effector fixed to the arm part via the force sensor. A control device includes one or more processors that execute a moving process for causing the end effector to move and a generation process for generating, with reference to a detection value from the force sensor, teaching information corresponding to a travel route of the end effector.

There is provided a control method for a robot including a robot arm, the control method including a first step in which the robot arm grips a first target object and performs work for assembling the first target object and a second target object while changing a position or a posture of the first target object, a second step for setting, based on information concerning the position or the posture of the first target object during the work in the first step, a determination reference serving as a reference for starting the change of the position or the posture of the first target object or ending the change of the position or the posture of the first target object.

Utilization of past dynamics sample(s), that reflect past contact physics information, in training and/or utilizing a neural network model. The neural network model represents a learned value function (e.g., a Q-value function) and that, when trained, can be used in selecting a sequence of robotic actions to implement in robotic manipulation (e.g., pushing) of an object by a robot. In various implementations, a past dynamics sample for an episode of robotic manipulation can include at least two past images from the episode, as well as one or more past force sensor readings that temporally correspond to the past images from the episode.

A robotic kitting machine is disclosed. In various embodiments, a robotic arm is used to move an item to a location in proximity to a slot into which the item is to be inserted. Force information generated by a force sensor is received via a communication interface. The force sensor information is used to align a structure comprising the item with a corresponding cavity comprising the slot, and the item is inserted into the slot.

The objective of the present invention is to provide a deburring control device capable of easily identifying the cause of a deburring failure. A deburring control device according to one aspect of the present disclosure controls deburring processing for removing burrs on a workpiece by moving a deburring tool along a ridge line of the workpiece by means of a robot, and is provided with: an offset amount calculating unit for calculating an offset amount between the actual path of the robot and a taught path thereof; a pressing force acquiring unit for acquiring the pressing force of the deburring tool; a rotational speed acquiring unit for acquiring the rotational speed of the deburring tool; a failure detecting unit for detecting a deburring failure, in which the deburring processing could not be performed appropriately, on the basis of the offset amount, the pressing force, and the rotational speed; and a recording unit for recording a failure reason, which is the reason for the failure detecting unit determining the deburring failure, when the deburring failure is detected.

The present invention makes it possible, in force control during production, to automatically adjust a force control parameter optimally so as not to cause oscillation of a robot or failure of work. This robot system comprises: a robot arm having a hand at the end thereof for holding a workpiece; a force detector for detecting a force and moment received by the workpiece held by the hand; and a control device for moving the workpiece held by the hand with respect to a target object while performing force control of the robot arm to correct a position error and an attitude error of the workpiece, on the basis of a predetermined force control parameter and a detected value of the force detector. The control device has a parameter automatic adjustment unit for automatically adjusting the force control parameter by executing the moving of the workpiece with respect to the target object a plurality of times. The parameter automatic adjustment unit automatically adjusts the force control parameter by executing the moving of the workpiece with respect to the target object from a plurality of attitude error directions among a plurality of position error directions and the plurality of attitude error directions.

Provided are systems and method for automated handling of one or more objects.