An arrangement including a machine tool with a chuck, a measuring device, a robot arm as well as a control device. The chuck is rotatable about a chuck axis. The robot arm carries at its free end a gripping device for reception of a workpiece. The measuring device has two sensor units. The measuring device has two sensor units. By means of the control device an automatic adjustment method can be carried out. First the robot arm is controlled for gripping a workpiece and subsequently the workpiece is positioned in the range of the measurement locations of the sensor units depending on measurement signals such that the deviation in the inclination and the offset between the workpiece axis and the chuck axis is within a predefined tolerance range. This procedure is at least carried out in two different rotation positions and is iteratively repeated if necessary.

A robot system includes a robot, a force detector, and an end effector. When the robot is caused to execute a following operation, force control is performed based on a measurement value by the force detector. The following operation is an operation in which a first target object held by the end effector is inserted into a void included in a second target object or pulled out from the void while coming into contact with the second target. The adjustment method includes a measuring step for causing the robot to perform the following operation using candidate values of the force control parameters including a target force in a direction orthogonal to a direction of the insertion or the pull-out and obtaining a force measurement value, a parameter updating step for performing optimization processing using the force measurement value and obtaining new candidate values of the force control parameters, and a step of repeating the measuring step and the parameter updating step to determine force control parameters and outputting the force control parameters.

Device and method for operating a robot. As a function of a first state of the robot and/or its surroundings and as a function of an output of a first model, a first part of a manipulated variable for activating the robot for a transition from the first state into a second state of the robot is determined. A second part of the manipulated variable is determined as a function of the first state and regardless of the first model. A quality measure is determined as a function of the first state and of the output of the first model using a second model. A parameter of the first model is determined as a function of the quality measure. A parameter of the second model is determined as a function of the quality measure and a setpoint value. The setpoint value is determined as a function of a reward.

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.

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.

A fitting method includes (a) detecting a first position as a position where fitting of a first object and a second object is determined, (b) moving the first object from the first position toward a determination direction different from a fitting direction and detecting a second position as a position where magnitude of a force applied to the first object reaches a predetermined reference value, and (c) determining that a fitting condition of the first object and the second object is good when a predetermined determination condition including a condition that the second position is within an acceptable position range set according to the first position is satisfied.

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.

A system including a robot mean to move a member by using a first camera coupled to the robot, a second camera coupled to the robot, a control device configured to control position of the robot in order to minimize a pixel-wise distance between the member and a target based on alternating input from the first camera and the second camera.

A robot control device includes: a learned model created through learning work data composed of input and output data, the input data including states of a robot and the surroundings where humans operate the robot to perform a series of works, the output data including human operation corresponding to the case or movement of the robot caused thereby; a control data acquisition section that acquires control data by obtaining output data related to human operation or movement from the model, being presumed in response to and in accordance with the input data; a completion rate acquisition section acquiring a completion rate indicating to which progress level in the series of works the output data corresponds; and a certainty factor acquisition section that acquires a certainty factor indicating a probability of the presumption in a case where the model outputs the output data in response to the input data.

The end effector device includes an end effector including a palm and a plurality of fingers, a drive device, a position shift direction determination unit and a position shift correction unit. Each finger includes a tactile sensor unit capable of detecting external forces in at least three axial directions. The position shift direction determination unit determines in which direction the object being grasped is position-shifted with respect to the fitting recess based on a detection result detected by the tactile sensor unit in a case where at least one of the external forces detected by the tactile sensor unit is a specified value or more. The position shift correction unit moves the palm in a direction opposite to a position shift direction of the object being grasped determined by the position shift direction determination unit.