A multi-joint robot using substantially one sensor, capable of performing a proper repositioning motion of an arm of the robot. The controller has a disturbance torque estimating part which estimates a first disturbance torque and a second disturbance torque, by calculating a torque generated by a mass and motion of the robot and subtracting the calculated torque from the first torque and the second torque detected by a torque detecting part. The controller has a repositioning commanding part which generates a motion command for rotating each axis so that the disturbance torque is reduced, when the disturbance torque exceeds a torque threshold. Since the axis is repositioned based on the motion command, a portion of the robot pushed by the operator is repositioned, whereby the operator can easily perform one's work without using a teaching board, etc.

A robot control apparatus comprises a contact detection unit which judges whether or not a robot is in contact with an object other than the robot, and an operation direction monitor unit which detects an operation direction of the robot after the robot comes in contact with the object and monitors operation of the robot. After the robot comes in contact with the object, the operation direction monitor unit permits operation of the robot being within a permissible range and inhibits operation of the robot falling outside the permissible range.

A robot includes a movable section, a first member disposed in the movable section, a second member configured to form a space between the second member and the first member, a third member located between the first member and the second member and configured to restrain displacement of the second member in a direction separating from the first member, and a pressure detecting section configured to detect pressure in the space.

The invention relates to a device and to a method for open-loop/closed-loop control of a robot manipulator (202), which comprises a sensor (203) for detecting an interaction with an environment. The proposed method is characterized in that a force-time curve of an external force (I) acting on the robot manipulator (202) is detected by the sensor (203), and, if the value of the detected force (II) is higher than a defined threshold value G1: (II)>G1, a safety mode of the robot manipulator (202) is activated, which open-loop controls a movement speed (III) and/or a movement direction (IV) depending on the detected force (I), wherein the movement speed (III) and/or the movement direction (IV) of the robot manipulator (202) is/are open-loop/closed-loop controlled depending on predetermined medical injury parameters before the safety mode is activated.

A human cooperation robot system includes: an external force detecting unit that detects an external force acting on a robot; a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is larger than a first threshold value; a position acquiring unit that a current position of the robot; and a retreat operation stopping unit that stops the retreat operation when the current position of the robot acquired by the position acquiring unit departs from a retreat area.

A human-robot collaboration (HRC) workstation includes a robot having a robot controller and a robot arm comprising a plurality of joints and links connecting the joints. The joints are automatically adjusted by the controller to move or hold in space a tool or workpiece held by the robot arm by adjusting the joints. The (HRC) workstation further comprises a mounting device having a stationary base frame and a fixing device configured to hold in place a workpiece or a tool such that the workpiece and/or tool held on the mounting device may be assembled and/or machined in interaction with the robot arm. The mounting device includes a mechanical adjusting device and a triggering device controlled by the robot controller and the adjusting device is configured to automatically adjust the fixing device relative to the base frame from an operating position to a safety position when the triggering device is activated.

The present invention relates to an industrial robot system comprising a platform adapted to be positioned on a floor in a robot cell, an industrial robot positioned on the platform and including an articulated robot arm, a sensor system comprising two sensors, wherein each of the sensors is configured to detect motions within an angle of at least 90° in a horizontal plane, two arms attached to the platform and arranged to move the sensors in relation to the platform independent of the articulated robot arm between an extended position located a distance of a least 0.5 m from the platform and a retracted position. The sensors are arranged to detect motions of an object within at least one safety zone defined in relation to the sensors when the sensors are located in the extended position, and the robot system comprises a safety control unit configured to adjust the speed of the robot if a moving object is detected in the at least one safety zone.

A control device: includes a data acquiring unit to acquire inference data including moving speed information indicating a moving speed of an autonomous mobile object, relative position information indicating a relative position of a dynamic obstacle with respect to the autonomous mobile object, and relative speed information indicating a relative speed of the dynamic obstacle with respect to the autonomous mobile object; a control amount calculating unit to calculate a control amount for controlling movement of the autonomous mobile object depending on movement of the dynamic obstacle using the inference data or preprocessed inference data corresponding to the inference data, and a control unit to control the movement of the autonomous mobile object using the control amount. The control amount calculating unit uses a learned model by machine learning, and the learned model receives an input of the inference data or the preprocessed inference data and outputs the control amount.

A device for ensuring safe operation of a robot used for cosmetics applications, including the retrofitting of robots not originally design for such applications. The robot is used for the automatic placement of eyelash extensions onto the natural eyelashes of a subject. In some embodiments, a safety barrier is provided by a physical barrier or light curtain. In the invention, the robot uses an end effector which is configured to extend through the safety barrier and includes a release mechanism configured to readily release from the robot upon contacting the human subject, thereby preventing injury.

A robot controller and a robot control method, by which a human can be prevented from being sandwiched between a collaborative robot and a workpiece conveyed by a conveyor. The robot controller controls the robot configured to perform a predetermined operation for the workpiece conveyed by a convey section moving in a convey direction. The robot controller has: a receive section configured to receive a signal representing that an abnormality of the robot is detected or contact against the robot is detected; and a motion control section configured to control a motion of robot so that, after the receive section receives the signal, a minimum distance between a movable section of the robot and the workpiece is not less than a predetermined safe distance.