A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

A sensor detection error at a joint of a robot arm is correctly detected. A joint structure that joins links and of a robot arm includes a sensor for determining force acting between the links. A driving apparatus that generates a driving force of a joint includes first and second driving parts. A constraining part that constrains the joint movable in a driving direction of the joint and be unmovable in another direction includes first and second supporting parts that are movable relative to each other in the driving direction of the joint. The driving part of the driving apparatus is fixed to the link, and the supporting part of the constraining part is fixed to the link. Also, the supporting part of the constraining part is fixed to the driving part of the driving apparatus. The sensor is fixed so as to link the supporting part and the link.

A sensor device is provided which detects approach or in contact of a detection target with a moving part of an automatic device, and comprises a first sensor that detects the detection target at a position away from the moving part, a second sensor that detects the detection target at a position closer to the moving part than the first sensor, and a third sensor that detects the detection target at a position closer to the moving part than the first sensor. The approach of the detection target to the moving part is detected by both the second sensor and the third sensor at a position closer to the moving part than a position that can be detected by the first sensor.

In the field of robot technologies, a robot control method and apparatus are for protecting safety of a human during interaction between the human and a robot. The method includes: detecting a current location of the human; determining at least two regions surrounding the human according to the detected current location; and controlling movement of the robot in any region of the at least two regions, to protect safety of the human during interaction with the robot. Because the region is set surrounding the human, movement of the human does not affect the interaction between the human and the robot. In addition, using a protected object as a target, the robot is controlled to move in regions that surround the human. Compared with a case in which the robot is limited in fixed space, no matter how the human moves, safety of the human may be effectively protected.

A robot system is provided with a robot, a hand, and a range sensor that acquires information about a distance to a workpiece. Claw parts of the hand include grip regions having a shape for gripping the workpiece. A controller stops the robot when the hand collides with the workpiece. The controller determines whether or not a target workpiece can be gripped by a part other than the grip regions of the hand. When it is determined that the target workpiece can be gripped by the part other than the grip regions, the controller performs control for gripping the target workpiece by using the hand, and for moving the target workpiece inside a container.

A monitoring device of a robot system includes: an external force detecting portion configured to detect external force acting on a robot; an area determining portion configured to determine whether or not a predetermined portion of the robot is located within a predetermined area; a force monitoring portion configured to detect collision of the robot based on a first monitoring criterion including at least monitoring of the external force acting on the robot, and when the area determining portion determines that the predetermined portion of the robot is not located within the predetermined area, detect the collision based on a second monitoring criterion not including the monitoring of the external force; and a stop signal generating portion configured to, when the force monitoring portion detects the collision, generate a stop signal of the robot 2 and supply the stop signal to the control device.

A robot system includes a robot, a sensor, and a processor. The sensor is configured to detect an external force acting on the robot. The processor is configured to move the robot in a forward direction such that a representative point of the robot moves along a motion track in the forward direction; move the robot in a reverse direction such that the representative point moves along the motion track in the reverse direction opposite to the forward direction when the external force satisfies a first condition which includes a condition that the external force is larger than a first threshold force; and move the robot to reduce the external force when the external force satisfies a second condition which includes a condition that the external force is larger than a second threshold force even after the robot has been moved in the reverse direction.

A monitoring device of a robot system includes: an external force detecting portion configured to detect external force acting on a robot; an area determining portion configured to determine whether or not a predetermined portion of the robot is located within a predetermined area; a force monitoring portion configured to detect collision of the robot based on a first monitoring criterion including at least monitoring of the external force acting on the robot, and when the area determining portion determines that the predetermined portion of the robot is not located within the predetermined area, detect the collision based on a second monitoring criterion not including the monitoring of the external force; and a stop signal generating portion configured to, when the force monitoring portion detects the collision, generate a stop signal of the robot 2 and supply the stop signal to the control device.

Provided is a highly safe robot system. A robot system includes: an arm operation control unit that controls operations of an arm; and a storage unit that records hazardous part information related to at least any one of a grip unit of the arm and a work target gripped with the grip unit, and the arm operation control unit causes the arm to operate such that the hazardous direction of the hazardous part is different from a moving direction of the grip unit on the basis of the hazardous part information.