The invention relates to a robot controller controlling a robot arm, the robot controller is configured to maintain the robot arm in a static posture when only gravity is acting on the robot arm and allow change in posture of the robot arm when an external force different from gravity is applied to the robot arm. The free-drive mode of operation is activatable by a user establishing a free-drive activation signal to the robot controller, which then is configured to initiate a free-drive mode activation sequence including the steps of: in a predetermined activation sequence period of time monitor a value of at least one joint sensor parameter, and compare this value to a free-drive activation joint sensor parameter threshold value. The robot controller is configured to switch to the free-drive mode of operation if the at least one value does not exceed the free-drive activation joint sensor parameter threshold value within the predetermined activation sequence period of time.

The invention relates to a robot controller controlling a robot arm, the robot controller is configured to maintain the robot arm in a static posture when only gravity is acting on the robot arm and allow change in posture of the robot arm when an external force different from gravity is applied to the robot arm. The free-drive mode of operation is activatable by a user establishing a free-drive activation signal to the robot controller, which then is configured to:monitor a value of at least one joint sensor parameter;compare the value of the mode of joint sensor parameter to a maintain free-drive joint sensor parameter threshold value;maintain the robot arm in said free-drive mode of operation for a predetermined maintain free-drive period of time; andleave the free-drive mode of operation if the value of the joint sensor parameter does not exceed the maintain free-drive joint sensor parameter threshold value within the maintain free-drive period of time.

A teaching device is provided with: a setting information storage unit for storing setting information defining a position and an attitude of a force sensor relative to a coordinate system set in a robot; and a virtual image superimposing and displaying unit for superimposing and displaying a virtual image in a real space including the robot or a prescribed object supporting the force sensor, or in a virtual space including a model of the robot or a model of the prescribed object, in such a way that a virtual image representing the force sensor adopts a position and an attitude corresponding to the setting information in the real space or the virtual space.

A control device of a robot includes a robot control section configured to control the robot so as to sequentially position the robot at a plurality of target positions, which are set based on shape data representing a shape of a workpiece, and cause the robot to execute a work along a work target portion on the workpiece, and cause the robot to continue the work beyond a final target position of the plurality of target positions after the robot reaches the final target position, the final target position being set to correspond to an end of the work target portion in the shape data.

Provided are: a 3D printer using a robot and enabling molding of an article with high strength and high accuracy; and a control apparatus for said robot. A robot used as this 3D printer has: an input-side encoder that acquires information regarding the angle of an input axis of a joint of the robot operated on the basis of a control command; and an output-side encoder that acquires information regarding the angle of an output axis. A calculation unit of this control apparatus has: a control command storage unit having stored therein a control command for motors of respective axes of the robot; a deviation estimation unit that receives results of detection by both of the input-side encoder and the output-side encoder and estimates the deviation of an actual trajectory of the robot from the control command; and a control command correction unit that corrects the control command by using the estimation result by the deviation estimation unit.

An admittance control method, a robot, and a storage medium are provided. The method includes: obtaining, based on a first admittance controller transfer function between force and position, a desired position of a robot in a current control cycle; determining a corresponding Jacobian matrix according to a configuration of the robot in the current control cycle, and calculating an ill condition number of the Jacobian matrix; and controlling the robot to move by inputting the obtained desired position in the current control cycle to a corresponding joint, in response to the ill condition number being less than a preset maximum ill condition number. In this manner, the configuration of the robot can be maintained within a reasonable rang of the ill condition number, and singularities caused by the admittance controller exceeding the work space can be avoided while the velocity reachability and force reachability of the robot can be ensured.

A robotic controller is provided for generating sequences of movement primitives for sequential tasks of a robot having a manipulator. The controller includes at least one control processor, and a memory circuitry storing a dictionary including the movement primitives, a pretrained learning module, and a graph-search based planning module having instructions stored thereon. The controller to perform steps acquiring a planned task provided by an interface device operated by a user, wherein the planned task is represented by an initial state and a goal state with respect to an object, generating a planning graph by searching a feasible path of the object for the novel task using the graph-search based planning module and selecting movement primitives from the dictionary in the pretrained learning module, wherein the pretrained learning module has been trained based on demonstration tasks, parameterizing the feasible path represented by the movement primitives as dynamic movement primitives (DMPs) using the initial state and goal state, and implementing the parameterized feasible path as a trajectory according to the selected movement primitives using the manipulator of the robot by tracking and following the parameterized for the planned task.

Provided is a robot system that comprises a robot, a robot control device which executes a robot program and controls the robot, and a force detection unit which detects a force acting on the robot. The robot control device comprises: a determination unit that, on the basis of the robot program, determines an operating mode for force control, using the force detection unit, executed by the robot program; and a force control setting unit that sets operation settings for force control in accordance with the operating mode for the force control determined by the determination unit.

A control method of the composite robot includes acquiring multiple forces and multiple torques collected by the force sensor in the current motion when the robot arm is pulled to move; calculating multiple displacement value sets according to the multiple forces, the multiple torques, a preset desired force, a preset desired torque, and a preset model; calculating the optimal solution according to the multiple displacement value sets to obtain a first target displacement value corresponding to the robot arm and a second target displacement value corresponding to the motion mechanism; controlling the robot arm and the motion mechanism to move according to the first target displacement value and the second target displacement value; and repeating the operation of acquiring multiple forces and multiple torques collected by the force sensor in the current motion until the robot arm and the motion mechanism stop moving.

Robotic medical systems capable of manual manipulation are described. A robotic medical system can include a robotic arm and a sensor architecture. The sensor architecture can include one or more non-joint based sensors that are positioned to detect a first force exerted on the robotic arm. The robotic medical system can be configured to determine whether sensor data received from the sensor architecture meets first criteria. For example, the first criteria can be met in accordance with a determination that the first force exceeds a first threshold force. The robotic medical system can be configured to, in accordance with a determination that the first criteria are met, transition the robotic arm from a position control mode to a manual manipulation mode.