A control device for a robot includes a comparing unit and a controller. When the robot equipped with a force sensor capable of detecting force components of a same type in a plurality of directions operates, the comparing unit compares a magnitude of each of the force components detected by the force sensor with a predetermined threshold value for each of the directions. If the comparing unit determines that a magnitude of a force component in any of the directions exceeds the threshold value, the controller controls the robot to avoid an increase in the magnitude of the force component in the direction.

A robot system includes a robot main body, a plurality of first control devices provided in the robot main body, and a detection unit configured to detect a state of the robot main body. In a case where one of the plurality of first control devices determines that the robot main body is in a predetermined state based on a detection result of the detection unit, the one of the plurality of first control devices outputs information indicating that the robot main body is in the predetermined state to another one of the plurality of first control devices other than the one of the plurality of first control devices.

A force applying auxiliary device and a control method thereof are provided. The force applying auxiliary device includes a sensor group, a processor, and a force applying driver. The sensor group includes a first sensor disposed on a first side and a second sensor disposed on a second side. The processor collects motion posture data of a user according to the first sensor and the second sensor, and determines whether a motion of the user is abnormal. When determining that the motion of the user is abnormal, the processor selects at least one preset abnormal pattern as a specific abnormal pattern according to the motion posture data, and controls the force applying driver to provide a force by using the specific abnormal pattern. A force difference between first and second forces applied to first and second side feet is adjusted based on a difference in sampling values between the sensors.

A detection system and detection method for the sensors of a robot. A detection system installs three sensors at the motor side and power output terminal of the robot. A detection unit detects the normal or abnormal state of three sensors to index the abnormal sensor for maintenance, and two normal sensors are selected for keeping the robot safety operation without stop.

Systems and methods for determining a location of a robot are provided. A method includes receiving, by a processor, a signal from a deformable sensor including data with respect to a deformation region in a deformable membrane of the deformable sensor resulting from contact with a first object. The data associated with contact with the first object is compared, by the processor, to details associated with contact with the first object to information associated with a plurality of objects stored in a database. The first object is identified, by the processor, as a first identified object of the plurality of objects stored in the database. The first identified object is an object of the plurality of objects stored in the database that is most similar to the first object. The location of the robot is determined, by the processor, based on a location of the first identified object.

A safety switch device including a device main body and a movable portion capable of moving in a predetermined moving direction. The device main body is provided with a back surface supporting portion having a supporting surface which supports a back surface of a mobile terminal, and a main-body-side holding portion which pushes one side of the mobile terminal, and the movable portion is provided with a movable-portion-side holding portion which pushes the other side of the mobile terminal, and each of the main-body-side holding portion and the movable-portion-side holding portion is provided with an inclined surface which comes into close contact with the mobile terminal, and each of the inclined surfaces inclines in a direction where the inclined surfaces get close to each other in the moving direction as being distant from the supporting surface in the direction orthogonal to the supporting surface.

A friction compensation device of the present disclosure includes a drive torque calculation unit that calculates output torque of a transmission mechanism from a motor's position, velocity, and acceleration, the transmission mechanism being connected to a motor via a shaft to transmit the driving force of the motor, and a friction estimate value calculation unit that calculates a friction estimate value that is an estimate value of a friction force on the shaft. The friction estimate value calculation unit includes a friction correction value calculation unit that calculates a friction correction value to correct the friction force on the shaft, in accordance with the output of the drive torque calculation unit.

The purpose of the present invention is to construct a system in which a robot cell receives output from a laser oscillator separate from the robot cell and is irradiated with a laser beam, wherein the need for complicated wiring is obviated without introducing a safety support system such as a safety PLC. In the present invention, a safety signal from a robot cell is communicated from a robot controller to a laser oscillator, where the robot controller serves as a master unit and the laser oscillator serves as a slave unit, thereby making it possible to obviate the need for numerous wires and to carry out installation such that wiring is uncomplicated.

A state monitoring system for monitoring a state of a robot configured to perform work on a workpiece executes: a step of obtaining state data from a sensor and deriving a deterioration index parameter based on the obtained state data; a step of determining whether or not the deterioration index parameter is greater than a first threshold that is preset to a level lower than a level at which corrective maintenance is required; a step of further determining whether or not a frequency of having determined that the deterioration index parameter is greater than the first threshold is greater than a preset frequency threshold; and a step of suppressing an operation of the robot without stopping the robot if it is determined that the frequency is greater than the frequency threshold.

A robot that performs work including gripping an object and moving the object is controlled with high accuracy. A computer for controlling the robot that performs the work including gripping the object and moving the object stores trajectory information, acquires operating state information including a value indicating an operating state of the robot during the work and work state information including a value for grasping a state of the object gripped by the robot, generates estimated work state information including a value for grasping a future state of the object gripped by the robot based on the trajectory information, the operating state information, and the work state information, and generates control information for controlling the robot based on the trajectory information, the operating state information, the work state information, and the estimated work state information.