Provided is a robot including: a wrist unit that has a tool attached to a distal end face thereof and that changes the orientation of the tool, the tool performing work on a work target device secured to an installation surface; and a movable unit that changes the three-dimensional position of the wrist unit. The movable unit includes an arm that has a longitudinal axis and the wrist unit is attached to the distal end thereof, and a visual sensor that has a field of view oriented in a direction intersecting the longitudinal axis of the arm is attached to the a position closer to the base end than the distal end face of the wrist unit is.

Disturbance compensation in computer-assisted devices include a first articulated arm configured to support an imaging device a second articulated arm configured to support an end effector, and a control unit coupled to the first articulated arm and the second articulated arm. The control unit is configured to set a first reference frame, where the first reference frame is based on a first position of the imaging device at a first time. The control unit is further configured to detect a first disturbance to the first articulated arm moving the imaging device away from the first position, receive a command to move the end effector, and transform the command to move the end effector from a command in the first reference frame to a command in a reference frame for the end effector.

A robot control device according to the present invention is configured to: detect a collision of a robot with an object at a predetermined collision detection sensitivity; perform control of operating the robot, and stopping the robot when a detection part detects the collision; and decrease, when a predetermined circumstance causing the robot to have a low temperature is satisfied, the collision detection sensitivity compared to when the predetermined circumstance is unsatisfied.

Provided is a robot control device capable of reducing a robot vibration amount using machine learning based on a small number of operations. A robot control device according to one aspect of the present invention that, in order to perform a task in relation to a target object which is made to move by a robot, controls operation by the robot based on an operation program that uses a plurality of pass-through points to specify a movement path that includes one or more task sections in which the task is to be performed, the robot control device including: a command value generation unit configured to, based on the operation program, generates a command value that instructs a state of the robot for each time; a driving unit configured to drive the robot in accordance with the command value; a vibration amount obtainment unit configured to, for each time, obtain an amount of vibration of the robot that is driven by the driving unit; a vibration amount extraction unit configured to, based on the operation program, extract the amount of vibration for a time corresponding to the task section from among the amounts of vibration obtained by the vibration amount obtainment unit; and a command value correction unit configured to, based on the amount of vibration extracted by the vibration amount extraction unit, correct the command value.

A compensating device includes a sleeve-shaped compensating device housing which includes an end portion which faces a manipulator and has a manipulator attachment point and, on an opposite end portion, an end effector attachment point configured to rotate and be displaced relative to the housing. A first spring assembly disposed in the region of the manipulator attachment point is configured to apply pretension along a longitudinal direction of the housing translationally in a direction of a Z-axis to the effector attachment point, a second spring assembly disposed in series to the first spring assembly is configured to apply pretension rotationally about an X-axis and a Y-axis to the effector attachment point, and a third spring assembly is disposed in series to the second spring assembly and is configured to apply pretension translationally along the X-axis and the Y-axis direction and rotationally about the Z-axis to the effector attachment point.

A system includes a robotic manipulator including a serial chain comprising a first joint, a first link, and a second link. The second link is between the first joint and the first link in the serial chain. The system further includes a processing unit including one or more processors. The processing unit is configured to receive first link data from a first sensor system located at the first link, generate a first joint state estimate of the first joint based on the first link data and a kinematic model of the robotic manipulator, and control the first joint based on the first joint state estimate.

Given a method for driving an electric motor in a direct drive environment, it is an objective of the present invention to smoothen the effect of cogging torque. The objective is solved by the method comprising calibration steps: a) control the motor to run at a first velocity in a first direction and, while miming the motor in the first direction, measure first current values for a plurality of motor positions, the first current values indicating currents required to run the motor at the first velocity at each of the plurality of motor positions; b) control the motor to run at a second velocity in a second direction and, while running the motor in the second direction, measure second current values for the same plurality of motor positions as determined in step a), the second current values indicating currents required to run the motor at the second velocity at each of the plurality of motor positions; c) for each motor position of the plurality of motor positions, calculate an average of the first and the second current measurements to generate averaged current measurements values for the plurality of motor positions; and d) store a map between the plurality of motor positions and corresponding averaged current measurements values; the method further comprising motor driving steps: e) receive a desired driving current; f) receive a signal indicating a motor position at a present time; g) use the map to determine a delta current for the motor position at the present time; h) add the delta current to the desired driving current to generate a compensated driving current; and i) drive the motor using the compensated driving current.

A processing system has: a movable member, a relative positional relationship between the movable member and a part of the object being changeable; an irradiation apparatus that irradiates an object with processing light; and a connecting apparatus that connects the movable member and the irradiation apparatus so that a relative positional relationship between the movable member and the irradiation apparatus is changeable, the connecting apparatus has: a driving member that moves at least one of the movable member and the irradiation apparatus; and an elastic member that couples the movable member with the irradiation apparatus.

A robotic arm having one or more hybrid (soft-rigid) joints includes a first link, a second link, and a joint interconnecting the first link and the second link, such that the first link is movable relative to the second link along an axis of motion. The joint includes: a socket component coupled to a distal end portion of the second link and a ball component coupled to a proximal end portion of first link, the ball component is configured to rotationally fit within the socket component. The joint also includes a flexible membrane encasing the socket component and the ball component. The robotic arm is controllable using a reinforcement learning algorithm training using a simulation of the robotic arm and optionally, further training in a physical world.

There is provided a robot apparatus that includes a load compensation function dealing with a variation in load.

The robot apparatus includes one or more movable portions, a load compensation section utilizing an elastic body to compensate for a load acting on the movable portion, and an initial displacement amount setting section applying, to the elastic body, an initial displacement amount corresponding to a desired position or posture of the movable portion. The initial displacement setting section includes an actuator displacing the elastic body by an initial displacement amount and locks the actuator with the elastic body remaining displaced by the initial displacement amount. The movable portion is a leg including a joint portion having a degree of rotational freedom around a pitch axis, and the initial displacement amount setting section sets the initial displacement amount on the basis of a toe force of the leg.