A control system (1) includes: a control device (100) that controls a robot (200); a three-dimensional sensor (300) that acquires positional information of a worker and the robot (200), which are included in a viewing-field area in a three-dimensional space; and a support device (400) that provides a user interface (411) for virtually setting a cooperation region in which the worker and the robot (200) are allowed to work. The control device (100) controls stopping or the speed of the robot (200) on the basis of whether or not the position of the worker or the robot (200) calculated on the basis of the positional information is included in the cooperation region, which is set by using the user interface (411), as well as the relative positional relationship between the worker and the robot (200) calculated on the basis of the positional information.

A conveying apparatus that facilitates setting of an operation mode and setting of appropriate conditions during teaching is provided. An input determination section determines whether or not a combination of a conveyable weight and an operation mode input from an input portion is appropriate. A motor parameter determination section determines one or more motor parameters of at least one servoamplifier for one or more servomotors based on the operation mode and the conveyable weight determined as appropriate by the input determination section. The one or more motor parameters include a maximum speed and a maximum acceleration of the one or more servomotors. A parameter change section allows a speed and an acceleration of the one or more servomotors to be changed up to the maximum speed and the maximum acceleration, respectively.

A robot has a base, a first arm provided at the base and pivoting about a first axis relative to the base, a second arm provided at the first arm and pivoting about a second axis parallel to the first axis relative to the first arm, an inertial sensor provided in the second arm and detecting one or both of an angular velocity about an angular velocity detection axis orthogonal to an axial direction of the second axis and an acceleration in the second axis direction, a pipe located outside of the first arm and coupling the base and the second arm, and a wire placed through the pipe and electrically coupled to the inertial sensor.

A process for removing webs formed on a wall of a central channel of a propellant charge, the process including removing webs by levelling the wall of the central channel of the propellant charge with a levelling tool installed on an articulated robotic arm during which the movements of the robot arm are controlled by a user interface which includes a controller configured to be used by a user; a force sensor measures the force applied by the levelling tool; a control unit connected to the force sensor regulates the movements of the robot arm by maintaining the force applied by the levelling tool below a first predetermined force threshold, the control unit also regulating the movements of the robot arm by maintaining a movement speed of the levelling tool which is below a predetermined speed threshold value.

A mobile robot apparatus includes a main body; a first wheel and a second wheel respectively provided on opposite sides of the main body; a first driving device configured to rotate the first wheel and the second wheel; a second driving device configured to rectilinearly move the main body along a reference axis that is offset from a vertical line in a direction toward a front of the main body by a predetermined angle; and at least one processor configured to: based on the mobile apparatus accelerating, control the second driving device to cause the main body to move in a traveling direction of the mobile apparatus, and based on the mobile apparatus decelerating, control the second driving device to cause the main body to move in a direction opposite to the traveling direction.

Systems and methods for grip-based transport speeds for objects transported at a manufacturing system is provided. A controller can detect an object placed on an end effector of a robot arm. The controller can apply vacuum pressure to secure the object to the end effector via vacuum grip pads. The controller can obtain a vacuum pressure measurement indicating the amount of vacuum pressure between the object and the end effector and determine whether the obtained vacuum pressure measurement satisfies a vacuum pressure criterion. The controller can determine a transport speed setting for transporting the object using the robot arm based on whether the obtained vacuum pressure measurement satisfies the vacuum pressure criterion. The controller can cause the robot arm to move the object according to the transport speed setting.

A robot includes an input detection portion, a motion detection portion, and a control portion. The input detection portion is configured to detect an input given from an operator to a robot body. The motion detection portion is configured to detect a motion by using the input detection portion, the motion being given by the operator. The control portion is configured to execute a motion instruction associated with the motion detected by the motion detection portion.

Present embodiments describe a method for controlling a robotic vehicle that can include causing a processor to determine a localized position of a dynamic object, determining, via the processor, a predicted trajectory of the robotic vehicle based on the localized position of the dynamic object, and determining an optimum trajectory based on the predicted trajectory, the optimum trajectory chosen based a travel velocity and longitudinal velocity. Determining the optimum trajectory can include computing a cost value comprising a plurality of cost terms associated with the optimum trajectory, and determining a control command that modifies a travel velocity and a travel vector of the robotic vehicle based on the cost value. The method further includes causing, via the processor, the robotic vehicle to follow the optimal trajectory based on the control command.

In the present invention, contact between an operator and a robot that moves a workpiece is avoided, and an effect on an article is reduced. This robot controller (1), which controls the operation speed of a robot (2) that moves a workpiece (3), comprises: a prediction unit (11) that predicts contact from the position of a robot and the position of a person or object; and an acceleration change unit (12) that, when contact is predicted by the prediction unit, changes the acceleration at which the speed of the robot is reduced to perform an emergency stop in accordance with the presence of the workpiece.

A method for controlling a robot includes applying a setpoint force to a contact point; measuring a contact stiffness at the contact point; and slowing down the moving robot using its drives and/or braking the robot to apply the setpoint force to the contact point by the slowing down and/or slowed down robot depending on the measured contact stiffness, wherein the robot is slowed down before the setpoint force is reached.