A robot includes a first arm that rotates around the first axis, a second arm that rotates around a second axis in a direction different from the first axis, a third arm that rotates around a third axis parallel to the second axis, a first inertia sensor that is installed at the first arm, a second (a) inertia sensor that is installed at the third arm, first to third angle sensors, a posture detection unit that detects the posture of the third arm with the second arm as a reference and derives a feedback gain, and a second drive source control unit that feeds back a second correction component, which is obtained by multiplying a value, which is obtained by subtracting the angular velocity ωA2m and the angular velocity ωA3m from the angular velocity ωA3, by the feedback gain, and controls the second drive source.

An automatic alignment system of a robot manipulator is provided. The automatic alignment system includes a signal transmission module and a controller. The signal transmission module includes a first signal receiving and transmitting element and a second signal receiving and transmitting element. The first signal receiving and transmitting element is mounted on the robot manipulator. The second signal receiving and transmitting element is disposed neighboring to a target workpiece. A signal is transported between the signal receiving and transmitting elements. The controller is electrically connected with the signal transmission module for receiving the signal outputted from the signal transmission module. The controller acquires a relative position between the first signal receiving and transmitting element and the second signal receiving and transmitting element according to a variation in the signal. The controller controls the robot manipulator to be automatically aligned to the target workpiece in accordance with the relative position.

An automatic alignment system of a robot manipulator is provided. The automatic alignment system includes a signal transmission module and a controller. The signal transmission module includes a first signal receiving and transmitting element and a second signal receiving and transmitting element. The first signal receiving and transmitting element is mounted on the robot manipulator. The second signal receiving and transmitting element is disposed neighboring to a target workpiece. A signal is transported between the signal receiving and transmitting elements. The controller is electrically connected with the signal transmission module for receiving the signal outputted from the signal transmission module. The controller acquires a relative position between the first signal receiving and transmitting element and the second signal receiving and transmitting element according to a variation in the signal. The controller controls the robot manipulator to be automatically aligned to the target workpiece in accordance with the relative position.

Provided are a manipulation system and a driving method of the manipulation system capable of performing manipulation efficiently and suitably while suppressing damage to a minute object at the time of manipulation regardless of the degree of skill and technique of an operator. A sample stage configured such that a minute object is placed thereon, a first manipulator including a first pipette for holding the minute object, a second manipulator including a second pipette for operating the minute object that is held on the first pipette, an imaging unit for imaging the minute object, and a controller that controls the sample stage, the first pipette, the second pipette, and the imaging unit are provided.

A sensing circuit (51), a logic circuit board, a joint control board, a main controller board and a robot (400). The sensing circuit (51) comprises a connecting terminal (514) and a detection circuit (210). The connecting terminal (514) is configured to be coupled with the electrode (120) disposed on a housing (100) of a mechanical equipment; the detection circuit (210) is coupled to the connecting terminal (514) so as to detect the distance between the electrode (120) and the external conductor or a change of the distance between the electrode (120) and the external conductor according to the capacitance between the electrode and the external conductor or a change of the capacitance between the electrode (120) and the external conductor, thereby obtaining an electrical signal representing the distance between the electrode (120) and the external conductor or a change of the distance between the electrode (120) and the external conductor

A method of avoiding collision between mechanical equipment (10) and obstacles, and a device and controller for this, by detecting whether an external conductor is approaching the device (10); when detecting that the external conductor is approaching the mechanical equipment (10), generating an electrical signal representing a distance between the external conductor and the housing of the mechanical equipment (10) or a change of the distance between the external conductor and the housing of the mechanical equipment (10); controlling the mechanical equipment (10) based on electrical signal so as to avoid the mechanical equipment (10) from collision with the external conductor or to reduce a strength of the collision.

A sensing circuit (51) including a connection terminal (514) configured to couple with an electrode (32) located on a housing of a mechanical device; and a detection circuit (513) configured to couple with the connection terminal (514) to detect a distance between the electrode (32) and an external conductor or a change of the distance between the electrode and an external conductor by utilizing a capacitance between the electrode (32) and the external conductor or a change of the capacitance between the electrode (32) and the external conductor, thus obtaining an electrical signal representing the distance between the electrode (32) and the external conductor or a change of the distance between the electrode (32) and the external conductor. The sensing circuit can perform non-contact distance detection on a grounded object.

A teaching method for detecting external force applied to a robot arm, driving the robot arm with force control based on the external force, and teaching a position and a posture of the robot arm, the teaching method including gradually relaxing, according to an elapsed time from when operation of the robot arm is started or a movement amount of the robot arm from when the operation of the robot arm is started, a restrictive condition for restricting the driving of the robot arm.

The embodiments relate to a robot and a server communicating with the robot, the robot being driven by using at least one among a driving wheel, a propeller, and a manipulator moving at least one joint.

A teaching control method includes displaying three or more plurality of teaching points on a display section, acquiring a result of classification processing for classifying the plurality of teaching points into one or more teaching point groups, receiving an operation parameter for each teaching point group, and setting an operation value for each teaching point group using the operation parameter.