A robot control device configured to control operation of a robot configured to transfer a substrate while holding the substrate. The robot includes a robotic arm having at least one joint axis, and an end effector provided to a tip end of the robotic arm and configured to hold the substrate. A position and a posture of the end effector are defined by values of N variables. A value of at least one of the N variables that define a holding position and a holding posture of the end effector for holding the substrate placed on the installation position by the end effector is independent from a value of the corresponding variable among the N variables that define a withdrawn position and a withdrawn posture of the end effector after retreating the end effector in the holding position and the holding posture from the installation position.

A computer-implemented method is provided for guiding a robot in a robotic system, by creating a refined path, based on an initial path in a three-dimensional space. The method includes receiving data related to creating the initial path, including a start point and an endpoint, and generating the initial path by interpolating the start point and the endpoint. The method also includes receiving inputs for at least one support point that defines a coordinate in the three-dimensional space for altering the initial path, and adjusting the initial path to generate the refined path by modifying a set of one or more polynomial functions, such that the refined path interpolates the at least one support point between the start point and the endpoint. The method further includes providing the refined path to a second computing module for guiding the robot.

A robot system includes circuitry. The circuitry may be configured to acquire teaching position data including a plurality of teaching positions arranged in time series based on the demonstration data of the operator. The circuitry may be further configured to generate thinned position data obtained by removing at least one of the teaching positions from the teaching position data. The circuitry may be further configured to generate a position command based on the thinned position data. The circuitry may be further configured to operate the work robot based on the position command.

A computer-implemented method is provided for guiding a robot in a robotic system, by creating a refined path, based on an initial path in a three-dimensional space. The method includes receiving data related to creating the initial path, including a start point and an endpoint, and generating the initial path by interpolating the start point and the endpoint. The method also includes receiving inputs for at least one support point that defines a coordinate in the three-dimensional space for altering the initial path, and adjusting the initial path to generate the refined path by modifying a set of one or more polynomial functions, such that the refined path interpolates the at least one support point between the start point and the endpoint. The method further includes providing the refined path to a second computing module for guiding the robot.

A robot system includes circuitry. The circuitry may be configured to acquire teaching position data including a plurality of teaching positions arranged in time series based on the demonstration data of the operator. The circuitry may be further configured to generate thinned position data obtained by removing at least one of the teaching positions from the teaching position data. The circuitry may be further configured to generate a position command based on the thinned position data. The circuitry may be further configured to operate the work robot based on the position command.

A robot device includes an arm holding a probe of an ultrasonic diagnostic device and a force sensor provided on the arm, supports a manual operation of the probe by an operator based on a signal from the force sensor, operates the arm to automatically operate the probe based on an instruction of the operator, and includes a storage device and a control device. The storage device stores a position and a posture of the probe for each point among multiple random points by the manual operation. The control device interpolates a trajectory between the multiple points stored in the storage device, and operates the arm such that the probe moves along the trajectory in the automatic operation and can stop at a desired position between the multiple points based on the instruction of the operator.