At least one robot is disclosed for object manipulation on the basis of a probabilistic approach without object detection by visual sensors, a probability distribution is determined approximately by an iterative, recursive application of a Bayes filter algorithm, wherein state transition probabilities obtained, in a nondeterministic motion model for system simulation, are multiplicatively linked with measurement probabilities obtained at the start of the application. For this purpose, a physics simulator which completely includes the physics of the system with respect to forces and dynamics and the physical system relationships resulting therefrom, and a controller, which controls the physics simulator while at the same time the simulation system state is fed back and which influences the compliance of the robot with respect to the robot-object environment on the basis of control variables, are incorporated, and measurement results of axis-specific measurements are taken into account in the measurement model for the plausibility checks.

A calibration system of a robot includes a data storage unit that stores a number of pieces of data in which actual measured position information obtained by actually measuring a tip position of the robot and information indicating a state of the robot upon actual measurement are combined, a parameter selecting unit that selects mechanical error parameters to be identified from parameters indicating mechanical errors of the robot, a parameter identifying unit that identifies each of the mechanical error parameters using the stored data and information of the selected mechanical error parameters, and an identification result evaluating unit that evaluates an identification result, and, in the case where evaluation does not satisfy a predetermined criterion, selection of different mechanical error parameters by the parameter selecting unit, identification and evaluation are repeated.

A method of adjusting a posture of a 6-axis robot standing in a direction perpendicular or substantially perpendicular to a robot mounting surface includes specifying axis central positions of three axes located at different heights in the direction perpendicular or substantially perpendicular to the robot mounting surface of the 6-axis robot, specifying two planes including two arcs of which rotation centers are represented by two axes farther away from the robot mounting surface among the three axes, specifying a position of a predetermined point on the arc farther away from the robot mounting surface among the two arcs, and determining an angle adjustment amount of the three axes in a rotation direction and an angle adjustment amount of an axis extending between the two axes in a rotation direction based on the specified axis central positions of the three axes, the specified two planes, and the specified position of the predetermined point.

There is provided for a calibration method for an operation apparatus. The operation apparatus comprises a first moving body unit capable of pivoting about a horizontally extending axis, a first driving unit configured to drive the first moving body unit, and a first detection unit configured to detect a pivot position of the first moving body unit. The method comprises aligning the first moving body unit to one reference position selected from a plurality of predetermined reference positions, determining the reference position by comparing a driving parameter value of the first driving unit at the one reference position with determination parameter values respectively preset for the plurality of reference positions, and registering, as reference position information for calculating the pivot position, position information of the one reference position determined in the determining and detection value information of the first detection unit.

A method of calibrating a tool of an industrial robot, the method including positioning a tool center point of the tool in relation to a reference target in at least one calibration position of the robot; for each calibration position, recording a joint position of at least one joint of the robot; calculating tool data based on the at least one joint position in each calibration position and based on a kinematic model of the robot, the tool data including a definition of the tool center point; determining an error of the calculated tool data; and modifying at least one kinematic parameter of the robot based on the error to reduce the error. A control system for calibrating a tool of an industrial robot and an industrial robot including the control system, are also provided.

A method of calibrating a delta robot, the method including executing an arm movement by moving one driving link relative to other two driving links; measuring a movement of a point in fixed relationship with a tilting body during the arm movement as an arm measurement; executing a tilting movement by tilting the tilting body about a fifth axis; measuring a movement of the point during the tilting movement as a tilting measurement; and calibrating a fourth axis based on a comparison of the arm measurement and the tilting measurement. A method of calibrating the fifth axis, a control system, and a robot system are also provided.

There is provided for a calibration method for an operation apparatus. The operation apparatus comprises a first moving body unit capable of pivoting about a horizontally extending axis, a first driving unit configured to drive the first moving body unit, and a first detection unit configured to detect a pivot position of the first moving body unit. The method comprises aligning the first moving body unit to one reference position selected from a plurality of predetermined reference positions, determining the reference position by comparing a driving parameter value of the first driving unit at the one reference position with determination parameter values respectively preset for the plurality of reference positions, and registering, as reference position information for calculating the pivot position, position information of the one reference position determined in the determining and detection value information of the first detection unit.

A calibration system of a robot includes a data storage unit that stores a number of pieces of data in which actual measured position information obtained by actually measuring a tip position of the robot and information indicating a state of the robot upon actual measurement are combined, a parameter selecting unit that selects mechanical error parameters to be identified from parameters indicating mechanical errors of the robot, a parameter identifying unit that identifies each of the mechanical error parameters using the stored data and information of the selected mechanical error parameters, and an identification result evaluating unit that evaluates an identification result, and, in the case where evaluation does not satisfy a predetermined criterion, selection of different mechanical error parameters by the parameter selecting unit, identification and evaluation are repeated.

A method of adjusting a posture of a 6-axis robot standing in a direction perpendicular or substantially perpendicular to a robot mounting surface includes specifying axis central positions of three axes located at different heights in the direction perpendicular or substantially perpendicular to the robot mounting surface of the 6-axis robot, specifying two planes including two arcs of which rotation centers are represented by two axes farther away from the robot mounting surface among the three axes, specifying a position of a predetermined point on the arc farther away from the robot mounting surface among the two arcs, and determining an angle adjustment amount of the three axes in a rotation direction and an angle adjustment amount of an axis extending between the two axes in a rotation direction based on the specified axis central positions of the three axes, the specified two planes, and the specified position of the predetermined point.

A method of calibrating a manipulator of an industrial robot, the method including providing a primary manipulator having one or more primary joints and a primary mounting interface; providing a secondary manipulator having one or more secondary joints and a secondary mounting interface, where the primary mounting interface is substantially rigidly connected to the secondary mounting interface; providing a load sensor between the primary mounting interface and the secondary mounting interface, the load sensor being configured to provide load data indicative of loads between the primary mounting interface and the secondary mounting interface; controlling the primary manipulator to adopt at least one calibration state; for each calibration state, recording a primary joint position of at least one primary joint; and calibrating the secondary manipulator based on the at least one recorded primary joint position; wherein the primary manipulator is controlled to adopt the at least one calibration state based on the load data; and/or wherein the calibration of the secondary manipulator is additionally made based on the load data.