A robot control apparatus includes a storage unit that stores an operating program and a kinematic parameter used in a formula representing a relationship between displacement of each drive axis of a robot and a position and an orientation of a leading end of the robot and a drive unit that operates the drive axis of the robot based on the operating program and the kinematic parameter stored in the storage unit. The storage unit stores the kinematic parameter before updating, and the drive unit corrects position data of at least one teaching point in the operating program based on the kinematic parameter before updating, stored in the storage unit, and the present kinematic parameter.

A method for determining a control position of a robot includes (a) acquiring N real reference positions in a real space and N control reference positions in a robot control coordinate system, (b) setting M figures having vertices in a plurality of real reference positions of the N real reference positions within the real space, and obtaining a transform function expressing a correspondence relationship between a real position and a control position within each figure, (c) receiving input of a target position of the control point in the real space, (d) selecting an object figure for calculation of a control position for the target position from the M figures, and (e) calculating a target control position for the target position using the transform function with respect to the object figure.

The present disclosure is directed to methods, computer program products, and computer systems of a multi-functional robotic platform including a robotic kitchen for calibration with either a joint state trajectory or in a coordinate system like a cartesian coordinate for mass installation of robotic kitchens, multi-mode operations of the robotic kitchen to provide different ways to prepare food dishes, and subsystems tailored to operate and interact with the various elements of a robotic kitchen, such as the robotic effectors, other subsystems, and containers, ingredients. Calibration verifications and minimanipulation library adaptation and adjustment of any serial model or different models provide scalability in the mass manufacturing of a robotic kitchen system, as well as methods as to how each manufactured robotic kitchen system meets the operational requirements. A robotic kitchen with multi-mode provides a robot mode, a collaboration mode and a user mode which a particular food dish can be prepared by the robot, a collaboration on sharing tasks between the robot and a user, or the robot serves as an aid for the user to prepare a food dish.

A robot system includes a robot, a vision sensor, a controller, and an input unit. The vision sensor configured to measure a feature point and obtain a measured coordinate value. The controller configured to control the robot. The input unit configured to receive an input from a user toward the controller. The controller obtains, via the input unit, setting information data on a determination point which is different from the feature point. The robot system uses a coordinate value of the determination point and the measured coordinate value, and determines whether the robot is taking a target position and orientation.

A robot system includes a robot, a robot work environment in which the robot works, and a robot controller including circuitry that stores position information indicating a position of each of measured robot postures in the robot work environment, obtains a measured position of each of the measured robot postures based on a detection result obtained by a sensor, and corrects a movement position of the robot based on the measured position.

A robot arm apparatus including: an arm unit made up of a plurality of links joined by one or a plurality of joint units, the arm unit is connectable to an imaging unit. An internal model including at least geometric information of the arm unit and focus position information of the imaging unit is updated based on internal model information acquired in a state in which the imaging unit is pointed at a reference point in a real space.

An apparatus and a method for detecting damage to a linear guide on which a robot is mounted, by using a simple configuration. The apparatus has: a length measuring sensor configured to measure a position of a predetermined portion of the robot at predetermined time intervals; a current detecting section configured to detect a current value of a drive motor for driving a slide; and a judging section such as a processor, configured to, when the measured distance between the predetermined portion of the robot and the length measuring sensor is out of a range defined by a predetermined first threshold, and when the current value of the drive motor is equal to or higher than a predetermined second threshold, judge that the linear guide has been damaged.

A robot control apparatus includes a storage unit that stores an operating program and a kinematic parameter used in a formula representing a relationship between displacement of each drive axis of a robot and a position and an orientation of a leading end of the robot and a drive unit that operates the drive axis of the robot based on the operating program and the kinematic parameter stored in the storage unit. The storage unit stores the kinematic parameter before updating, and the drive unit corrects position data of at least one teaching point in the operating program based on the kinematic parameter before updating, stored in the storage unit, and the present kinematic parameter.

An apparatus and a method for detecting damage to a linear guide on which a robot is mounted, by using a simple configuration. The apparatus has: a length measuring sensor configured to measure a position of a predetermined portion of the robot at predetermined time intervals; a current detecting section configured to detect a current value of a drive motor for driving a slide; and a judging section such as a processor, configured to, when the measured distance between the predetermined portion of the robot and the length measuring sensor is out of a range defined by a predetermined first threshold, and when the current value of the drive motor is equal to or higher than a predetermined second threshold, judge that the linear guide has been damaged.

A robot system includes a robot, a robot work environment in which the robot works, and a robot controller including circuitry that stores position information indicating a position of each of measured robot postures in the robot work environment, obtains a measured position of each of the measured robot postures based on a detection result obtained by a sensor, and corrects a movement position of the robot based on the measured position.