A robot system has first and second joint control units that respectively calculate first and second current values to be supplied to first and second motors based on deviations between first and second operation targets for the motors that are input from a higher device and actual operation of output shafts of the motor, and control operation of the output shafts by supplying current to the motors based on the current values, and an error estimation unit estimating an error in operation of a second joint due to bending and/or twisting of a robot arm based on the first current value and the actual operation of the output shaft of the first motor, in which the second joint control unit calculates the second current value to control the rotation angle of the output shaft of the second motor in a manner compensating for an angle error of the second joint.

A robot and an operation method thereof are disclosed. A robot may include a loading box provided to load goods, and to be movable at a certain distance with respect to the robot when closed and opened, a drive wheel configured to drive the robot, an auxiliary wheel provided at a position spaced apart from the drive wheel, and a variable supporter configured to change the position of the auxiliary wheel, and supporting the loading box, and the variable supporter may move the auxiliary wheel so as to correspond to the movement direction of the center of gravity of the robot. The robot may transmit and receive a wireless signal on the mobile communication network constructed according to a 5 Generation (G) communication.

Provided is a program generation device capable of automatically generating a route program which takes into account the amount of bending when the tip of a robot abuts against a workpiece. This program generation device is provided with: an acquisition unit that acquires route data indicating a route to be followed by the tip of the robot with respect to an object; a detection unit that detects a pressing force for pressing the tip of the robot to the object; a calculation unit that calculates the amount of misalignment of the followed route caused by bending of the tip of the robot, on the basis of the pressing force detected by the detection unit and a prescribed constant; and a generation unit that automatically generates a route program for controlling a moving route of the tip of the robot, on the basis of the route data acquired by the acquisition unit and the amount of misalignment calculated by the calculation unit.

A robot control device includes: a creep-information storage unit that stores an amount of bending in correspondence with a cumulative time, the bending occurring in a robot due to creep deformation; a mastering-data storage unit that stores mastering data of the robot; a timer that measures the cumulative time; and a correction unit that corrects the mastering data stored in the mastering-data storage unit based on the amount of bending stored in the creep-information storage unit in correspondence with the cumulative time measured by the timer.

A robot control device includes: a creep-information storage unit that stores an amount of bending in correspondence with a cumulative time, the bending occurring in a robot due to creep deformation; a mastering-data storage unit that stores mastering data of the robot; a timer that measures the cumulative time; and a correction unit that corrects the mastering data stored in the mastering-data storage unit based on the amount of bending stored in the creep-information storage unit in correspondence with the cumulative time measured by the timer.

A deflection amount estimating device is provided for estimating an amount of deflection of a four-bar linkage structure part of a robotic arm. The four-bar linkage structure part swings in a given angle range. The deflection amount estimating device comprises processing circuitry configured to calculate a swing angle of the four-bar linkage structure part; calculate a load received by the four-bar linkage structure part, determine a stiffness value, corresponding to the swing angle of the four-bar linkage structure part, based on a stiffness-value determining function indicating a correlation between the stiffness value and the swing angle of the four-bar linkage structure part, the stiffness value indicating a value of each element in a stiffness matrix associating the load with the amount of deflection of the four-bar linkage structure part; and calculate the amount of deflection of the four-bar linkage structure part based on the load and the stiffness matrix.

An exemplary robotic system includes a plurality of controllable joints and a controller. An exemplary control method provides for controlling the controllable joints by the controller. The control method provides for determining a configuration space for the robotic system and determining a reference movement path within the configuration space. The control method then provides for assigning a plurality of streamlines in the configuration space to yield a flow field based on the reference movement path. The control method then provides for measuring actual velocity vectors of the robotic system in the configuration space. The control method then provides for determining an error velocity vector based on a difference between the actual velocity vector and the desired velocity vector given by the flow field corresponding to the current robot configuration. The control method then provides for applying a total control vector at the plurality of controllable joints, by the controller, based on the error velocity vector.

When workpiece (W) is brought into a non-gripping state after deflection compensation of robot arm (10) is performed in a gripping state of workpiece (W), the deflection compensation of robot arm (10) is performed in a non-gripping state of workpiece (W). Here, the deflection compensation of robot arm (10) in the non-gripping state of workpiece (W) is performed while a compensation amount is changed to gradually decrease, while hand (18) is moved from a first teaching point to a second teaching point.

To provide a robot control system and a robot control method capable of placing a component grasped by a robot hand at an accurate location on another member. A robot control system is provided with: a robot hand configured to grasp a clip; a camera configured to capture an image of the clip grasped by the robot hand, a calculation unit configured to calculate a position of the clip or an inclination of a component based on an imaging result of the clip captured by the camera, and a robot control unit configured to control the robot hand to adjust, based on the position of the clip or the inclination of the component calculated by the calculation unit, a position or an inclination of the robot hand and move the clip to a stringer.

A method and an associated controller for safely operating a multi-axis kinematic system by using a safety function are disclosed. The method includes calculating compensation values at the run time of a controller of the multi-axis kinematic system, wherein the calculation is performed based on predefinable error values of respective axes, geometric parameters of the multi-axis kinematic system, and current axis values of the multi-axis kinematic system. The method further includes operating the safety function based on the calculated compensation values.