A control apparatus includes a processor that is configured to control a robot, and receive an object coordinate system set for an object not an end effector and not moving or rotating with the end effector. The processor is configured to execute a first control mode in which the end effector is moved and rotated according to a detected force while the force is detected by a force detector, and execute a second control mode in which, when a relative angle between a predetermined first axis of a moving coordinate system moving and rotating with the end effector and a predetermined second axis of the object coordinate system is smaller than an angle threshold value, the end effector is rotated to make magnitude of the relative angle closer to zero.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing transformation mode switching in a robotics control system. One of the methods includes receiving data representing a state machine that defines one or more portions of a robotics task; executing a first control loop corresponding to a first node of the state machine, wherein executing the first control loop comprises providing commands to the robotic components computed from a first coordinate transformation process; determining, based on one or more status messages, that an exit condition for the first node has been satisfied; performing a mode switch between the first coordinate transformation process and a different second coordinate transformation process; and executing a second control loop corresponding to a second node of the state machine, wherein executing the second control loop comprises providing commands to the robotic components computed from the second coordinate transformation process.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for performing transformation mode switching in a robotics control system. One of the methods includes receiving data representing a state machine that defines one or more portions of a robotics task; executing a first control loop corresponding to a first node of the state machine, wherein executing the first control loop comprises providing commands to the robotic components computed from a first coordinate transformation process; determining, based on one or more status messages, that an exit condition for the first node has been satisfied; performing a mode switch between the first coordinate transformation process and a different second coordinate transformation process; and executing a second control loop corresponding to a second node of the state machine, wherein executing the second control loop comprises providing commands to the robotic components computed from the second coordinate transformation process.

A control apparatus includes a processor that is configured to control a robot, and receive an object coordinate system set for an object not an end effector and not moving or rotating with the end effector. The processor is configured to execute a first control mode in which the end effector is moved and rotated according to a detected force while the force is detected by a force detector, and execute a second control mode in which, when a relative angle between a predetermined first axis of a moving coordinate system moving and rotating with the end effector and a predetermined second axis of the object coordinate system is smaller than an angle threshold value, the end effector is rotated to make magnitude of the relative angle closer to zero.

The embodiments relate to a method for operating a medical robotic device with an end effector for performing a diagnostic and/or therapeutic measure, involving predetermining at least one position to be reached by the end effector, evaluating at least two movement sequences of the medical robotic device, by which the end effector reaches the respectively predetermined at least one position, using an optimization criterion to select the movement sequence with the best evaluation result as the optimum movement sequence and implementing the optimum movement sequence, so that the respective predetermined position is reached by the end effector, in order to improve the reaching of the predetermined position.

A robot control apparatus includes an instruction portion, and a control portion. The instruction portion is configured to transmit a switching condition to the control portion configured to perform feedback control in accordance with the robot program. In a state where a status of the robot matches the switching condition, the control portion transmits information indicating that the status of the robot has matched the switching condition to the instruction portion, the instruction portion transmits an operation command corresponding to the information to the control portion, and the control portion switches the operation of the robot in accordance with the operation command.