An acceleration adjustment apparatus may include a load calculation unit that calculates a peak value of a load that is estimated to act on a robot, based on a motion equation regarding a motion of the robot and a value of an acceleration of a joint of the robot in motion. The acceleration adjustment apparatus may further include an acceleration adjustment unit that executes at least one of a first adjustment in which, when the peak value of the load calculated by the load calculation unit is greater than a target value of the load acting on the robot when the robot is moving, the acceleration is adjusted to decrease, and a second adjustment in which, when the peak value of the load calculated by the load calculation unit is less than the target value, the acceleration is adjusted to increase.

An acceleration adjustment apparatus may include a load calculation unit that calculates a peak value of a load that is estimated to act on a robot, based on a motion equation regarding a motion of the robot and a value of an acceleration of a joint of the robot in motion. The acceleration adjustment apparatus may further include an acceleration adjustment unit that executes at least one of a first adjustment in which, when the peak value of the load calculated by the load calculation unit is greater than a target value of the load acting on the robot when the robot is moving, the acceleration is adjusted to decrease, and a second adjustment in which, when the peak value of the load calculated by the load calculation unit is less than the target value, the acceleration is adjusted to increase.

Provided is an equipment life diagnostic device which assists in estimating operating conditions that are factors in determining the remaining life of equipment. This equipment life diagnostic device is provided with: an actual life consumption calculation unit which calculates the actual life consumption of equipment when the equipment is operating; an assumed life consumption setting unit which sets an assumed life consumption on the basis of the useful life of the equipment; a comparison unit which compares the actual life consumption calculated by the actual life consumption calculation unit with the assumed life consumption set by the assumed life consumption setting unit; and an output unit which, on the basis of the comparison result obtained from the comparison unit, displays information relating to the amount by which the actual life consumption is greater or less than the assumed life consumption.

A method of controlling a manipulator of an industrial robot having a plurality of joints, the method including providing a candidate trajectory for the manipulator; determining at least one position dependent load value representative of at least one position dependent load acting on the manipulator for the candidate trajectory; modifying the candidate trajectory based on the at least one position dependent load value to provide a modified trajectory; and executing the modified trajectory by the manipulator. A control system for controlling a manipulator of an industrial robot having a plurality of joints, and an industrial robot including a manipulator and a control system, are also provided.

Provided is an equipment life diagnostic device which assists in estimating operating conditions that are factors in determining the remaining life of equipment. This equipment life diagnostic device is provided with: an actual life consumption calculation unit which calculates the actual life consumption of equipment when the equipment is operating; an assumed life consumption setting unit which sets an assumed life consumption on the basis of the useful life of the equipment; a comparison unit which compares the actual life consumption calculated by the actual life consumption calculation unit with the assumed life consumption set by the assumed life consumption setting unit; and an output unit which, on the basis of the comparison result obtained from the comparison unit, displays information relating to the amount by which the actual life consumption is greater or less than the assumed life consumption.

A method of controlling a manipulator of an industrial robot having a plurality of joints, the method including providing a candidate trajectory for the manipulator; determining at least one position dependent load value representative of at least one position dependent load acting on the manipulator for the candidate trajectory; modifying the candidate trajectory based on the at least one position dependent load value to provide a modified trajectory; and executing the modified trajectory by the manipulator. A control system for controlling a manipulator of an industrial robot having a plurality of joints, and an industrial robot including a manipulator and a control system, are also provided.