The articulated-arm robot has a robot arm with an arm element movable via a joint and a sensor for continuously measuring a status parameter of the joint. The articulated-arm robot also has an optical signaling device arranged on the robot arm in spatial assignment to the joint and an assessment device for continuously assessing the measured status parameter in a joint-specific manner and for controlling the signaling device on the basis of the assessment result.

A robot system capable of reliably detecting contact between a robot or a workpiece and an external object. The robot system includes: a robot including a handling part; a handling force-detection part that detects a handling force applied to the handling part; an operation controller that causes the robot to operate in accordance with the handling force; an external force-detection part that detects an external force acting on the robot; and a contact force-calculation part that calculates a contact force by subtracting the handling force from the detected external force.

A method for the surface treatment of an article (2) by means of a robotic device (3) comprising a robotic arm (5) and a spraying head (4) fitted on the robotic arm (5); the method comprises a learning step, during which the operator moves the spraying head (4) by means of a handling device (9) and the movements made by the spraying head (4) are stored by a storage unit (8); and a reproduction step, which is subsequent to the learning step and during which the robotic arm (5) is operated so that the spraying head (4) repeats the movements stored by the storage unit (8).

A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.

A robot control system according to an embodiment is a control system for a robot comprising an arm, the arm being capable of holding a tool while rotating the tool and capable of moving the tool in at least two-dimensional directions, the arm being equipped with a rotating mechanism provided for the tool. The robot control system comprises a load-acquiring unit and a control-signal-generating unit. The load-acquiring unit is configured to acquire a force measured by a force sensor configured to measure a force applied from the tool to the arm during profile copying performed on a machining object by moving the arm while a copying guide attached to the arm and a copying mold placed on the machining object are kept in contact with each other. The control-signal-generating unit is configured to automatically control the arm by generating a control signal for the arm in accordance with the force acquired by the load-acquiring unit and with control information for the arm regarding the profile copying, and by outputting the control signal to the arm.

A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.

A method for operating a hand-guided robot having a jointed arm and an end effector is provided. As part of the method, a moment is measured at each joint while the robot is being hand-guided or subjected to a mechanical tension due to contact with an external object. Based on the measured moment, an external moment affecting the robot is determined. Then, a correction factor for a position of the end effector is computed based on the external moment and an absolute accurate model of the robot. Then, a current position of the end effector is computed based on a correction model in dependence on the correction factor. A corresponding storage medium, data processing device, robotic system, and tracking system are also provided.

A method is provided for tracking a hand-guided robot including a control unit and at least one manipulator coupled to an end effector, in which the manipulator includes a plurality of joints and links and the end effector is manually displaceable within an operational volume. In the method, the control unit determines at least one movement information of each joint during and/or after a manual or partially manual displacement of the end effector, and a position and orientation information of the end effector inside the operational volume during and/or after the displacement of the end effector using the determined movement information of each joint and a software-based kinematic and dynamic model of the manipulator stored in a memory of the control unit.

A control system may receive a first plurality of measurements indicative of respective joint angles corresponding to a plurality of sensors connected to a robot. The robot may include a body and a plurality of jointed limbs connected to the body associated with respective properties. The control system may also receive a body orientation measurement indicative of an orientation of the body of the robot. The control system may further determine a relationship between the first plurality of measurements and the body orientation measurement based on the properties associated with the jointed limbs of the robot. Additionally, the control system may estimate an aggregate orientation of the robot based on the first plurality of measurements, the body orientation measurement, and the determined relationship. Further, the control system may provide instructions to control at least one jointed limb of the robot based on the estimated aggregate orientation of the robot.

A method for an external force to drive a moving piece in a mechanical joint. The joint comprises a stationary piece, a moving piece, and a driving mechanism. The driving mechanism comprises a servomotor, a driver, and an encoder. The servomotor is connected to the moving piece. When the joint is stationary, the servomotor is in a torque mode and outputs a resistance-reducing torque having a direction which changes with time. An external force is used to drive the moving piece so that the moving piece moves with respect to the stationary piece. The driver determines the movement direction of the moving piece according to an output of the encoder. If the moving piece is moving in a positive direction with respect to the stationary piece, the servomotor is controlled to stop outputting the resistance-reducing torque or to output an assistance torque enabling the moving piece to have a positive directional movement trend. If the moving piece is moving in reverse with respect to the stationary piece, the servomotor is controlled so as to stop outputting the resistance-reducing torque or to output an assistance torque enabling the moving piece to have a reverse movement trend.