A control device includes a control section configured to control a robot on the basis of first information concerning positions and sequential numbers for drawing a linear object around a first object. The first information is received by a receiving section and displayed on a display section.

A non-transitory computer-readable storage medium storing a computer program, the computer program controlling a processor to execute visualizing processing of displaying virtual lines visualized in positions of axial lines with respect to a plurality of twisting joints of a robot when a predetermined condition is satisfied.

The mobile manipulation device includes a base, a lift, an arm, and a manipulator. The base is able to move across a surface underneath the base. The lift is coupled to the base. The lift moves the arm vertically. The arm moves the manipulator horizontally along one direction. The base is able to move perpendicular to the one direction.

A teaching apparatus includes a display unit having a simulation area in which a viewpoint for a virtual robot as a simulation model of a robot is changeably displayed and an operation area in which a plurality of operation signs for moving a control point of the virtual robot by changing a posture of the virtual robot are displayed, and a display control unit that controls actuation of the display unit, wherein the display control unit changes directions of the respective operation signs in the operation area to interlock with a change of the viewpoint for the virtual robot in the simulation area.

A control device includes a control section configured to control a robot on the basis of first information concerning positions and sequential numbers for drawing a linear object around a first object. The first information is received by a receiving section and displayed on a display section.

A method calculates a calibration parameter for a robot tool. The method is based on the reception of an image dataset from medical imaging of an image volume via a first interface. The image volume contains a part of the robot tool and the robot tool is attached to a robot. A robot dataset is received by a second interface. The robot dataset contains a position of a movable axis of the robot during the recording of the image dataset. The position and/or orientation of a marking in the image dataset are determined by a computing unit. An image-based position and/or orientation of the tool center point of the robot tool are calculated by transforming the position and/or orientation of the marking. The calibration parameter is calculated based on the robot dataset and on the image-based position and/or orientation of the tool center point via the computing unit.

An operation device which can reliably prevent any motion of a robot in the real space unintended by the user. An operation device includes a touch screen to display an image of a robot model and to receive a touch input, a model motion execution section to cause the robot model to make a motion in response to a touch input made by touching a surface of the touch screen, a robot motion button for causing the robot to make a motion in the real space, a motion input detection section to detect an input to the robot motion button, and a real machine motion command section to output a command to cause the robot to make an identical motion in the real space to the motion of the robot model executed by the model motion execution section as long as inputs to the robot motion button are continuously detected.

A teach pendant includes an input unit and allowing teaching of operation of a robot by an input to the input unit, the teach pendant further includes a measurement reference surface which comes into surface contact with a measured surface of the robot, a tilt sensor whose position is fixed with respect to the measurement reference surface, and an output means which outputs a detection value of the tilt sensor to a control device of the robot in a state where the measurement reference surface is in surface contact with the measured surface and when a predetermined input operation is performed on the input unit or a contact detection sensor for detecting surface contact between the measurement reference surface and the measured surface detects the surface contact.

An operation device which can reliably prevent any motion of a robot in the real space unintended by the user. An operation device includes a touch screen to display an image of a robot model and to receive a touch input, a model motion execution section to cause the robot model to make a motion in response to a touch input made by touching a surface of the touch screen, a robot motion button for causing the robot to make a motion in the real space, a motion input detection section to detect an input to the robot motion button, and a real machine motion command section to output a command to cause the robot to make an identical motion in the real space to the motion of the robot model executed by the model motion execution section as long as inputs to the robot motion button are continuously detected.

The mobile manipulation device includes a base, a lift, an arm, and a manipulator. The base is able to move across a surface underneath the base. The lift is coupled to the base. The lift moves the arm vertically. The arm moves the manipulator horizontally along one direction. The base is able to move perpendicular to the one direction.