In order to solve a problem that a large load is applied to a particular shaft of a transfer robot in accordance with acceleration during transfer of a transfer target, a control apparatus for controlling a transfer robot having a hand portion and an arm portion includes: a calculating portion that calculates an inclination angle that is an angle of a leading shaft, which is a horizontal shaft on a leading end side of the arm portion, and a vertical velocity that is a velocity in an upper-lower direction of the hand portion such that, during movement of the transfer target, among moments that are applied to the leading shaft, a first moment according to force of inertia in association with the movement and a second moment according to the gravity weaken each other, and that a normal velocity component that is a velocity component of the hand portion in a normal direction of the transfer target is reduced; and a control portion that controls the arm portion according to a result of the calculation. Since control is performed such that the first and second moments are allowed to weaken each other, it is possible to reduce loads that are applied to the leading shaft during movement.

A robot includes an arm. A first inclinometer is provided in a grasping unit provided in the arm or an object grasped by the grasping unit. The arm is operated based on a first angle of a reference surface and a second angle measured by the first inclinometer.

In order to solve a problem that a large load is applied to a particular shaft of a transfer robot in accordance with acceleration during transfer of a transfer target, a control apparatus for controlling a transfer robot having a hand portion and an arm portion includes: a calculating portion that calculates an inclination angle that is an angle of a leading shaft, which is a horizontal shaft on a leading end side of the arm portion, and a vertical velocity that is a velocity in an upper-lower direction of the hand portion such that, during movement of the transfer target, among moments that are applied to the leading shaft, a first moment according to force of inertia in association with the movement and a second moment according to the gravity weaken each other, and that a normal velocity component that is a velocity component of the hand portion in a normal direction of the transfer target is reduced; and a control portion that controls the arm portion according to a result of the calculation. Since control is performed such that the first and second moments are allowed to weaken each other, it is possible to reduce loads that are applied to the leading shaft during movement.

An offline teaching device has a calculation unit which calculates a second position of a second tool on a work line which is separated by a predetermined distance from a first position of a first tool on the work line, calculates a workpiece position where the first tool in the first position contacts or adjoins the workpiece, and calculates a workpiece position and posture such that the second tool in the second position contacts or adjoins the workpiece by changing the posture of the workpiece from the workpiece position with respect to the first tool, while maintaining the work posture of the first tool, and has a generation unit which generates a robot teaching position based on the position and posture of the workpiece and the holding position of the workpiece, and generates a program such that the first tool and the second tool pass along the work line.

A robot includes an arm. A first inclinometer is provided in a grasping unit provided in the arm or an object grasped by the grasping unit. The arm is operated based on a first angle of a reference surface and a second angle measured by the first inclinometer.

A closed-circuit television (CCTV) online pipeline detection system includes a detection robot and a control terminal of the detection robot, where the detection robot is provided with a CCTV pipeline detection system adapted to the detection robot; the CCTV pipeline detection system includes a GTR8600 monitoring module, a drive device, and a power drive device; the control terminal is separately electrically connected with the GTR8600 monitoring module, the drive device, and the power drive device through a control system; and the control system is provided inside the control terminal.

A holding device includes: a grip portion that holds a side surface of one side of a workpiece; a supporting portion that supports the grip portion and moves the workpiece; a detection unit that detects a force applied to the grip portion; and a control unit that controls an angle of the supporting portion with respect to the ground such that a force detected by the detection unit does not exceed a threshold value when the supporting portion moves the workpiece.