A manipulator system configured to perform a work to a workpiece being moved by a moving device, includes a robotic arm, having one or more joints and to which a tool configured to perform the work to the workpiece is attached, an operating device configured to operate the robotic arm, a first imaging means configured to image the workpiece, while following the movement of the workpiece, a second imaging means fixedly provided in a work area to image a situation of the work to the workpiece, a displaying means configured to display an image imaged by the first imaging means and an image imaged by the second imaging means, and a control device configured to control the operation of the robotic arm based on an operating instruction of the operating device, while detecting a moving amount of the workpiece being moved by the moving device and carrying out a tracking control of the robotic arm according to the moving amount of the workpiece.

The disclosure relates to a system (1) and method for instructing a robot. The system (1) comprising an immersive haptic interface, such that operator interaction with a master robot arm (2) is reflected by a slave robot arm (3) arranged for interaction with a workpiece (4). The interaction of the slave robot arm (3) is reflected back to the master robot arm (2) as haptic feedback to the operator. The dynamic system is continually simulated forward and new commands are calculated for the master robot arm and the slave robot arm.

Disclosed is an intuitive robotic device control reference frame with hybrid inverse kinematics having a natural and easier human-robot interface. A system for controlling a robot can include a robotic device that performs tasks, an input device that receives user input indicating desired movement of the robotic device to perform the tasks, and a controller that controls the robotic device based on the user input. The controller can receive signals identifying the user input, determine a ground reference frame and an end-effector reference frame for controlling movement of the robotic device, generate, based on the ground reference frame and the end-effector reference frame, an intuitive reference frame for controlling movement of the robotic device, determine controls to move the robotic device in the intuitive reference frame, generate instructions for controlling movement of the robotic device, and execute the instructions to control movement of the robotic device.

A robot system including a master device configured to receive a manipulating instruction from an operator and transmit the received manipulating instruction as a manipulating input signal, a plurality of slave robots configured to operate according to the manipulating input signal transmitted from the master device, a management control device configured to manage operations of the plurality of slave robots, respectively, and an output device configured to output information transmitted from the management control device. The management control device determines a priority of transmitting the manipulating input signal from the master device to the slave robot among the plurality of slave robots that are in a standby state of the manipulating input signal, and transmits information related to the determined priority to the output device. Thus, the operator is able to efficiently transmit the manipulating input signal to the plurality of slave robots through the master device.

Plurality of robot main bodies a remote control device including contactless action detecting part configured to detect contactless action including at least one given operation instructing action by operator, and control device communicably connected to remote control device and configured to control operations of plurality of robot main bodies, are provided. Control device includes memory part configured to store operational instruction content data defining operation mode of robot main body corresponding to the at least one operation instructing action, operational instruction content identifying module configured to identify operation mode of robot main body corresponding to one of operation instructing action detected by contactless action detecting part based on operational instruction content data, and motion controlling module configured to control operation of at least one given robot main body among plurality of robot main bodies based on operation mode identified by operational instruction content identifying module.

A robot system which is capable of reducing an operator's workload and easily correcting preset operation of a robot. The robot system includes a robot main body having a plurality of joints, a control device configured to control operation of the robot main body and an operating device including a teaching device configured to teach the control device one of positional information on the robot main body and angular information on the plurality of joints so as to execute an automatic operation of the robot main body and a manipulator configured to receive a manipulating instruction from an operator to manually operate the robot main body or correct the operation of the robot main body under the automatic operation.

A master-slave manipulator according to the present invention includes a remote operation device, serving as a master, that provides operation information corresponding to multiple degrees of freedom, a slave manipulator having a plurality of joints corresponding to multiple degrees of freedom and including a redundant joints among the joints, and a controller that controls the operation of the joints in accordance with the operation information, in which, when it is determined that a distal end of the slave manipulator operates, the controller determines, among the redundant joints, drive ratios α of a joint disposed on a base end side and a joint disposed on a distal end side within a range of 0<α<1, respectively, and drives the joints.

A robot system which includes a manipulator configured to receive a manipulating instruction from an operator, a slave arm having a plurality of joints, and a control device configured to control operation of the slave arm. The control device is configured, while the slave arm is operating at a speed equal to or higher than a first given the threshold, even when an operational instruction value for correcting the operation of the slave arm is inputted from the manipulator during an automatic operation of the slave arm, to prevent the correction of the operation of the slave arm.

Systems and methods for constrained motion control of medical instruments are provided. In one aspect, a robotic system includes an instrument having an end effector, a robotic arm configured to control movement of the instrument and the end effector, and an input device configured to receive an input for controlling movement of the instrument and end effector. The instrument is capable of moving in a different number of degrees-of-freedom (DOFs) than the input device. The system is configured to determine a Jacobian matrix relating the input to the input device to robotic arm commands for achieving a motion of the end effector indicated by the input, modify the Jacobian matrix via discarding at least one row of the Jacobian matrix, and determine a robotic arm command for achieving the motion of the instrument indicated by the input based on the modified Jacobian matrix.

Remote control robot system includes a master device, slave arm having plurality of control modes including automatic and manual mode, control device configured to operate slave arm, an entering-person sensing device configured to detect entering person into operational area of slave arm, entering-person identifying information acquisition device configured to acquire entering-person identifying information for identifying whether entering person is operator who carries master device, and operation regulating device configured to regulate operation of slave arm based on information acquired from entering-person sensing device and information acquisition device. In automatic mode, operation regulating device regulates operation of slave arm when entering person is detected. In manual mode, operation regulating device allows operation of slave arm to continue when entering person is detected and entering person is operator, and regulates operation of the slave arm when entering person is other than operator.