A robot control apparatus includes a stop command unit which stops a robot. A first external force judgement value smaller than a stop judgement value and a second external force judgement value smaller than the first external force judgement value are previously determined. The stop command unit inhibits a restart of execution of an operation program when, in a state where the execution of the operation program is temporarily stopped, an external force is continuously equal to or less than the first external force judgement value during a period of a first time length, and additionally, the external force continuously exceeds the second external force judgement value during a period of a second time length.

An automatic assembling system, comprising: a robot performing an operation of inserting a first member into a second member; a force sensor for detecting an insertion force exerted on the first member by the robot; and a controller for controlling the insertion force with a closed-loop feedback control according to a difference between the insertion force detected by the force sensor and a predetermined insertion force, so that the insertion force is less than the predetermined insertion force to protect the first member and/or the second member from damage due to an overlarge insertion force. The present invention also is directed to a method for automatically assembling a product.

A system for controlling a robotic arm performing insertion of a component along an insertion line accepts measurements of force experienced by the wrist of robotic arm at current position along insertion line and determines probability of value of the force conditioned on the current value of the position according to a probabilistic relationship for the force experienced by the wrist of the robotic arm along the insertion line as a probabilistic function of the positions of the wrist of the robotic arm along the line of insertion. The probabilistic function is learned from measurements of the operation repeatedly performed by one or multiple robotic arms having the configuration of the robotic arm under the control. The system determines a result of anomaly detection based on the probability of the current value of the force and controls the robotic arm based on the result of anomaly detection.

A system according to at least one embodiment of the present disclosure includes a processor; and at least one inertial sensor having a known physical relationship with a tracked object in a first pose, the at least one inertial sensor providing a measurement indicative of a movement of the tracked object from the first pose to a second pose, wherein the processor determines the second pose of the tracked object based, at least in part, on the measurement provided by the at least one inertial sensor.

A robot system includes a robot, state detection sensors to, a timekeeping unit, a learning control unit, a determination unit, an operation device, and an input unit, and an additional learning unit. The determination unit determines whether or not the work of the robot can be continued under the control of the learning control unit based on the state values detected by the state detection sensors to and outputs determination result. The additional learning unit performs additional learning of the determination result indicating that the work of the robot cannot be continued, the operator operation force, work state output by the operation device and the input unit, and timer signal output by the timekeeping unit.

A system for controlling a robotic arm performing insertion of a component along an insertion line accepts measurements of force experienced by the wrist of robotic arm at current position along insertion line and determines probability of value of the force conditioned on the current value of the position according to a probabilistic relationship for the force experienced by the wrist of the robotic arm along the insertion line as a probabilistic function of the positions of the wrist of the robotic arm along the line of insertion. The probabilistic function is learned from measurements of the operation repeatedly performed by one or multiple robotic arms having the configuration of the robotic arm under the control. The system determines a result of anomaly detection based on the probability of the current value of the force and controls the robotic arm based on the result of anomaly detection.

An automated robotic assembly system is configured to assemble a device by fitting a first component made of a material liable to deformation by external force with a second component by means of a robot, and the first component is provided with a distortion detection unit for detecting distortion thereof. If the distortion detected by the distortion detection unit exceeds a predetermined value, a signal for notifying abnormality is output to stop an automated assembly operation by the robot.

An automated robotic assembly system is configured to assemble a device by fitting a first component made of a material liable to deformation by external force with a second component by means of a robot, and the first component is provided with a distortion detection unit for detecting distortion thereof. If the distortion detected by the distortion detection unit exceeds a predetermined value, a signal for notifying abnormality is output to stop an automated assembly operation by the robot.