A control apparatus includes an operation unit that teaches the robot a position, a posture changing instruction unit that instructs a position change when the robot passes through a singularity or its vicinity, a singularity passing motion request unit that instructs the robot to change its posture, a robot drive information request unit that acquires robot drive information, and a robot G-code generation unit that inserts a G-code from the robot drive information into a program. A robot includes a drive control unit that drives the robot, a singularity determination unit that determines passage through the singularity or its vicinity, a singularity passing pattern generation unit that generates a motion plan for passage through the singularity or its vicinity based on the changed posture, and a robot drive information output unit that transmits the robot drive information to the control apparatus.

According to some embodiments, a method includes: receiving an endpoint impedance matrix representing a desired stiffness or damping at the robot endpoint; reflecting the endpoint impedance matrix to an equivalent joint-space matrix associated with one or more of the robot joints, the equivalent joint-space matrix having a nullspace corresponding to near-zero-valued eigenvalues; generating a nullspace-filled impedance matrix from the equivalent joint-space matrix based in part on replacing the near-zero-valued eigenvalues with selected finite positive real values; generating a robot control law using the nullspace-filled impedance matrix; and using the robot control law to control the robot.

A controller for robot arms and the like having mechanical singularities identities paths near the singularities and modifies those paths to avoid excessive joint movement according to a minimization of tool orientation deviation to produce alternative paths that minimize changes in the tool orientation such as can affect application such as welding, sealant application, coating and the like.

A robot controller (2) configured to control a robot (1) including a plurality of joints (J.sub.1-J.sub.6) each rotatable around a rotation axis, the robot controller (2) including: an acquisition unit (21) configured to acquire a rotation angle of each of the plurality of joints (J.sub.1-J.sub.6); a determination unit (22) configured to determine whether or not the robot (1) has been in proximity to a singular configuration, based on the rotation angle of each of the plurality of joints (J.sub.1-J.sub.6); and a control unit (23) configured to control the plurality of joints (J.sub.1-J.sub.6) to be rotated not to rotate simultaneously, when the determination unit (22) determines that the robot (1) has been in proximity to the singular configuration.

A robot control device drives a J1 shaft, which is a turning shaft for turning a structure at an installation bed, to an angle at a target position of the J1 shaft and drives a J4 shaft for turning a structure such that the central axes of a J2 shaft, a J3 shaft, and a J5 shaft, which are bending/stretching shafts for bending or stretching the structure, are parallel to one another; then, drives the J2 shaft, the J3 shaft, and the J5 shaft to angles J2e, J3e, and J5e at target positions of the respective shafts without driving the J4 shaft; and drives the J4 shaft not reaching an angle at a target position to an angle J4e at the target position.

A system includes: a first module configured to, based on a set of target robot joint angles, generate a first estimated end effector pose and a first estimated latent variable that is a first intermediate variable between the set of target robot joint angles and the first estimated end effector pose; a second module configured to determine a set of estimated robot joint angles based on the first estimated latent variable and a target end effector pose; a third module configured to determine joint probabilities for the robot based on the first estimated latent variable and the target end effector pose; and a fourth module configured to, based on the set of estimated robot joint angles, determine a second estimated end effector pose and a second estimated latent variable that is a second intermediate variable between the set of estimated robot joint angles and the second estimated end effector pose.

CLEAN COPY OF THE ABSTRACT

A method to control a closed robotised system comprises a learning step and a reproduction step, wherein, during the learning step, an operator exerts a force and/or a torque (Fc) on a driving assembly, whose sensor detects an applied force and/or torque (Fext); and wherein a processing system carries out an admittance control obtaining, depending on the data detected by the sensor, indications (Xref, X*ref) of movement for the robot manipulator in the Cartesian space; the processing system, following the admittance control, delivers the indications (Xref, X*ref) of movement in the Cartesian space to a trajectory interpolation unit of the robotised system so as to generate a desired trajectory through interpolation.

A master-slave system (1) according to the present invention includes at least one master displacement sensor (Pm.sub.1 to Pm.sub.3) for measuring a master displacement for a master robot, at least one slave displacement sensor (Ps.sub.1 to Ps.sub.3) for measuring a slave displacement for a slave robot, a master target displacement calculating device (2) for mapping the slave displacement and thereby obtaining a master target displacement which is a target value for the master displacement corresponding to the slave displacement, and a master actuator (Am.sub.1 to Am.sub.3) for generating a master driving force to position-control the master robot on the basis of the master target displacement and the master displacement. The mapping is predefined such that a set of master target displacements excludes a singular configuration for the master robot. The master-slave system (1) renders it possible to solve a singular configuration problem for both the master robot and the slave robot.

In a method and system for operating a robot, at least one first direction, in which an external load acting on a reference is not reliably detectable on the basis of detected joint loads due to the vicinity to a singular position of the robot, is displayed as not being monitored on the basis of detected joint loads, and/or at least one second direction, in which an external load acting on the reference is reliably detectable on the basis of detected joint loads despite the vicinity to the singular position, is displayed as being monitorable on the basis of detected joint loads. Additionally or alternatively, at least one first direction is blocked if an external load acting on the reference in said direction is not reliably detectable on the basis of detected joint loads due to the vicinity to a singular position of the robot, and if at least one direction is blocked and multiple joints of the robot are simultaneously actuated, a monitoring process is carried out on the basis of detected joint loads for an external load acting on the reference in at least one second direction, in which an external load acting on the reference is reliably detectable on the basis of detected joint loads despite the vicinity to the singular position.

Methods and systems are provided for operating various robotic systems. The methods and systems involve applications of platforms that enable multiple-input teleoperation and a high degree of immersiveness for the user. The robotic systems may include multiple arms for manipulators and retrieving information from the environment and/or the robotic system. The robotic methods may include control modification modules for detecting that an operation of a robotic device based on the control commands fails to comply with one or more operational parameters; identifying the non-compliant control command; and generating a modifier for the secondary device to adjust the non-compliant control command to comply with the set of operational parameters.