A device to correct a teaching position of a robot includes an orientation change data acquisition section to acquire orientation change data indicating a change amount in an orientation of a workpiece with respect to the robot due to a change of an arrangement, based on first and second position data of the robot, a third position data acquisition section to acquire third position data of the robot when a hand-tip portion is arranged in a predetermined positional relationship with an index in a state where the hand-tip portion is arranged at a second orientation which is corrected by using the orientation change data, and a position change data acquisition section to acquire position change data indicating a change amount in a position of the workpiece with respect to the robot due to the change of the arrangement, based on the first position data and the third position data.

Methods includes calibrating robots without the use of external measurement equipment and copying working programs between un-calibrated robots. Both methods utilize the properties of a closed chain and the relative position of the links in the chain in order to update the kinematic models of the robots.

A robot control apparatus includes a storage unit that stores an operating program and a kinematic parameter used in a formula representing a relationship between displacement of each drive axis of a robot and a position and an orientation of a leading end of the robot and a drive unit that operates the drive axis of the robot based on the operating program and the kinematic parameter stored in the storage unit. The storage unit stores the kinematic parameter before updating, and the drive unit corrects position data of at least one teaching point in the operating program based on the kinematic parameter before updating, stored in the storage unit, and the present kinematic parameter.

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.

One embodiment comprises a method of operating a robotic system. The method comprises defining a Tool Center Point (TCP) for an end effector of the robotic system, providing a primary control plan that defines a tool path for the end effector, where the tool path has a plurality of pre-defined TCP positions. The method further comprises providing a secondary control plan that defines operation of the end effector at the plurality of pre-defined TCP positions, and determining a deviation between a pre-defined TCP position of the end effector and an actual TCP position of the end effector during implementation of the primary control plan by the robotic system. The method further comprises modifying the secondary control plan for the end effector based on the deviation during the implementation of the primary control plan by the robotic system.

A robot system including an articulated robot equipped with a tool attached to a distal-end wrist axis, a sensor that detects a position and an orientation of the workpiece, and a controller configured to control the robot based on an operation program. The operation program includes two or more teaching points, each of which defines a position and an orientation of the tool, and an operation instruction. The controller is configured to correct the position and the orientation of the tool at a first teaching point based on the detected position and the orientation, determine whether an angle of the distal-end wrist axis at the first teaching point after correction exceeds an operating limit, and when it is determined that the operating limit is exceeded, change the angle, at the first teaching point, to an angle to be within the operating range by increasing or decreasing the angle.

A robot system includes circuitry. The circuitry may be configured to acquire teaching position data including a plurality of teaching positions arranged in time series based on the demonstration data of the operator. The circuitry may be further configured to generate thinned position data obtained by removing at least one of the teaching positions from the teaching position data. The circuitry may be further configured to generate a position command based on the thinned position data. The circuitry may be further configured to operate the work robot based on the position command.

A displaying apparatus includes a virtual environment screen displaying a state of a robot identified, and a parameter setting screen numerically displaying the position and orientation data. When a changing a part of the position and orientation data are performed through the operating input unit, the part of the position and orientation data is changed according to the content of the operation and input. Position and orientation is calculated to identify the position or orientation of each part of the robot, based on the changed part of the position and orientation data, and new position and orientation data is calculated based on the position and orientation calculation. The content of virtual display on the virtual environment screen or numeric value display on the parameter setting screen of the displaying apparatus is updated, based on the changed part of position and orientation data, and the new position and orientation data.

Methods for controlling a robot system. In the method, a robot program for controlling a motion path of the robot system is imported, the motion path is used for processing a first workpiece into a second workpiece, and the robot program includes a variable for representing a parameter for controlling a feature of the motion path. A user of the robot system is provided with an interface for controlling the robot system. The robot program is updated based on an input from the user for adjusting the parameter. Further, embodiments of present disclosure provide corresponding apparatuses, systems and media for controlling a robot system, and methods, apparatuses, systems, and media for generating a robot program. With these embodiments, the robot program may be adjusted at an online side without a need to return to an offline programming tool for updating the robot program.

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.