A force sensor diagnostic device that diagnoses a force sensor provided in a robot, the force sensor disposed near an installation surface on which the robot is installed and detecting a force and a moment applied to the robot from an outside. The device includes a calculation unit that calculates a theoretical value of the force and a theoretical value of the moment detected by the force sensor, a determination unit that determines whether the force sensor is distorted by comparing an actually measured value of the force and an actually measured value of the moment detected by the force sensor with the theoretical values of the force and the moment, and a notification unit that notifies a determination result from the determination unit.

A control method includes an input step for inputting information concerning a setting angle for a robot arm of a robot, the robot including the robot arm and a force detecting section that detects force applied to the robot arm, and a calculating step for calculating, based on a first force detection parameter of the force detecting section corresponding to setting at a first setting angle for the robot arm and a second force detection parameter of the force detecting section corresponding to setting at a second setting angle different from the first setting angle for the robot arm, a third force detection parameter of the force detecting section at the setting angle for the robot arm.

A robotic system is provided for assembling parts together. In the assembly process, both parts are moving separately with one part moving on an assembly base and another part moving on a moveable arm of a robot base. Motion data is measured by an inertial measurement unit (IMU) sensor. Movement of the robot base or moveable arm is then compensated based on the measured motion to align the first and second parts with each other and assemble the parts together.

A fusion welding device includes: a robot arm; a fusion welding hand attached to the robot arm and including a fusion welding head for fusing and joining together workpieces while being separated from the workpieces; a support provided to the fusion welding hand and abutting on the workpieces; a force sensor for detecting a force and a moment exerted, through the support, by the workpieces; and a control section configured to control motion of the robot arm in accordance with parameters calculated from a signal outputted from the force sensor.

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.

A multi-joint robot using substantially one sensor, capable of performing a proper repositioning motion of an arm of the robot. The controller has a disturbance torque estimating part which estimates a first disturbance torque and a second disturbance torque, by calculating a torque generated by a mass and motion of the robot and subtracting the calculated torque from the first torque and the second torque detected by a torque detecting part. The controller has a repositioning commanding part which generates a motion command for rotating each axis so that the disturbance torque is reduced, when the disturbance torque exceeds a torque threshold. Since the axis is repositioned based on the motion command, a portion of the robot pushed by the operator is repositioned, whereby the operator can easily perform one's work without using a teaching board, etc.

A robot system includes a robot, a sensor, and a processor. The sensor is configured to detect an external force acting on the robot. The processor is configured to move the robot in a forward direction such that a representative point of the robot moves along a motion track in the forward direction; move the robot in a reverse direction such that the representative point moves along the motion track in the reverse direction opposite to the forward direction when the external force satisfies a first condition which includes a condition that the external force is larger than a first threshold force; and move the robot to reduce the external force when the external force satisfies a second condition which includes a condition that the external force is larger than a second threshold force even after the robot has been moved in the reverse direction.

In the present invention, a tool tip point can be easily and intuitively defined without having to operate a robot. This robot control device comprises an acquisition unit for acquiring force data indicating an external force applied to a tool mounted to a robot as sensed by a sensor equipped to the robot, a point-of-action calculation unit for calculating the point of action of the external force on the basis of the force data as acquired by the acquisition unit, and a configuration unit for defining the point of action of the external force as a tool tip point of the robot.

A method for controlling a robot arrangement having at least one robot includes monitoring the robot arrangement using multiple safety monitoring functions activated in parallel, and steps, which may be repeated multiple times during execution of an application of the robot arrangement, of: selecting a subset of process parameters from a prescribed set of process parameters on the basis of a prescribed rule arrangement having at least one selection rule, and adjusting this selected subset of process parameters to avoid violation of at least one of the safety monitoring functions.

When a first condition that a time in which magnitude of a first detection force detected by a force detection unit is larger than a first force threshold value continued for a time longer than zero and shorter than a first time threshold value is satisfied in teaching, a movable unit is moved in a predetermined amount in a direction according to a direction of the first detection force. When a second condition that magnitude of a second detection force detected by the force detection unit is larger than a second force threshold value that is larger than the first force threshold value is satisfied during movement of an end effector, the movable unit is decelerated or stopped.