A robot joint configuration determining method, a robot using the same, and a computer readable storage medium are provided. The method includes: simulating a joint model of a first joint of the robot using first motion deviation data to obtain first result data; simulating the joint model using second motion deviation data to obtain second result data; taking the motion deviation data corresponding to one of the first result data and the second result data meeting one or more preset conditions as a target motion deviation data for the first joint; and determining type information of a reducer in a configuration information of the first joint based on the target motion deviation data. In the present disclosure, the motion deviation of the first joint that is relatively accurate can be obtained through the results of the two simulations.

The present application discloses a robotic control system, and a method and a computer system for controlling a robot. The robotic control system includes a memory and one or more processors coupled to the memory. The memory is configured to store configured to store a model of a robot having a plurality of axes of control including at least a linear axis and one or more rotational axes. The one or more processors are configured to use the model to control the robot to perform a task, including by sending to the robot a set of control signals to cause the robot to move with respect to two or more of said axes of control including at least the linear axis.

The present application discloses a robotic control system, and a method and a computer system for controlling a robot. The robotic control system includes a memory and one or more processors coupled to the memory. The memory is configured to store configured to store a model of a robot having a plurality of axes of control including at least a linear axis and one or more rotational axes. The one or more processors are configured to use the model to control the robot to perform a task, including by sending to the robot a set of control signals to cause the robot to move with respect to two or more of said axes of control including at least the linear axis.

A process for monitoring backlash in a gear of a joint of an industrial robot, wherein said joint includes a first joint body and a second joint body coupled together with the possibility of moving with respect to one other, a motor provided with an encoder, and a motion-transmission assembly designed to transmit the torque generated by said motor to said second joint body to bring about a movement of said second joint body with respect to said first joint body, said transmission assembly comprising said gear. The process is characterized in that the signal of the encoder of the motor for driving the joint is used without providing any additional sensor specifically dedicated to monitoring of the backlash.

A robot including a robot mechanism including joints and drive units, a control unit controlling the drive units so that an inspection operation to inspect one target drive unit among the drive units is executed by the robot mechanism, and a notification unit notifying maintenance information of the target drive unit based on a current value of a motor of the target drive unit during the inspection operation, or on information associated with the current value, and the inspection operation includes transmitting, to the motor of the target drive unit, control command to rotate a joint as much as a predetermined rotation angle, and thereby moving a tip of the robot mechanism or a tool at the tip, close to an object at a predetermined position from a predetermined start position, to press the object, and separating the tip of the robot mechanism or the tool away from the object.

The present application discloses a mechanism to adjust backlash in a rack and pinion powertrain assembly. The mechanism to adjust backlash includes a mounting frame having an opening defined therein to receive an operative end of a drive assembly, a shoulder fastener positioned through a first complementary set of holes at a first end of a mounting flange to movably couple the mounting flange to the mounting frame, the fastener being fastened in a manner such that the mounting flange and drive assembly have freedom to pivot about a longitudinal axis of the first complementary set of holes, and an adjustable length coupling device having a first end coupled mechanically to the mounting plate and a second end coupled mechanically to the mounting flange at a location substantially opposite the first end of the mounting flange.

A backlash automatic detection system comprises a control device and a machine tool. The machine tool comprises a servo driver, a lead screw, a nut seat and a platform. The method comprises: entering an initial state and outputting a control command to the servo driver through the control device; driving the lead screw by the servo driver to move the nut seat towards a first direction and changing the movement direction of the nut seat towards a reverse second direction by the servo driver; defining a backlash phenomenon period according to one time point at which the nut seat starts to move towards the second direction and another time point at which the platform is driven to move by the nut seat; defining the displacement of the nut seat corresponding to the backlash phenomenon period as a backlash value.

A medical observation device includes: an imaging device; a support unit that supports the image-capturing unit and includes arms and joints rotatably connecting the arms; a motor that applies power to at least one of the joints, and rotates two of the arms connected at the joint relative to each other; a gear mechanism that includes two intermeshing gears and is disposed in a power transmission path from the motor to the at least one joint; an operation receiver that receives a user operation; and a controller that performs first control for causing the motor to rotate in accordance with the user operation received by the operation receiver and performs second control after the first control is completed and rotation of the motor is stopped.

A motor control apparatus includes an error calculation unit which calculates an error between a position of a movable unit and a position of a driven unit, a memory unit which memorizes the error in association with a torque command value as an initial error, and a compensation amountcompensation amount calculation unit which calculates a compensation amountcompensation amount for compensating an elastic deformation amount of an elastic factor between the movable unit and the driven unit. The compensation amountcompensation amount calculation unit calculates the compensation amountcompensation amount based on the initial error held by the memory unit, the torque command value held in association with the initial error, and a torque command value calculated by a torque command calculation unit when a motor rotates reversely.

A numerical control system diagnoses and maintains a numerical control machine tool by measuring backlash and downloading a backlash correction value to the numerical control machine tool. The system includes a host computer device that downloads a monitor management program to a numerical controller of the numerical control machine tool, collects numerical control information input/output between the numerical controller and a servomotor, analyzes the numerical control information, and diagnoses the numerical control machine tool.