A dragging demonstration system and method. The dragging demonstration system comprises: a model identification module configured to build a static model of a robot and identify model parameters, wherein the static model comprises a gravity model and a Coulomb friction model; a feedforward compensation module configured to convey the identified model parameters to a current ring of each joint motor of the robot in a feedforward way according to the identified model parameters; and a data recording module configured to record the position information of each joint of the robot so that the robot can repeat the demonstration action. The system and method can make a user push the robot quite easily to implement dragging demonstration.

A jig positioning system includes a robot arm and a control unit. The robot arm grips an assembly jig designed to be positioned on an assembly table. The control unit controls motion of the robot arm. The control unit causes the robot arm: to grip one or more assembly jigs including the assembly jig that are to be selected in sequence for assembly components; and to adjust position and orientation of each of the one or more assembly jigs in accordance with shapes of the assembly components in course of positioning of the assembly jigs on the one or more assembly table.

Provided is a machine tool with which a load acting on a drive system for driving a drive subject when the drive subject starts to move toward a target position can be reduced. The machine tool includes a guide mechanism for guiding at least one drive subject from among a tool and a workpiece, a servo motor that moves the drive subject guided by the guide mechanism, and a control unit that controls the servo motor so as to move the drive subject from an initial position to the target position. The control unit controls the servo motor so as to apply vibration in which an advancing motion toward the target position and a retreating motion opposite to the advancing motion are performed repeatedly to the drive subject for a set period up to a point at which the drive subject starts to move toward the target position from the initial position.