The present process of controlling an industrial robot includes steps consisting of calculating, in the modules implemented by the central unit, a time-dependent composite setpoint defining articular forces and velocities, according to a target trajectory and to an operating mode; calculating, in modules implemented by the central unit, a behavior matrix which describes a desired behavior of the robot arm, defining directions along which the calculated composite setpoint is to be applied; calculating, in a module implemented by the in auxiliary unit, an articular force setpoint for controlling the axis controller module; and calculating, in the axis controller module implemented by the auxiliary unit, the control setpoints for the power units according to the articular force setpoint.

A process of controlling an industrial robot includes the steps of calculating, in a calculation module, a control articular force setpoint of the axis controller module; calculating, in an articular converter, the articular conversion matrix from articular positions; providing the axis controller module with the multi-dimensional external forces exerted on the effector; calculating, in the axis controller module, the vector of the articular forces; calculating, in the axis controller module, the current loop control setpoints, taking into account the articular force vector and the articular force setpoint; and calculating, in the axis controller module, the control setpoints for the power units according to the control setpoints for the current loops.

The disclosure relates to a method for operating a robot as well as to a correspondingly operated robotic system. As part of the method, it is determined, if a difference between a current position of the robot and a target position of the robot exceeds a predetermined threshold value while the robot is in a torque-regulated operating mode. If the difference exceeds the threshold value, a predicted model-based intermediate state that the robot reaches before the target position according to the model is determined, wherein a speed of the robot in the intermediate state is lower than a predetermined speed threshold. When the robot reaches the intermediate state, the robot is automatically switched from the torque-regulated operating mode to a position-regulated operating mode. The robot then moves into the target position in the position-regulated operating mode.

A method of moving a payload comprising: receiving a command to carry a payload from a first location to a second location, moving the payload along a first portion of a path between the first and second locations using a robotic arm, the first portion including the first location, moving the payload along a second portion of the path using the robotic arm, the second portion including the second location, wherein, during the movement along the first portion of the path, at least one actuator of the robotic arm is driven to exert a predetermined force to accelerate the payload and the position of the actuator is determined by a position detector to generate first position data, and wherein, during the movement along the second portion of the path, the at least one actuator of the robotic arm is driven to follow a predetermined sequence of positions.

A control device includes a processor wherein the processor is configured to: receive designation of one or more frequency components, generate one or more second control signals obtained by reducing at least one of the frequency components from a first control signal, generate one or more third control signals obtained using two control signals among the first control signal and the one or more second control signals, output one control signal among the first control signal, the one or more second control signals, and the one or more third control signals, and generate and output a driving signal to drive a robot based on the one control signal.

The disclosure relates to a method for operating a robot as well as to a correspondingly operated robotic system. As part of the method, it is determined, if a difference between a current position of the robot and a target position of the robot exceeds a predetermined threshold value while the robot is in a torque-regulated operating mode. If the difference exceeds the threshold value, a predicted model-based intermediate state that the robot reaches before the target position according to the model is determined, wherein a speed of the robot in the intermediate state is lower than a predetermined speed threshold. When the robot reaches the intermediate state, the robot is automatically switched from the torque-regulated operating mode to a position-regulated operating mode. The robot then moves into the target position in the position-regulated operating mode.

A control device includes a processor wherein the processor is configured to: receive designation of one or more frequency components, generate one or more second control signals obtained by reducing at least one of the frequency components from a first control signal, generate one or more third control signals obtained using two control signals among the first control signal and the one or more second control signals, output one control signal among the first control signal, the one or more second control signals, and the one or more third control signals, and generate and output a driving signal to drive a robot based on the one control signal.

A robot control apparatus includes an instruction portion, and a control portion. The instruction portion is configured to transmit a switching condition to the control portion configured to perform feedback control in accordance with the robot program. In a state where a status of the robot matches the switching condition, the control portion transmits information indicating that the status of the robot has matched the switching condition to the instruction portion, the instruction portion transmits an operation command corresponding to the information to the control portion, and the control portion switches the operation of the robot in accordance with the operation command.

Systems and apparatus relating to motor control (e.g., for thermal transfer printing) include, according to at least one implementation, a motor control system including: a position controller to receive a demanded position (P.sub.D) input for controlling a motor; a torque controller coupled with the position controller, the torque controller to receive a torque bias (T.sub.B) input for controlling the motor; and a feedback circuit coupled with the torque controller and the position controller; wherein the feedback circuit is configured and arranged to combine an output from the position controller, the output being generated based on the demanded position (P.sub.D) input, with the torque bias (T.sub.B) input to generate a torque demand (T.sub.D) input to the torque controller.

A robot control device adapted for performing flexible control includes: an operation state monitoring unit for determining the operation state of the robot on the basis of outputs from a position detecting unit for detecting positions of respective shafts of a robot, a force detecting unit for detecting forces of respective shafts of the robot or a time measuring unit for measuring time; a storage unit for storing a plurality of parameter sets indicating flexibility of the flexible control; and an operation generating unit for switching the parameter sets each indicating flexibility on the basis of an output from the operation state monitoring unit at the time of executing the flexible control.