A robot control device includes: a first acquisition unit to acquire path information relating to a path of a robot and speed information relating to a speed the robot moves on the path; a second acquisition unit to acquire specification information relating to a specification of the robot; a determination unit to determine a segment where an action time of the robot is shortened even when a waypoint is added on the path; a correction unit to correct the path of the robot so as to make inertia of the robot smaller in a segment where an action time of the robot is shortened; a computation unit to compute a load acting on a joint of the robot; and an adjustment unit to adjust a control amount for controlling an acceleration of the robot joint such that the load computed by the computation unit satisfies a target load.

A conveying apparatus that facilitates setting of an operation mode and setting of appropriate conditions during teaching is provided. An input determination section determines whether or not a combination of a conveyable weight and an operation mode input from an input portion is appropriate. A motor parameter determination section determines one or more motor parameters of at least one servoamplifier for one or more servomotors based on the operation mode and the conveyable weight determined as appropriate by the input determination section. The one or more motor parameters include a maximum speed and a maximum acceleration of the one or more servomotors. A parameter change section allows a speed and an acceleration of the one or more servomotors to be changed up to the maximum speed and the maximum acceleration, respectively.

The present disclosure relates to a pallet transfer system, including: a set-up structure that inserts a material into and withdraw a material out from a pallet; a pallet storage, on which the pallet is loaded; a material processing device that processes the material; a pallet transfer device that transfers the pallet to the set-up structure, the pallet storage, or the material processing device; a detector that detects a load applied to the pallet transfer device; and a controller that controls a speed of the pallet transfer device according to the information detected by the detector.

A method of load characteristic identification and acceleration adjustment for a machine tool is provided. A first acceleration of a transmission system is set according to the weight of a workpiece, and the working platform and the workpiece are driven at the first acceleration. A first elastic deformation of the transmission system and an amount of first position error of the transmission system are calculated when transmission system is moved at the first acceleration. A dynamic error is calculated according to the first elastic deformation and the first position error. When the dynamic error is less than or greater than a target error, a second acceleration is set to the transmission system, and a second elastic deformation and a second position error are calculated when the transmission system moves at the second acceleration unit the dynamic error is converged to the target error.

A method of load characteristic identification and acceleration adjustment for a machine tool is provided. A first acceleration of a transmission system is set according to the weight of a workpiece, and the working platform and the workpiece are driven at the first acceleration. A first elastic deformation of the transmission system and an amount of first position error of the transmission system are calculated when transmission system is moved at the first acceleration. A dynamic error is calculated according to the first elastic deformation and the first position error. When the dynamic error is less than or greater than a target error, a second acceleration is set to the transmission system, and a second elastic deformation and a second position error are calculated when the transmission system moves at the second acceleration unit the dynamic error is converged to the target error.

A control system of a machine tool includes a hydraulic pressure adjuster. The hydraulic pressure adjuster includes a sequence program controller that includes components for adding a function of adjusting a hydrostatic pressure of a static pressure oil supplied to a hydrostatic pressure guide mechanism, which are a pressure setting unit, a constant acceleration motion controller, a workpiece-weight calculator and a supply state adjuster.

A control system of a machine tool includes a hydraulic pressure adjuster. The hydraulic pressure adjuster includes a sequence program controller that includes components for adding a function of adjusting a hydrostatic pressure of a static pressure oil supplied to a hydrostatic pressure guide mechanism, which are a pressure setting unit, a constant acceleration motion controller, a workpiece-weight calculator and a supply state adjuster.

An actuator control method and an actuator control device that incorporate an element of feedback control in time optimal control, including: a calculation step of calculating a switching time at which an acceleration output is switched to a deceleration output and an end time of the deceleration output expressed by time elapsed from a calculation time at which calculation for control is performed using a maximum acceleration and a maximum deceleration, which are measured in advance, at the time of the maximum output of control force of an actuator; a control output step of setting the control force of the actuator to a maximum acceleration output from the calculation time to the switching time, setting the control force of the actuator to a maximum deceleration output from the switching time to the end time, and ending the output of the control force at the end time, and an update step of calculating and updating the switching time and the end time by repeating the calculation step at each preset time.

Method for handling goods and handling system for order-picking goods with an order-picking system, wherein goods are removed from a storage facility and positioned on a target load carrier. The goods are moved from the storage facility onto the target load carrier using a robot and/or a conveying system. Properties of the goods, in particular strength, rigidity, weight, surface composition, and/or center of gravity, are captured and, based on data regarding errors during movements of the goods. During operation of the handling system, boundary conditions up to which a functioning of the robot and/or of the conveying system depending on properties of the goods is ensured are determined, after which operation of the handling system is adapted depending on captured properties of the goods, namely through the adaptation of forces and/or accelerations that are applied to the goods by the robot and/or the conveying system.

A machine tool system has a machine tool with a stationary machine base, support elements connected to the machine base, and a crossbeam connected to the support elements. The crossbeam is adjustable relative to the support elements in a Z-direction or the support elements are adjustable relative to the machine base in an X-direction. A tool holder head is mounted on the crossbeam and adjustable for travel in a Y-direction along the crossbeam. The X-, Y- and Z directions form a cartesian coordinate system. A control facility is connected to the machine tool for controlling travel in the Y-direction and adjustment in at least one of the X- and/or Z-directions based on a kinematic parameter specified as a function of a position of the tool holder head relative to the Y-axis and thus takes into account asymmetric load distribution caused by movement of the tool holder head.