A vibration display device including a vibration acquisition unit that acquires a vibration state of a distal end section of a robot that is a robot in a simulation or in a real world, the distal end section being moved based on an operation program, and a vibration trajectory drawing unit that draws, on a display device, the vibration state along a trajectory of the distal end section of the robot or that draws, on the display device, the vibration state as the trajectory.

A numerically controlled machine tool has at least one movement axis and is connected to a numerical controller which includes a parts program. Movements of each movement axis are limited by maximum permissible axis dynamics. The parts program has a sequence of instructions for machining a workpiece which specify different maximum desired speeds for the machining of the workpiece which change abruptly over time. The numerical controller approximates the different maximum desired speeds which change abruptly over time with a desired speed profile that is continuous over time and has a profile of the maximum desired speeds which is also continuous over time. The numerical controller uses the continuous desired speed profile to calculate the desired values of an actual movement profile of the movements for each movement axis.

There is provided a robot control apparatus that controls a vertical articulated robot and is suitable for direct teaching. In the apparatus, an axis setting section sets operation axes and control axes from among the axes subjected to angle control, when performing the direct teaching of changing a position of the arm tip, while retaining a posture thereof at a target posture. The operation axes can be dominant factors when determining the position of the arm tip and are allowed to freely move according to an external force, and the control axes can be dominant factors when determining the posture of the arm tip and are controlled by an angle control section. When performing the direct teaching, the angle control section receives an input of current angles of the operation axes and the target posture to calculate command angles of the respective control axes according to inverse kinematics calculation.

As speed operation range identification system for motion systems driven by permanent magnet synchronous motors (PMSMs) or induction motors leverages both characteristics of the motor as well as dynamic characteristics of the motion system—including the friction and load—to identify suitable maximum speeds for operation of the motion system in the normal speed and field weakening regions. The identification system can model both motor characteristics as well as real-time dynamics of the controlled mechanical system that may vary during operation. The system can apply an optimization algorithm to this model to determine suitable maximum speeds for operation in the normal speed and/or field weakening regions. The determined maximum speeds can be used to perform substantially real-time adjustments to motion profile limits or current reference values generated by the motor controller in order to ensure that the speed of the system remains below the determined maximum.

A robot system includes a SCARA robot including a robot arm to which an end effector is attached and a driving section configured to drive the robot arm and a control device configured to control the driving section based on a control signal. The control device determines whether being in a first case in which a predetermined condition is satisfied or a second case in which the predetermined condition is not satisfied, in the first case, controls the driving section based on the control signal, and, in the second case, determines a frequency component to be removed from the control signal using a band stop filter, removes the frequency component from the control signal using the band stop filter to generate a corrected control signal, and controls the driving section based on the generated corrected control signal.

A robot apparatus 1 includes: a multi-articulated robot 2; and a controller 3 that drive-controls the multi-articulated robot 2 based on an input motion command. The controller 3 includes: a joint angle computing unit 32 that computes each joint angle command for driving the multi-articulated robot 2 based on the motion command; a servo controlling apparatus 30 that moves the multi-articulated robot 2 by rotationally driving each rotational joint based on the joint angle command computed by the joint angle computing unit 32; a singular point calculating unit 51 that calculates a distance between the multi-articulated robot 2 and a singular point of the multi-articulated robot 2; and a maximum joint angle deviation adjusting unit 52 that limits a maximum rotation speed of a rotational joint specified in advance based on a singular point type, if the singular point distance becomes smaller than a predetermined value.

A controller outputs a first velocity (first limiting velocity) as a limiting velocity for a boom cylinder when a boom lowering operation amount is smaller than a first operation amount, and outputs a second velocity when the boom lowering operation amount is equal to or larger than the first operation amount. The first velocity is set to decrease according to a decrease in a target surface distance. The second velocity is defined by a weighted average of the first velocity and a third velocity (second limiting velocity) set to change according to one of the target surface distance and the boom lowering operation amount of the operation device, and is set such that an increase in the boom lowering operation amount reduces a weight for the first velocity while increasing a weight for the third velocity.

In a method for operating an at least two-axle machine tool, a geometric description of a path is specified, and according to the path, an advancing movement is carried out by simultaneously moving at least in one section a first axle and a second axle. A first maximum value for a first kinematic parameter relating to the advancing movement along the section of the path is defined by a control unit based on the geometric description. The advancing movement along the section is planned by the control unit by taking the first maximum value into consideration, and the axles are actuated so as to carry out the advancing movement according to the planned movement.

A numerical control device according to the present invention is for a machine tool which causes a tool to move along a movement path decided according to a machining program, and includes: a limit setting storage unit in which limit values of a plurality of parameter related to movement of the tool are set; a limit velocity calculation unit which calculates a plurality of limit velocities which are movement velocities of the tool, which respectively correspond to the limit values of the plurality of parameters at each position of the movement path; a feedrate determination unit which defines a minimum value among an ideal velocity of the tool and the plurality of limit velocities at each position on the movement path as a feedrate of the tool at each position on the movement path; and an adjustment effect calculation unit which calculates variation in movement time required in order to cause the tool to move an entirety of the movement path at the feedrate, in a case of changing the limit value of the parameter.

A substrate transfer robot includes a robot body including a first hand having a first substrate placing part on which a substrate is placed and a first substrate holding mechanism configured to hold and release the substrate, and a robot controller. The robot controller controls a speed of the first hand such that an absolute value of a first maximum speed or an absolute value of a first maximum acceleration during a first period after the first hand starts retreating until the substrate is held by the first substrate holding mechanism is lower than an absolute value of a second maximum speed or an absolute value of a second acceleration during a second period after the substrate is held until the first hand ends retreating.