A robot programming device 1 is provided with a model layout unit 112 that lays out a workpiece model of a workpiece, a robot model of a robot, and a tool model of a tool in the virtual space, a machining site designation unit 113 that designates a machining site on the workpiece model, a stereoscopic shape layout unit 115 that lays out a predetermined stereoscopic shape such that a surface of the stereoscopic shape is filled in with a predetermined operation pattern and that the operation pattern is projected to at least one surface of the workpiece model, a machining path creation unit 116 that projects the operation pattern to at least one surface of the workpiece model to create a machining path for the tool, and a change unit 117 that changes the machining path and/or an operation program on the basis of the machining site.

The present disclosure provides a method and system by which a precise amount of a viscous fluid sealing compound can be dispensed at required locations through computer vision-based observation of the fluid deposited, its rate and amount of deposition and location; and that the dispensed fluid may be accurately shaped through robotic or other special purpose mechanism motion. The invention enables instant quality inspection of the dispensing process in terms of the locations, amounts and shapes of newly created seals.

The disclosure relates to a method for programming a program-controlled coating installation with a coating robot and an application device for coating components, in particular for programming a painting installation with a painting robot for painting motor vehicle body components, with the following steps (S1-S3): a) Presetting or determining geometry data of the component to be coated (S1), b) presetting of robot path data of the robot path to be traversed (S2), and c) determination of suitable spray pattern data (S3) which represent a layer thickness profile and are determined by a simulation which takes into account the robot path data and the geometry data of the component to be coated.

Furthermore, the disclosure comprises an appropriately adapted coating installation.

A robot system includes a robot that self-travels along a traveling shaft and is provided with a position detection sensor at a distal end, a support member that has a plurality of reference positions juxtaposed and supports a workpiece, a plurality of calibration members that are juxtaposed along the traveling shaft, and a control device, in which the calibration members each have a calibration position, and the control device is configured to cause the robot to move by a predetermined first distance along the traveling shaft, calibrate position coordinates of the robot based on position coordinates of the calibration positions detected by the position detection sensor, and subsequently calibrate position coordinates of the workpiece based on position coordinates of the reference positions detected by the position detection sensor.

An automatic application device includes: a robot arm; an application hand configured to apply, to a workpiece, a paint that is a liquid; a force sensor configured to detect a force and a moment acting on the application hand; and a control section configured to control the robot arm in accordance with a parameter calculated from an output signal from the force sensor.

The purpose of the present invention is to provide a robot controller that does not require manual correction when an applying process operation is interrupted due to occurrence of an error, and that enables automatic avoidance of occurrence of an interrupted part (gap) of the applying process and occurrence of excessive processing upon resuming the applying process operation. When an applying operation is interrupted, if the operation has stopped after further advancement of the operation site from the position of interruption, the operation site is moved back by a predetermined distance along the curved trajectory at the time of an advancing movement prior to the stopping, and the advancing movement is resumed from the moved-back position along the curved trajectory. Thus, it is possible to resume the continuous process while the operation site, at the position where the continuous process operation has been interrupted, proceeds at the same speed as when the applying operation was interrupted.

The invention relates to a process for painting a workpiece using a painting robot including a robot arm equipped with a paint spraying device, the process including, an operation S1 of modeling a realistic 3D model corresponding to the workpiece as deformed and positioned in a paint cell, the realistic 3D model including paint trajectory information suitable for the workpiece as deformed and positioned in the paint cell, and a paint spraying operation S2 during which the paint spraying device is moved along the paint trajectory opposite the workpiece.

The present disclosure provides a painting robot and a painting method using the painting robot. The painting robot includes: an arm control unit which controls operation of the robot arm; a head control unit which controls driving of nozzles of the nozzle head; a distance measuring device which measures the distance between the painting portions and the nozzle discharging surface; and an image processing portion which forms a three-dimensional model for painting, which is a three-dimensional model, based on the painting coverage of the vehicle expected to be painted. The head control unit, based on the distances measured between the painting portions in the three-dimensional model for painting and an imaginary nozzle head or the distances measured by distance measuring device, controls to discharge paint from nozzles with distances within the prescribed range, and to not discharge paint from nozzles outside the prescribed range.

A control method for a robot system including a moving stage, a tool attached to the moving stage, and a robot arm holding one of the moving stage and an object and performing predetermined work on the object using the tool, includes performing the work while moving the tool relative to the object by the moving stage with the robot arm stopped, wherein a portion having a larger curvature has a smaller range of the work than a portion having a smaller curvature of the object.

A control method for a robot system includes setting a robot arm in a first attitude, performing work in a first region of an object while moving a tool relative to the object by a moving stage with the first attitude maintained, setting the robot arm in a second attitude, imaging the object using a camera and correcting a position of the tool by driving of the moving stage based on an imaging result with the second attitude maintained, and performing the work in a second region of the object while moving the tool relative to the object by the moving stage with the second attitude maintained.