CONTROL APPARATUS FOR GIVING NOTIFICATION OF MAINTENANCE AND INSPECTION TIMES OF SIGNAL-CONTROLLED PERIPHERAL DEVICES

A control apparatus in an automaton that operates in cooperation with a peripheral device, includes: an operating time accumulator regarding the output time of a control signal to the peripheral device or the output time of an operating signal from the peripheral device as operating time and determining cumulative operating time by adding up the operating times; a time-at-inspection recorder recording the cumulative operating time when inspection is performed as the cumulative operating time at inspection; a cumulative operating time comparator comparing the difference between the current cumulative operating time and the cumulative operating time at inspection, the cumulative operating time from the latest inspection, or the cumulative operating time after inspection, with a preset inspection interval; and, a maintenance request output unit outputting a maintenance request to the outside when the cumulative operating time after inspection obtained as a result of the comparison exceeds the preset inspection interval. 1. A control apparatus for use in an automaton that operates in cooperation with a peripheral device on the basis of signal input and output , comprising:an operating time accumulator configured to regard the output time of a control signal to the peripheral device or the output time of an operating signal from the peripheral device as operating time and determine cumulative operating time from the sum of all the operating times;a time-at-inspection recorder configured to record the cumulative operating time when inspection is performed, as the cumulative operating time at inspection;a cumulative operating time comparator configured to compare the difference between the current cumulative operating time and the cumulative operating time at inspection, the cumulative operating time from the latest inspection, or the cumulative operating time after inspection, with a preset inspection interval; and,a maintenance request output unit configured to output a ...

ROBOT SYSTEM

An object is to prevent automatic operation from being started while a monitoring function is in a disabled state. The present invention provides a robot system includes a robot, a control unit controlling the robot, and an operation monitoring unit having a monitoring function for monitoring contact or the possibility of contact between the robot and a peripheral object. The operation monitoring unit has a monitoring changeover switch that switches between enabling and disabling of the monitoring function. The control unit has a mode changeover switch that switches between a manual operation mode, and an automatic operation mode. The control unit performs control so as to inhibit the operation of the robot in a state in which the monitoring function is disabled and in which the operation mode is set to the automatic operation mode. 1. A robot system comprising:a robot;a control unit that controls the robot; andan operation monitoring unit that has a monitoring function for monitoring contact or the possibility of contact between the robot and a peripheral object;wherein the operation monitoring unit is provided with a monitoring changeover switch that switches between enabling and disabling of the monitoring function;wherein the control unit is provided with a mode changeover switch that switches between a manual operation mode, in which an operator operates the robot by using a portable operating panel, and an automatic operation mode, in which the robot is operated on the basis of a stored operation program; andwherein the control unit performs control so as to inhibit the operation of the robot in a state in which the monitoring function is disabled with the monitoring changeover switch and in which the operation mode is set to the automatic operation mode with the mode changeover switch.2. The robot system according to claim 1 , wherein:the operation monitoring unit includes a sensor that outputs a normal signal in a state in which it does not detect a ...

ROBOT CONTROL APPARATUS HAVING FUNCTION OF DETECTING CONTACT WITH OBJECT OR PERSON

A robot control apparatus comprises a contact detection unit which judges whether or not a robot is in contact with an object other than the robot, and an operation direction monitor unit which detects an operation direction of the robot after the robot comes in contact with the object and monitors operation of the robot. After the robot comes in contact with the object, the operation direction monitor unit permits operation of the robot being within a permissible range and inhibits operation of the robot falling outside the permissible range. 1. A robot control apparatus comprising:a contact detection unit which judges whether or not a robot is in contact with an object other than the robot; andan operation direction monitor unit which detects an operation direction of the robot after the robot comes in contact with the object, and monitors operation of the robot; whereina permissible range for the operation direction of the robot after the robot comes in contact with the object is previously determined andafter the robot comes in contact with the object, the operation direction monitor unit permits operation of the robot being within the permissible range and inhibits operation of the robot falling outside the permissible range.2. The robot control apparatus according to further comprising:a selector switch which can switch between a teaching mode in which a worker manually operates the robot so as to teach an operation of the robot and a playback mode in which the robot automatically reproduces the taught operation; anda retreat command unit which automatically operates the robot in a direction away from the object when the robot comes in contact with the object; whereinwhen the playback mode is selected by the selector switch, the robot is operated by the retreat command unit when the robot comes in contact with the object; andwhen the teaching mode is selected by the selector switch, the operation of the robot is monitored by the operation direction monitor ...

HUMAN COOPERATION ROBOT SYSTEM IN WHICH ROBOT IS CAUSED TO PERFORM RETREAT OPERATION

A human cooperation robot system includes: an external force detecting unit that detects an external force acting on a robot; a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is larger than a first threshold value; a position acquiring unit that a current position of the robot; and a retreat operation stopping unit that stops the retreat operation when the current position of the robot acquired by the position acquiring unit departs from a retreat area. 1. A human cooperation robot system in which a robot and a human perform a cooperative operation while sharing a workspace with each other , comprising:{'b': '21', 'an external force detecting unit (S, ) that detects an external force acting on the robot;'}a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is larger than a first threshold value;a position acquiring unit that acquires a current position of the robot; anda retreat operation stopping unit that stops the retreat operation when the current position of the robot acquired by the position acquiring unit departs from a retreat area.2. The human cooperation robot system according to claim 1 , further comprising a retreat area setting unit that sets up claim 1 , as the retreat area claim 1 , a predetermined area including the current position of the robot when the external force is smaller than or equal to a second threshold value smaller than the first threshold value.3. The human cooperation robot system according to claim 1 , wherein the external force detecting unit is a force sensor mounted on a distal end of the robot. 1. Field of the InventionThe present invention relates to a human cooperation ...

ROBOT CONTROL DEVICE, ROBOT SYSTEM AND METHOD OF CONTROLLING ROBOT WHICH CARRIES OBJECT IN COOPERATION WITH PERSON

There is provided a robot control device enabling a robot to carry various types of objects without exceeding an allowable weight thereof. The robot control device for controlling the robot for carrying an object in cooperation with a person includes a force acquisition part configured to acquire force applied from the object to the robot when the object is lifted, a comparison part configured to compare a force component in a gravity direction of the force acquired by the force acquisition part with a first threshold value predetermined with respect to the force component, and a stop command part configured to stop the robot when the force component is greater than the first threshold value. 1. A robot control device which controls a robot which carries an object in cooperation with a person , the robot control device comprising:a force acquisition part configured to acquire a force applied from the object to the robot when the robot lifts up the object;a comparison part configured to compare a force component in a gravity direction of the force acquired by the force acquisition part with a first threshold value predetermined with respect to the force component; anda stop command part configured to stop the robot when the force component is greater than the first threshold value.2. The robot control device according to claim 1 , further comprising an operation command part configured to generate an operation command to the robot for carrying the object when the force component is smaller than or equal to the first threshold value claim 1 , and transmit the operation command to the robot.3. The robot control device according to claim 2 , wherein the operation command part generates the operation command for carrying the object in a direction opposite to the gravity direction claim 2 , when the force component is smaller than or equal to a second threshold value which is smaller than the first threshold value.4. The robot control device according to claim 2 , wherein ...

HUMAN COOPERATION ROBOT SYSTEM IN WHICH ROBOT IS CAUSED TO PERFORM RETREAT OPERATION DEPENDING ON EXTERNAL FORCE

A human cooperation robot system includes: an external force detecting unit that detects an external force acting on a robot; a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is greater than a first threshold value; and an external force variation monitoring unit that stops the retreat operation when a variation width of the external force at a predetermined time after the retreat operation is commanded by the retreat operation commanding unit is smaller than a second threshold value. 1. A human cooperation robot system in which a robot and a human perform a cooperative operation while sharing a workspace with each other , comprising:an external force detecting unit that detects an external force acting on the robot;a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is greater than a first threshold value; andan external force variation monitoring unit that stops the retreat operation when a variation width of the external force at a predetermined time after the retreat operation is commanded by the retreat operation commanding unit is smaller than a second threshold value.2. The human cooperation robot system according to claim 1 , wherein the external force detecting unit is a force sensor mounted on a distal end of the robot. 1. Field of the InventionThe present invention relates to a human cooperation robot system in which a robot is caused to perform a retreat operation depending on an external force acting on the robot.2. Description of the Related ArtIn recent years, a human cooperation robot system has been developed in which a human and a robot are deployed in a mixed manner on a production site and a ...

ROBOT CONTROLLER CAPABLE OF PERFORMING FAULT DIAGNOSIS OF ROBOT

A robot controller includes a first time-series data obtaining part for obtaining first data used for fault diagnosis in time series and store the first data as first time-series data, a second time-series data obtaining part for obtaining second data used for extraction of the first data which is used for the fault diagnosis in time series and store the second data as second time-series data, a time specification part for specifying extraction time of the first data used for the fault diagnosis based on the second time-series data, a data extraction part for extracting the first data corresponding to the extraction time, and a diagnosis performing part for performing the fault diagnosis of the robot based on the first data extracted by the data extraction part. 1. A robot controller capable of performing fault diagnosis of a robot , the robot controller comprising:a first time-series data obtaining part configured to obtain first data used for the fault diagnosis in time series and store the first data as first time-series data;a second time-series data obtaining part configured to obtain second data used for extraction of the first data which is used for the fault diagnosis in time series and store the second data as second time-series data;a time specification part configured to specify extraction time of the first data used for the fault diagnosis, based on the second time-series data;a data extraction part configured to extract the first data corresponding to the extraction time specified by the time specification part, from the first time-series data; anda diagnosis performing part configured to perform the fault diagnosis of the robot based on the first data extracted by the data extraction part.2. The robot controller according to claim 1 , wherein the second data is speed information calculated from encoder output.3. The robot controller according to claim 1 , wherein the second data is a speed command calculated by robot software.4. The robot controller ...

CELL CONTROLLER THAT DISPLAYS ABNORMALITY STATUS OF MANUFACTURING MACHINE FOR EACH AREA OR PROCESS

A cell controller of the present application includes: a machine information reception part that receives at least one of alarm information on manufacturing machines and status information on the manufacturing machines, and receives physical layout information on the manufacturing machines; a classification part that classifies the received physical layout information into a plurality of groups; and a display part that displays an abnormality status of the manufacturing machines for each of the groups of the classified physical layout information. 1. A cell controller that controls a plurality of manufacturing machines , the cell controller is connected so as to communicate with a host computer , whereinthe cell controller comprising:a machine information reception part that receives at least one of alarm information on the manufacturing machines, status information on the manufacturing machines, and receives physical layout information on the manufacturing machines;a classification part that classifies the physical layout information received by the machine information reception part into a plurality of groups; anda display part that displays an abnormality status based on the alarm information or status information on the manufacturing machines, for each of the groups of the physical layout information classified by the classification part.2. A cell controller that controls a plurality of manufacturing machines , the cell controller is connected so as to communicate with a host computer , whereinthe cell controller comprising:a machine information reception part that receives at least one of alarm information on the manufacturing machines and status information on the manufacturing machines, and receives operation process information on the manufacturing machines; anda display part that displays an abnormality status based on the alarm information or status information on the manufacturing machines, for each operation process of the operation process information ...

CONTROL DEVICE FOR ROBOT THAT PERFORMS WORK BY PRESSING TOOL AGAINST WORKPIECE

A robot control device includes a correction amount calculation unit that calculates a correction amount for collecting a deviation of a tip position of a tool attached to a tip of a robot due to an external force applied to the tool and a correction profile generation unit that generates a correction profile indicating a relationship between the correction amount calculated by the correction amount calculation unit and time. 1. A robot control device for controlling a robot that performs work by pressing a tool attached to a tip of the robot against a workpiece , the robot control device comprising:a correction amount calculation unit that calculates a correction amount for correcting a deviation of a tip position of the tool due to an external force applied to the tool; anda correction profile generation unit that generates a correction profile indicating a relationship between the correction amount calculated by the correction amount calculation unit and time.2. The robot control device according to claim 1 , wherein as the tool starts to be pressed against the workpiece and the external force applied to the tool increases claim 1 , the correction profile generation unit generates the correction profile so as to increase the correction amount.3. The robot control device according to claim 1 , wherein as the tool starts to be separated from the workpiece and the external force applied to the tool decreases claim 1 , the correction profile generation unit generates the correction profile so as to decrease the correction amount.4. The robot control device according to claim 1 , further comprising: an inversion determination unit that determines whether the motor has been inverted on the basis of a current value of a motor provided on the robot or the tool; and a backlash correction amount calculation unit that claim 1 , when the inversion determination unit determines that the motor has been inverted claim 1 , calculates a backlash correction amount for correcting a ...

Control device and control system

A control device includes a receiving unit that receives output signals from a plurality of manufacturing machines, via a communication network; a noise-component extracting unit that extracts a common noise component that is contained in the output signals; and a noise-component removing unit that removes the extracted noise component from at least one of the output signals.

Robot control device for controlling motor-driven robot

A robot control device includes a first sensor which is used in a first range including the entirety of the operating range of the robot, a second sensor which is used in a second range including at least a part of the operating range of the robot, and a range storing unit for storing a third range included in both the operating range and the second range. The robot control device also includes a ratio setting unit for setting a ratio between a first control input obtained using the first sensor and a second control input obtained using the second sensor with respect to control inputs to the motor based on the comparison of the third range and the position and posture of the robot, and an addition unit for adding the first control input and the second control input together in accordance with the set ratio.

ROBOT CONTROLLER FOR AVOIDING PROBLEM REGARDING ROBOT AT THE TIME OF EMERGENCY STOP

A robot controller having a function for mitigating damage to a robot when the robot is brought to an emergency stop, and for facilitating restoration of the robot from the emergency stop. The robot controller has a controlling part which controls a motion of a robot based on a predetermined robot program; a first detecting part which detects a predetermined abnormality which does not require the robot to be immediately stopped; a stopping condition judging part which judges as to whether or not a predetermined stopping condition is satisfied when the first detecting part detects the abnormality; and a stopping process executing part which executes a stopping process of the robot when the stopping condition is satisfied, and does not execute the stopping process when the stopping condition is not satisfied. 1. A robot controller for controlling a robot , comprising:a controlling part which controls a motion of a robot;a first detecting part which detects a predetermined abnormality which does not require the robot to be immediately stopped;a stopping condition judging part which judges as to whether or not a predetermined stopping condition is satisfied when the first detecting part detects the abnormality which does not require the robot to be immediately stopped; anda stopping process executing part which executes a stopping process of the robot when the stopping condition is satisfied, and does not execute the stopping process of the robot when the stopping condition is not satisfied.2. The robot controller as set forth in claim 1 , wherein the stopping condition is that a predetermined operation is carried out by a user claim 1 , or a signal is input to the robot controller.3. The robot controller as set forth in claim 1 , wherein the stopping condition is that a predetermined command is executed in a robot program.4. The robot controller as set forth in claim 1 , wherein the stopping condition is that the robot reaches a designated position or region claim 1 , ...

Calibration system and calibration method of robot

A calibration system of a robot includes a data storage unit that stores a number of pieces of data in which actual measured position information obtained by actually measuring a tip position of the robot and information indicating a state of the robot upon actual measurement are combined, a parameter selecting unit that selects mechanical error parameters to be identified from parameters indicating mechanical errors of the robot, a parameter identifying unit that identifies each of the mechanical error parameters using the stored data and information of the selected mechanical error parameters, and an identification result evaluating unit that evaluates an identification result, and, in the case where evaluation does not satisfy a predetermined criterion, selection of different mechanical error parameters by the parameter selecting unit, identification and evaluation are repeated.

HUMAN-COLLABORATIVE ROBOT SYSTEM

A human-collaborative robot system includes a detection unit that directly or indirectly detects a physical quantity which is changed in response to contact force applied to a robot when the robot comes in contact with an external environment, and a stop command unit that compares the physical quantity detected by the detection unit with a first threshold value and a second threshold value greater than the first threshold value, stops the robot according to a predetermined stop method when the physical quantity is equal to or greater than the first threshold value and is smaller than the second threshold value, and stops the robot in a shorter period of time as compared with the predetermined stop method when the physical quantity is equal to or greater than the second threshold value. 1. A human-collaborative robot system in which a robot and a human share a working space , comprising:a detection unit configured to directly or indirectly detect a physical quantity which is changed in response to contact force applied to the robot when the robot comes in contact with an external environment; anda stop command unit configured to compare the physical quantity detected by the detection unit with a first threshold value and a second threshold value greater than the first threshold value, stop the robot according to a predetermined stop method when the physical quantity is equal to or greater than the first threshold value and is smaller than the second threshold value, and stop the robot in a shorter period of time as compared with the predetermined stop method when the physical quantity is equal to or greater than the second threshold value.2. The human-collaborative robot system according to claim 1 , wherein the physical quantity is force or torque applied to the robot from the external environment.3. The human-collaborative robot system according to claim 1 , wherein the physical quantity is a differential value of force or torque applied to the robot from the ...

MEASUREMENT SYSTEM

A measurement system including: reflectors mounted on a robot; a measuring apparatus including a laser head, wherein the measuring apparatus includes a controller, the controller is configured to conduct: a coordinate relationship acquisition process for acquiring a position and a direction of a measuring-apparatus coordinate system with respect to a robot coordinate system by emitting a laser beam from the laser head toward reference reflection portions provided in a base portion of the robot, and based on a reflected light; and a head drive control process which controls a direction of the laser head by receiving coordinate data of the reflector recognized by a controller of the robot, and by making a control command to change the direction of the laser head using the coordinate data which is received and the position and the direction of the measuring-apparatus coordinate system with respect to the robot coordinate system. 1. A measurement system comprising: a reflector mounted at a distal end portion of a robot; and a measuring apparatus including a laser head which emits a laser beam toward the reflector and receives a reflected light from the reflector , and a head driving device which changes a direction of the laser head , wherein a position of the reflector mounted at the distal end portion of the robot is measured by the measuring apparatus ,wherein the measuring apparatus comprises a controller, the controller is configured to conduct:a coordinate relationship acquisition process which acquires a position and a direction of a coordinate system of the measuring apparatus with respect to a robot coordinate system, by emitting the laser beam from the laser head toward a reference reflection portion provided in a base portion of the robot, and based on a reflected light from the reference reflection portion; anda head drive control process which receives, from a control unit for the robot, coordinate data of the reflector, which is recognized by the control ...

SAFETY MONITORING DEVICE FOR ROBOT

A safety monitoring device for a robot includes a position detecting unit for detecting the position of a robot, a force detecting unit for detecting an external force applied to the position detecting unit, an external force determination condition setting unit, which sets, as an external force determination condition, an intra-region external force determination condition when the present position of the robot detected by the position detecting unit remains within a predetermined region and which sets, as an external force determination condition, an out-of-region external force determination condition when the present position of the robot is outside of the predetermined region, and a robot stopping unit for stopping the robot when the external force detected by the force detecting unit satisfies the external force determination condition. 1. A safety monitoring device for a robot , comprising:a position detecting unit for detecting the position of a robot;a force detecting unit for detecting an external force applied to the position detecting unit:an external force determination condition setting unit, which sets, as an external force determination condition, an intra-region external force determination condition when the present position of the robot detected by the position detecting unit remains within a predetermined region and which sets, as an external force determination condition, an out-of-region external force determination condition when the present position of the robot is outside of the predetermined region; anda robot stopping unit for stopping the robot when the external force detected by the force detecting unit satisfies the external force determination condition,2. The safety monitoring device according to claim 1 , wherein claim 1 , when the predetermined region is a region in which the robot receives a reaction force claim 1 , the intra-region external force determination condition is the fact that the external force exceeds a predetermined ...

MEASUREMENT SYSTEM

A measurement system includes a plurality of reflectors of a robot, a measurement apparatus having a laser head which emits a laser beam toward the reflectors and which receives a reflected light from the reflectors, a head driving device which changes orientation of the laser head, and a robot control apparatus which controls the robot based on the calibration operation program and which sequentially places the distal end portion of the robot at a plurality of measurement positions for conducting calibration. The robot control apparatus conducts a head drive control process of receiving controller coordinate data of any one of the plurality of reflectors, which is used at the time of sequentially placing the distal end portion of the robot at plurality of measurement positions, and sending a control signal for changing the orientation of the laser head to the head driving device by using the received controller coordinate data. 1. A measurement system comprising:a plurality of reflectors mounted at a distal end portion of a robot;a measuring apparatus having a laser head which emits a laser beam toward the reflector and receives a reflected light from the reflector, and a head driving device which changes orientation of the laser head; anda robot control apparatus in which a calibration operation program for sequentially placing the distal end portion of the robot at a plurality of measurement positions for conducting calibration is stored, and which controls the robot in accordance with the calibration operation program,wherein the robot control apparatus is configured to conduct a head drive control process of receiving controller coordinate data of any one of the plurality of reflectors at the time of sequentially placing the distal end portion of the robot at the plurality of measurement positions, and sending a control signal for changing the orientation of the laser head to the head driving device by using the received controller coordinate data.2. The ...

CONTROL DEVICE WITH FUNCTION TO CHECK LOAD INFORMATION SETTINGS

A control device includes an estimated torque calculation unit, an actual torque calculation unit, a torque comparison unit, and a stop unit. The estimated torque calculation unit calculates an estimated torque for maintaining the posture of an automatic machine based on preset load information when the machine is in a resting state in which its posture is maintained by a torque applied by a servomotor. The actual torque calculation unit calculates an actual torque actually applied to maintain the posture. The torque comparison unit compares an error between the estimated and actual torques with a predetermined first threshold. The stop unit stops subsequent operations of the automatic machine when the error is greater than the first threshold. 1. A control device configured to control an automatic machine having a plurality of axes , each of which is driven by a servomotor , based on preset load information , the control device comprising:an estimated torque calculation unit configured to calculate an estimated torque of the servomotor for maintaining a posture of the automatic machine based on the load information when the automatic machine is in a resting state in which the posture of the automatic machine is maintained by a torque applied by the servomotor;an actual torque calculation unit configured to calculate an actual torque actually applied by the servomotor to maintain the posture;a torque comparison unit configured to compare an error between the estimated torque and the actual torque with a predetermined first threshold; anda stop unit configured to stop a subsequent operation of the automatic machine when the error is greater than the first threshold.2. The control device according to claim 1 , wherein the torque comparison unit is configured to compare the error with a predetermined second threshold claim 1 , and the control device further comprises a notification unit configured to send a comparison result between the error and the second threshold.3 ...

ROBOT, ROBOT SYSTEM, AND METHOD FOR SETTING COORDINATE SYSTEM OF ROBOT

A robot includes a robot control unit configured to control an operation of a robot, wherein the robot control unit is configured to set a coordinate system of the robot installed on a reference flat surface using measurement results of at least position coordinates in a vertical direction of three or more measurement points on the reference flat surface on which the robot is installed and measurement results of position coordinates of a plurality of reference reflection portions provided on a base portion of the robot. 1. A robot installed on a reference flat surface , the robot comprising a robot control unit configured to control an operation of the robot ,wherein the robot control unit is configured to set a coordinate system of the robot, installed on the reference flat surface, using measurement results of at least position coordinates in a vertical direction of three or more measurement points on the reference flat surface and measurement results of position coordinates of a plurality of reference reflection portions provided on a base portion of the robot.2. The robot according to claim 1 , wherein the robot control unit is configured to receive the position coordinates on the reference flat surface and the position coordinates of the reference reflection portions from a position measuring apparatus which uses a laser beam claim 1 , and is configured to set the coordinate system using the received position coordinates.3. The robot according to claim 1 , wherein the reference flat surface is a flat surface which has a guaranteed flatness.4. A robot system comprising:a robot installed on a reference flat surface; anda robot control unit configured to control an operation of the robot, whereinthe robot control unit is configured to set a coordinate system of the robot, installed on the reference flat surface, using measurement results of at least position coordinates in a vertical direction of three or more measurement points on the reference flat surface and ...

ROBOT CONTROL DEVICE FOR CONTROLLING ROBOT AND METHOD FOR ESTIMATING DISTURBANCE VALUE APPLIED TO ROBOT

A robot control device able to accurately estimate an external force applied from a workpiece to a robot in a time-dependently changing manner. The robot control device includes a support force data acquisition section which acquires measurement data of a workpiece support force by the environment, the workpiece support force varying while the robot lifts the workpiece; a disturbance estimation section which estimates a disturbance value applied to the robot using state information of the robot; and a correction section which corrects, using the measurement data acquired by the support force data acquisition section, the disturbance value estimated by the disturbance estimation section or the state information inputted to the disturbance estimation section. 1. A robot control device configured to control a robot which lifts a workpiece supported by an environment , the robot control device comprising:a support force data acquisition section configured to acquire measurement data of a workpiece support force by the environment, which varies during the robot lifts the workpiece;a disturbance estimation section configured to estimate a disturbance value applied to the robot with using state information of the robot; anda correction section configured to correct the disturbance value estimated by the disturbance estimation section or the state information inputted to the disturbance estimation section, with using the measurement data acquired by the support force data acquisition section.2. The robot control device according to claim 1 , wherein the correction section is configured to:obtain a varying workpiece load by subtracting the measurement data from a gravitational force applied to the workpiece; andcorrect the disturbance value by subtracting the varying workpiece load from the disturbance value.3. The robot control device according to claim 2 , wherein the disturbance estimation section estimates the disturbance value with using claim 2 , as the state ...

ROBOT CONTROL DEVICE

A robot control device includes a parameter estimating unit that causes a robot to operate under estimation conditions input by a user and that estimates a load parameter of a load attached to the robot, a torque calculating unit that calculates operation torques of respective joints of the robot caused to operate during the estimation of the load parameter, and an alert unit that issues an alert to the user when the difference between the maximum value and the minimum value of the operation torques is equal to or less than a predetermined threshold. 1. A robot control device comprising:a parameter estimating unit that causes a robot to operate under estimation conditions input by a user and that estimates a load parameter of a load attached to the robot;a torque calculating unit that calculates operation torques of respective joints of the robot caused to operate during estimation of the load parameter; andan alert unit that issues an alert to the user when the difference between the maximum value and the minimum value of the operation torques is equal to or less than a predetermined threshold.2. A robot control device according to claim 1 , wherein the torque calculating unit measures the values of currents flowing in motors provided in the respective joints of the robot and calculates the operation torques on the basis of the current values.3. A robot control device according to claim 1 , further comprising:a storage unit that stores predetermined recommended estimation conditions that are recommended to perform estimation of the load parameter with respect to the robot; anda condition determining unit that determines adequacy or inadequacy of the estimation conditions input by the user, on the basis of the recommended estimation conditions,wherein the estimation conditions are input to the parameter estimating unit only when the condition determining unit determines that the estimation conditions are adequate.4. A robot control device according to claim 3 , ...

Robot control device

A robot control device includes a position-accuracy-information storage unit that stores position accuracy information at a plurality of division points defined when an operating area space of the multi joint robot is divided into a plurality of areas in a grid shape, a position-accuracy calculation unit that calculates position accuracy at the end-effector position based on the position accuracy information and the current end-effector position of the multi-joint robot, and a position-accuracy output unit that outputs the calculated position accuracy to an outside.

Robot and robot maintenance timing notification method

A robot including a movable portion, a controller, and a storage unit that stores maintenance timing information regarding at least one of the movable portion and the controller. The controller performs predetermined notification processing based on a comparison between elapsed time information and the maintenance timing information. The movable portion and the control apparatus are placed in a predetermined work site on which a second robot is installed. The controller corrects the maintenance timing information or the elapsed time information using information received from the second robot.

DEVICE AND METHOD FOR DETECTING ABNORMALITY OF JOINT OF ROBOT

A device and method for judging the presence or absence of an abnormal clearance between paring elements of a passive joint of a robot. The device has sections configured to: calculate a score for each motion path, wherein the score is increased when the paring elements of an objective pair collide with each other and is decreased when the paring elements of the other pair collide with each other; generate a robot motion for moving the robot along the motion path having the score not lower than a predetermined threshold; measure a drive torque or a current value of a motor when the robot is moved according to the generated robot motion; calculate an index value based on a magnitude of variation of the measured drive torque or current value; and judge as to whether the abnormal clearance exists in the objective pair, based on the index value. 1. An abnormality detecting device for detecting an abnormal clearance between paring elements of a pair connected to a passive link of a robot , the robot having: a drive link driven by a motor; a plurality of passive links driven by a motion of the drive link; and a plurality of pairs respectively connected to the plurality of passive links , the abnormality detecting device comprising:a score calculating section configured to execute a simulation in which the robot is moved along each of predetermined plural motion paths, and calculate a score with respect to each of the motion paths, wherein the score is increased when the paring elements of an objective pair collide with each other and the score is decreased when the paring elements of the pair other than the objective pair collide with each other, and wherein the objective pair is preliminarily designated among the plurality of pairs so as to judge as to whether or not the objective pair has the abnormal clearance;a motion generating section configured to generate a robot motion for moving the robot along the motion path having the score not lower than a predetermined ...

SAFETY MONITORING DEVICE FOR ROBOT GRIPPING AND CARRYING WORKPIECE

A safety monitoring device monitoring a robot includes a workpiece parameter switching unit switching a workpiece parameter, an external force estimation unit estimating, as an external force estimation value, a force acting on the robot from an external environment by using the workpiece parameter, an external force monitoring unit stopping the robot when the external force estimation value satisfies an external force determination condition, an operation monitoring unit stopping the robot, based on conditions such as a position of the robot being included within a predetermined region, an operation monitoring state switching unit switching between a disabling command and an enabling command for the operation monitoring unit, and an external force determination condition setting unit switching the external force determination condition to an operation monitoring disabling time external force determination condition at the disabling command and to an operation monitoring enabling time external force determination condition at the enabling command. 1. A safety monitoring device (RC) for monitoring a robot (R) , provided with a force detection unit for detecting an external force acting on the robot , the robot safety monitoring device comprising:{'b': '22', 'a workpiece parameter switching unit () for switching a workpiece parameter including at least one of a mass, a center of mass, and an inertia matrix of a workpiece to be gripped by the robot;'}{'b': '23', 'an external force estimation unit () for estimating, as an external force estimation value, a force or a torque acting on the robot from an external environment by using the workpiece parameter switched by the workpiece parameter switching unit;'}{'b': '25', 'an external force monitoring unit () for stopping the robot when the external force estimation value satisfies an external force determination condition;'}{'b': '27', 'an operation monitoring unit () for stopping the robot when at least one of the ...

SYSTEM FOR CONVEYING WORKPIECE HAVING EXTERNAL FORCE MONITORING FUNCTION

A conveying system includes an external force calculation unit which calculates an external force applied to a robot based on a force or torque applied to the robot detected by a force detection unit, and workpiece parameters changed in accordance with the holding state of a workpiece, and a robot stopping unit which stops the robot when the calculated external force exceeds a threshold. The conveying system further includes a relative movement unit which moves the held workpiece and a workpiece support relative to each other. By the relative movement unit, the workpiece and workpiece support are moved relative to each other without changing the position and posture of the robot.

CALIBRATION APPARATUS FOR CALIBRATING MECHANISM ERROR PARAMETER FOR CONTROLLING ROBOT

A controller includes a parameter setting unit that invalidates first mechanism error parameters. The controller includes a measurement control unit that drives a robot with a plurality of orientations at a plurality of positions by using second mechanism error parameters other than the first mechanism error parameters and measures the actual measurement position of the robot by a three-dimensional measuring device. The controller includes a parameter calculation unit that calculates the first mechanism error parameter based on the actual measurement position of the robot and the rotation position of a robot drive motor. The controller includes a correction unit that changes the first mechanism error parameter invalidated by the parameter setting unit to the first mechanism error parameter calculated by the parameter calculation unit. 1. A calibration apparatus for calibrating a mechanism error parameter for adjusting control of a robot based on a motion program , comprising:a parameter setting unit configured to invalidates first mechanism error parameter from among a plurality of mechanism error parameters;a measurement control unit configured to drive the robot with a plurality of orientations at a plurality of positions by using second mechanism error parameter other than the first mechanism error parameter and acquire an actual measurement position of the robot measured by a three-dimensional measuring device and information on a status of the robot when the actual measurement position is measured;a storage unit configured to store combined information on the actual measurement position of the robot measured by the three-dimensional measuring device and the information on the status of the robot;the parameter calculation unit configured to calculate the first mechanism error parameter based on the actual measurement position of the robot and the information on the status of the robot; anda correction unit configured to change the first mechanism error parameter ...

Multi-joint robot having function for repositioning arm

A multi-joint robot using substantially one sensor, capable of performing a proper repositioning motion of an arm of the robot. The controller has a disturbance torque estimating part which estimates a first disturbance torque and a second disturbance torque, by calculating a torque generated by a mass and motion of the robot and subtracting the calculated torque from the first torque and the second torque detected by a torque detecting part. The controller has a repositioning commanding part which generates a motion command for rotating each axis so that the disturbance torque is reduced, when the disturbance torque exceeds a torque threshold. Since the axis is repositioned based on the motion command, a portion of the robot pushed by the operator is repositioned, whereby the operator can easily perform one's work without using a teaching board, etc.

CABLE DAMAGE DETECTION ASSISTANCE APPARATUS AND CABLE DAMAGE DETECTION ASSISTANCE METHOD IN ROBOT MECHANISM

A cable damage detection assistance apparatus in a robot mechanism includes a program executor for executing a program to operate a robot, a plurality of times, while changing velocity for driving motors whenever the program is executed; a motor controller for controlling the motors; a state quantity detector for detecting a state quantity indicating an operation state of the robot during the execution of the program; an alarm generator that, when the state quantity exceeds a threshold value, generates an alarm and outputs information about a line number at that time; an alarm database for counting the number of occurrence of alarms on each line number on which the alarm has occurred, and storing the alarm occurrence number on each line number on a velocity-by-velocity basis; and an analysis display for displaying the relationship between the alarm occurrence number and the velocity on each line number. 1. A cable damage detection assistance apparatus in a robot mechanism comprising:a program executor configured to execute a program that includes multiple program steps and operates a robot by driving motors of the robot having axes, a plurality of times, while changing velocity for driving the motors whenever the program is executed;a motor controller configured to control the motors based on a command from the program executor;a state quantity detector configured to detect a state quantity indicating an operation state of the robot during execution of the program;an alarm generator configured to compare the state quantity with a threshold value set in advance, and, when the state quantity exceeds the threshold value, generate an alarm, and output information about a line number of the program step in which the alarm has occurred;an alarm database configured to count the number of occurrence of alarms on each line number of the program step in which the alarm has occurred, and store the alarm occurrence number on each line number on a velocity-by-velocity basis; ...

Safety monitoring device for a workpiece engaging and supporting robot

Eine Sicherheitsüberwachungsvorrichtung umfasst eine Werkstückparameter-Schalteinheit, die einen Werkstückparameter umschaltet, eine Schätzeinheit einer äußeren Kraft, die als einen Schätzwert einer äußeren Kraft unter Verwendung des Werkstückparameters eine von einer äußeren Umgebung auf den Roboter wirkende Kraft schätzt, eine Überwachungseinheit einer äußeren Kraft, die den Roboter stoppt, wenn der Schätzwert einer äußeren Kraft eine Bestimmungsbedingung einer äußeren Kraft erfüllt, eine Arbeitsüberwachungseinheit, die den Roboter basierend auf Bedingungen, wie etwa eine Position des Roboters, die sich innerhalb einer vorbestimmten Bereichs befindet, stoppt, einen Arbeitsüberwachungszustands-Schalteinheit, die zwischen einem Deaktivierungsbefehl und einem Aktivierungsbefehl für die Arbeitsüberwachungseinheit umschaltet, und eine Einstelleinheit der Bestimmungsbedingung einer äußeren Kraft, die auf den Deaktivierungsbefehl hin die Bestimmungsbedingung einer äußeren Kraft auf eine Bestimmungsbedingung einer äußeren Kraft für eine Arbeitsüberwachungs-Deaktivierungszeit umschaltet und auf den Aktivierungsbefehl hin auf eine Bestimmungsbedingung einer äußeren Kraft für eine Arbeitsüberwachungs-Aktivierungszeit umschaltet. A safety monitoring device includes a workpiece parameter switching unit that switches a workpiece parameter, an external force estimation unit that estimates an external force acting on the robot from an external environment as an estimate of an external force, an external force monitoring unit that detects the external force Robot stops, when the estimated value of an external force satisfies a determination condition of an external force, a work monitoring unit that stops the robot based on conditions such as a position of the robot that is within a predetermined range, a work monitoring state switching unit operating between a deactivation command and an activation command for the work monitoring unit, and an external force determination ...

Device for damping vibrations

Human cooperation robot system in which robot is caused to perform retreat operation depending on external force

A human cooperation robot system includes: an external force detecting unit that detects an external force acting on a robot; a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is greater than a first threshold value; and an external force variation monitoring unit that stops the retreat operation when a variation width of the external force at a predetermined time after the retreat operation is commanded by the retreat operation commanding unit is smaller than a second threshold value.

Safety monitoring device for a robot that grips and carries a workpiece

Sicherheitsüberwachungsvorrichtung zum Überwachen eines Roboters (R), der mit einer Krafterfassungseinheit (S) zum Erfassen einer auf den Roboter wirkenden äußeren Kraft ausgestattet ist, wobei die Roboter-Sicherheitsüberwachungsvorrichtung umfasst:eine Werkstückparameter-Schalteinheit (22), die eingerichtet ist, um auf einen Werkstückparameter zu schalten, der mindestens eines von einer Masse, einem Massenschwerpunkt und einer Trägheitsmatrix eines durch den Roboter zu greifenden Werkstücks (W) umfasst;eine Schätzeinheit (23) einer äußeren Kraft, die eingerichtet ist, um, als Schätzwert einer äußeren Kraft, eine Kraft oder eine Drehmoment, die/das von einer äußeren Umgebung auf den Roboter wirkt, zu schätzen, indem der durch die Werkstückparameter-Schalteinheit geschaltete Werkstückparameter verwendet wird;eine Überwachungseinheit (26) einer äußeren Kraft, die eingerichtet ist, um den Roboter zu stoppen, wenn der Schätzwert einer äußeren Kraft eine Bestimmungsbedingung einer äußeren Kraft erfüllt;eine Arbeitsüberwachungseinheit (27), die eingerichtet ist, um den Roboter zu stoppen, wenn mindestens eine der folgenden Bedingungen nicht erfüllt wird: eine Position des Roboters befindet sich innerhalb eines vorbestimmten Bereichs, eine Bewegungsrichtung des Roboters ist eine vorbestimmte Richtung, eine Arbeitsgeschwindigkeit des Roboters ist gleich oder langsamer als eine vorbestimmte Geschwindigkeit, und eine Arbeitsbeschleunigung des Roboters ist gleich oder niedriger als eine vorbestimmte Beschleunigung;eine Arbeitsüberwachungszustands-Schalteinheit (24), die eingerichtet ist, um zwischen einem Arbeitsüberwachungs-Deaktivierungsbefehl zum Deaktivieren der Arbeitsüberwachungseinheit und einem Arbeitsüberwachungs-Aktivierungsbefehl zum Aktivieren der Arbeitsüberwachungseinheit umzuschalten; undeine Einstelleinheit (25) der Bestimmungsbedingung einer äußeren Kraft, die eingerichtet ist, um die Bestimmungsbedingung einer äußeren Kraft auf eine Bestimmungsbedingung einer ...

ROBOT CONTROL DEVICE FOR CONTROLLING A MOTOR-DRIVEN ROBOT

Eine Robotersteuerungsvorrichtung umfasst einen ersten Sensor, der in einem ersten Bereich verwendet wird, der die Gesamtheit des Betriebsbereichs des Roboters umfasst, einen zweiten Sensor, der in einem zweiten Bereich verwendet wird, der mindestens einen Teil des Betriebsbereichs des Roboters umfasst, und eine Bereichspeicherungseinheit zum Speichern eines dritten Bereichs, der sowohl im Betriebsbereich als auch im zweiten Bereich beinhaltet ist. Die Robotersteuerungsvorrichtung umfasst zudem eine Verhältniseinstelleinheit zum Einstellen eines Verhältnisses zwischen einer ersten Steuereingabe, die unter Verwendung des ersten Sensors erlangt wird, und einer zweiten Steuereingabe, die unter Verwendung des zweiten Sensors erlangt wird, in Bezug auf Steuereingaben in den Motor basierend auf dem Vergleich des dritten Bereichs mit der Position und Stellung des Roboters und eine Addiereinheit, um die erste Steuereingabe und die zweite Steuereingabe gemäß dem eingestellten Verhältnis zu addieren. A robot control apparatus includes a first sensor used in a first area including the entirety of the operation area of the robot, a second sensor used in a second area including at least a part of the operation area of the robot, and an area storage unit for Storing a third area that is included in both the operating area and the second area. The robot control apparatus further includes a ratio setting unit for setting a ratio between a first control input obtained by using the first sensor and a second control input obtained by using the second sensor with respect to control inputs to the engine based on the comparison of the second control input third area with the position and position of the robot and an adding unit to add the first control input and the second control input according to the set ratio.

A human-robot cooperation system in which a robot is caused to perform a withdrawal operation in response to an external force

Mensch-Roboter-Kooperationssystem (1), in dem ein Roboter (10) und ein Mensch (11) einen Kooperationsvorgang durchführen, während sie einen Arbeitsplatz miteinander teilen, dadurch gekennzeichnet, dass es Folgendes umfasst:eine Externe-Kraft-Erfassungseinheit (S, 21), die eine externe Kraft erfasst, die auf den Roboter (10) einwirkt;eine Rückzugsvorgangbefehlseinheit (22), die einen Rückzugsvorgang befiehlt, um zu bewirken, dass der Roboter (10) derart in einer Richtung bewegt wird, dass die externe Kraft verringert wird, wenn die externe Kraft, die von der Externe-Kraft-Erfassungseinheit (S, 21) erfasst wurde, größer als ein erster Grenzwert ist, wenn der Mensch (11) gegen den Roboter (10) drückt, der sich in einem Haltezustand befindet; undeine Externe-Kraft-Variationsbeobachtungseinheit (23), die den Rückzugsvorgang stoppt, wenn eine Variationsbreite der externen Kraft zu einer vorherbestimmten Zeit, nachdem der Rückzugsvorgang von der Rückzugsvorgangsbefehlseinheit (22) befohlen wurde, kleiner als ein zweiter Grenzwert ist. A human-robot cooperation system (1) in which a robot (10) and a human (11) cooperate while sharing a work station, characterized by comprising: an external force detection unit (S, 21) detecting an external force acting on the robot (10); a retreat operation command unit (22) that commands a retreat operation to cause the robot (10) to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit (S, 21) is greater than a first limit value when the human (11) presses against the robot (10) in a holding state is; andan external force variation observation unit (23) that stops the withdrawal operation when a variation width of the external force at a predetermined time after the withdrawal operation has been commanded by the withdrawal operation command unit (22) is smaller than a second limit value.

Spot welding system and method of controlling pressing force of spot welding gun

Vibration control device

A control device for controlling the motion of a movable part in a machine while suppressing vibration generated in the movable part. The control device includes a state-variable estimating section for estimating a state variable of a controlled system in the machine and outputting an estimated state variable; a reference model for outputting an ideal controlled variable for the controlled system; a compensator for calculating a compensation value for correcting a control input for the controlled system, based on a difference between the estimated state variable and the ideal controlled variable; and a feedback control section for determining the control input, based on a deviation between a desired command value and one of the estimated state variable and the ideal controlled variable. A corrected control input obtained by correcting the control input determined through the feedback control section by using the compensation value calculated through the compensator is input to the controlled system as well as to the state-variable estimating section and the reference model.

System for transporting a workpiece with a function for monitoring an external force

Ein Transportsystem beinhaltet eine externe Kraftberechnungseinheit, die eine externe Kraft, die auf einen Roboter ausgeübt wird, auf der Basis einer Kraft oder eines Drehmoments, die auf den Roboter ausgeübt wird und die von einer Krafterfassungseinheit erfasst wird, und Werkstückparametern, die gemäß dem Haltezustand eines Werkstücks geändert werden, berechnet, und eine Roboterstoppeinheit, die den Roboter stoppt, wenn die berechnete externe Kraft einen Grenzwert übersteigt. Das Transportsystem beinhaltet weiterhin eine relative Bewegungseinheit, die das gehaltene Werkstück und einen Werkstückträger relativ zueinander bewegt. Durch die relative Bewegungseinheit werden das Werkstück und der Werkstückträger relativ zueinander bewegt, ohne die Position und die Stellung des Roboters zu ändern. A transportation system includes an external force calculation unit that controls an external force applied to a robot based on a force or a torque applied to the robot and detected by a force detection unit and workpiece parameters that correspond to the holding state of a robot Workpiece, and a robotic stopping unit that stops the robot when the calculated external force exceeds a threshold value. The transport system further includes a relative movement unit that moves the held workpiece and a workpiece carrier relative to each other. The relative movement unit moves the workpiece and the workpiece carrier relative to one another without changing the position and position of the robot.

METHOD FOR FLEXIBLE CONTROL OF A SERVOMECHANISM

Zeroing method using a disturbance estimation observer

A B S T R A C T A zeroing method capable of preventing degradation of transient characteristics of a control system, attributable to provision of an observer, while enjoying the ability of the observer to eliminate a disturbance. An estimated disturbance (x) is determined in accordance with an actual current command (I-y') and an actual motor speed (v) by a disturbance estimation observer (5) which comprises four transfer elements (51 - 54) whose transfer functions (Kt/Jm, K1, K2/S, 1/S) are each determined by a corresponding one of a motor torque constant (Kt), and inertia (Jm) and parameters (K1, K2) of the system. When a position deviation amount is small, a gain-adjusted estimated disturbance (y') obtained in a gain adjusting means (4) by multiplying the estimated disturbance by a feedback gain of value "1" is subtracted from a current command (I), to thereby eliminate a static frictional disturbance. When the position deviation amount is large, the estimated disturbance is multiplied by the feedback gain of value "0" to render the observer to be inoperative, whereby degraded transient characteristics of the control system, due to the function of the observer, are prevented.

Cable damage detection assistance apparatus and cable damage detection assistance method in robot mechanism

A cable damage detection assistance apparatus in a robot mechanism includes a program executor for executing a program to operate a robot, a plurality of times, while changing velocity for driving motors whenever the program is executed; a motor controller for controlling the motors; a state quantity detector for detecting a state quantity indicating an operation state of the robot during the execution of the program; an alarm generator that, when the state quantity exceeds a threshold value, generates an alarm and outputs information about a line number at that time; an alarm database for counting the number of occurrence of alarms on each line number on which the alarm has occurred, and storing the alarm occurrence number on each line number on a velocity-by-velocity basis; and an analysis display for displaying the relationship between the alarm occurrence number and the velocity on each line number.

Robot with learning control function

Es wird ein Roboter mit einer Lernsteuerungsfunktion offenbart. Der Roboter umfasst eine Robotermechanismuseinheit, eine Lernsteuerungseinheit zum Erhalten von Daten über eine Positionsabweichung der Robotermechanismuseinheit beim Ausführen eines Aufgabenprogramms und zum Ausführen einer Lernsteuerung zum Berechnen einer Lernkorrekturgröße, um die Positionsabweichung der Robotermechanismuseinheit unter einen bestimmten Wert zu reduzieren, eine normale Steuerungseinheit zum Ausführen eines Lernvorganges der Robotermechanismuseinheit, um die Daten während der Lernsteuerung zu erhalten, und zum Ausführen eines tatsächlichen Betriebes der Robotermechanismuseinheit auf Grundlage der Lernkorrekturgröße, die durch die Lernsteuerungseinheit nach dem Durchführen der Lernsteuerung berechnet wird, und eine Anti-Ausnahme-Verarbeitungseinheit zum Ausführen eines Anti-Ausnahme-Verfahrens in dem Fall, bei dem ein Ausnahme-Verfahren während des Lernvorganges oder des tatsächlichen Betriebs auftritt. A robot with a learning control function is disclosed. The robot comprises a robot mechanism unit, a learning control unit for obtaining data on a positional deviation of the robot mechanism unit when executing a task program and for executing learning control for calculating a learning correction amount to reduce the positional deviation of the robot mechanism unit below a certain value, a normal control unit for executing a learning process the robot mechanism unit to obtain the data during the learning control and to perform an actual operation of the robot mechanism unit based on the learning correction amount calculated by the learning control unit after the learning control is performed, and an anti-exception processing unit for performing an anti-exception -Procedure in the case where an exception procedure occurs during the learning process or during actual operation.

Robot and robot maintenance time notification procedure

Roboter mit einem beweglichen Abschnitt (10), einer Steuerung und einer Speichereinheit, die Wartungszeitpunktinformationen über wenigstens die beweglichen Abschnitte (10) oder die Steuerung speichert. Die Steuerung führt eine vorbestimmte Benachrichtigungsverarbeitung basierend auf einem Vergleich zwischen Informationen über verstrichene Zeit und den Wartungszeitpunktinformationen durch. Der bewegliche Abschnitt (10) und die Steuereinrichtung befinden sich an einem vorbestimmten Arbeitsplatz, auf dem ein zweiter Roboter (1) installiert ist. Die Steuerung korrigiert die Wartungszeitpunktinformationen oder die Informationen über verstrichene Zeit anhand der vom zweiten Roboter (1) empfangenen Informationen. A robot having a movable portion (10), a controller and a storage unit that stores maintenance time information about at least the movable portions (10) or the controller. The controller performs a predetermined notification processing based on a comparison between the elapsed time information and the maintenance timing information. The movable section (10) and the control device are located at a predetermined workstation on which a second robot (1) is installed. The controller corrects the maintenance time information or the elapsed time information based on the information received from the second robot (1).

ROBOT CONTROL WITH ROBOT FAULT DIAGNOSIS

Eine Robotersteuerung hat eine Einheit zum Gewinnen von ersten Zeitfolgedaten, eingerichtet zum Gewinnen erster Daten, welche für eine Störungsdiagnose in einer Zeitfolge verwendet werden, und zum Speichern der ersten Daten als erste Zeitfolgedaten, eine Einheit zum Gewinnen zweiter Zeitfolgedaten, eingerichtet zum Gewinnen zweiter Daten, welche für die Extraktion erster Daten für die Störungsdiagnose in Zeitfolge verwendet werden, und zum Speichern der zweiten Daten als zweite Zeitfolgedaten, eine Zeitbestimmungseinheit zum Bestimmen einer Extraktionszeit der ersten Daten, welche für die Störungsdiagnose verwendet werden, auf Basis der zweiten Zeitfolgedaten, eine Datenextraktionseinheit zum Extrahieren der ersten Daten gemäß der Extraktionszeit, und eine Diagnosedurchführungseinheit zum Durchführen der Störungsdiagnose bezüglich des Roboters auf Basis der durch die Datenextraktionseinheit extrahierten ersten Daten. A robot controller has a first time sequential data obtaining unit configured to obtain first data used for a time series failure diagnosis and to store the first data as first time series data, a second time series data obtaining unit configured to acquire second data, which are used for extraction of first data for the trouble diagnosis in time series, and for storing the second data as second time series data, a time determination unit for determining an extraction time of the first data used for the trouble diagnosis on the basis of the second time series data, a data extraction unit for Extracting the first data according to the extraction time, and a diagnostic execution unit for performing the fault diagnosis on the robot based on the first data extracted by the data extraction unit.

Digitale belichtungssteuervorrichtung fuer eine kamera

Robot control device

A robot control device includes a position-accuracy-information storage unit that stores position accuracy information at a plurality of division points defined when an operating area space of the multi joint robot is divided into a plurality of areas in a grid shape, a position-accuracy calculation unit that calculates position accuracy at the end-effector position based on the position accuracy information and the current end-effector position of the multi-joint robot, and a position-accuracy output unit that outputs the calculated position accuracy to an outside.

Control device and robot system

A control device for controlling a machine with axes having a corotational relation includes: axis position detectors; motor position detectors; a position command calculation unit calculating a position command for each of the axes based on an operation program; a position control unit outputting a speed command of each motor based on the position command and the detection position of the corresponding axis; a speed control unit controlling each motor based on the speed command; and a correction value calculation unit calculating a correction value for correcting, based on the corotational relation, the speed command of a motor with a to-be-controlled axis which is an axis rotating dependent on the corotational relation. The speed control unit corresponding to the to-be-controlled axis corrects the speed command based on the correction value so as to be applied to control of the motor with the to-be-controlled axis.

Steuervorrichtung und Robotersystem

Es wird eine Steuervorrichtung bereitgestellt, die in der Lage ist, eine geeignete Steuerung in einem vollständig geschlossenen Steuerungsschema auszuführen, selbst wenn einige Achsen in einer Korotationsbeziehung stehen. Eine Steuervorrichtung 20 zur Steuerung des Betriebs einer Maschine, in der eine Mehrzahl von Achsen eine Korotationsbeziehung aufweist, ist versehen mit: Achspositionserfassungseinrichtungen 121-126; Motorpositionserfassungseinrichtungen 221-226; einer Positionsbefehlsberechnungseinheit 27, die einen Positionsbefehl für jede der Achsen auf der Grundlage eines Betriebsprogramms berechnet; einer Positionssteuereinheit 261, die einen Geschwindigkeitsbefehl für jeden Motor auf der Grundlage des Positionsbefehls und der Erfassungsposition der entsprechenden Achse ausgibt; einer Geschwindigkeitssteuereinheit 262, die jeden Motor auf der Grundlage des Geschwindigkeitsbefehls steuert; und eine Korrekturwertberechnungseinheit 28, die einen Korrekturwert zur Korrektur des Geschwindigkeitsbefehls eines Motors mit einer zu steuernden Achse, bei der es sich um eine Achse handelt, die sich in Abhängigkeit von der Korotationsbeziehung dreht, auf der Grundlage der Korotationsbeziehung berechnet. Die Geschwindigkeitssteuereinheit 262, die der zu steuernden Achse entspricht, korrigiert den Geschwindigkeitsbefehl auf der Grundlage des Korrekturwerts, um ihn auf die Steuerung des Motors mit der zu steuernden Achse anzuwenden.

Steuervorrichtung und steuersystem

Eine Vielzahl Herstellungsmaschinen werden durch Identifizieren und Beseitigen von umweltfaktorbasiertem Rauschen, das in Signalen enthalten ist, mit hoher Genauigkeit gesteuert. Bereitgestellt wird eine Steuervorrichtung, die eine Empfangseinheit 21, welche Ausgangssignale, die von einer Vielzahl von Herstellungsmaschinen ausgegeben werden, über ein Kommunikationsnetzwerk empfängt; eine Rauschkomponentenextraktionseinheit 22, welche eine gemeinsame Rauschkomponente, die in den empfangenen Ausgangssignalen enthalten ist, extrahiert; und eine Rauschkomponentenbeseitigungseinheit 23, welche die extrahierte Rauschkomponente aus wenigstens einem der Ausgangssignale beseitigt, aufweist.

Calibration apparatus for calibrating mechanism error parameter for controlling robot

A robot controller includes at least one memory that stores a plurality of mechanism error parameters including a first mechanism error parameter and a second mechanism error parameter. At least one processor of the robot controller acquires an actual measurement position and information on a status of a robot by driving the robot with a plurality of orientations at a plurality of positions based on the second mechanism error parameter. The at least one processor calculates a third mechanism error parameter by correcting a value of the first mechanism error parameter based on the acquired actual measurement position and information on the status of the robot. The robot is controlled based on the plurality of mechanism error parameters including the second mechanism error parameter and the third mechanism error parameter.

Vorrichtung und Verfahren zum Erkennen einer Abnormalität eines Robotergelenks

Vorrichtung und Verfahren zum Beurteilen des Vorhandenseins oder Fehlens eines abnormalen Spiels zwischen paarbildenden Elementen eines passiven Gelenks eines Roboters. Die Vorrichtung weist Abschnitte auf, die konfiguriert sind, um: eine Punktzahl für jeden Bewegungspfad zu berechnen, wobei die Punktzahl erhöht wird, wenn die paarbildenden Elemente eines Zielpaares miteinander kollidieren, und verringert wird, wenn die paarbildenden Elemente des anderen Paares miteinander kollidieren; eine Roboterbewegung erzeugen, um den Roboter entlang des Bewegungspfades zu bewegen, der Punktzahl aufweist, die nicht niedriger als ein vorgegebener Schwellenwert ist; ein Antriebsdrehmoment oder einen Stromwert eines Motors zu messen, wenn der Roboter gemäß der erzeugten Roboterbewegung bewegt wird; einen Indexwert basierend auf einer Größe der Variation des gemessenen Antriebsdrehmoments oder gemessenen Stromwertes zu berechnen; und basierend auf dem Indexwert zu beurteilen, ob das abnormale Spiel in dem Zielpaar vorhanden ist.

Kalibriersystem und Kalibrierverfahren eines Roboters

Eine absolute Genauigkeit einer Roboterspitze wird durch die Identifizierung einer geeigneten Anzahl und geeigneter Arten von mechanischen Fehlerparametern verbessert.Ein Kalibriersystem 1 eines Roboters umfasst eine Datenspeichereinheit 5, die eine Mehrzahl von Elementen von Daten speichert, in denen momentane Messpositionsinformationen, die durch momentanes Messen einer Spitzenposition des Roboters erhalten wurden, und Informationen, welche einen Zustand des Roboters bei der momentanen Messung der momentanen Messpositionsinformationen anzeigen, kombiniert sind; eine Parameterauswahleinheit 6, 7, die mechanische Fehlerparameter, die zu identifizieren sind, aus Parametern auswählt, die mechanische Fehler des Roboters anzeigen; eine Parameteridentifizierungseinheit 8, die jeden der mechanischen Fehlerparameter unter Verwendung der in der Datenspeichereinheit gespeicherten Daten und Informationen der durch die Parameterauswahleinheit ausgewählten mechanischen Fehlerparameter identifiziert; und eine Identifikationsergebnisauswerteeinheit 9, die ein Identifikationsergebnis durch die Parameteridentifizierungseinheit auswertet, wobei, in einem Fall, in dem eine Bewertung durch die Identifikationsergebnisauswerteeinheit ein vorgegebenes Kriterium nicht erfüllt, die Auswahl verschiedener mechanischer Fehlerparameter durch die Parameterauswahleinheit 6, 7, eine Identifizierung und Bewertung wiederholt werden.

Kalibriervorrichtung zum kalibrieren von mechanismusfehlerparametern zur steuerung eines roboters

Eine Steuervorrichtung umfasst eine Parameterbestimmungseinheit, die erste Mechanismusfehlerparameter als ungültig bestimmt. Die Steuervorrichtung umfasst eine Messsteuereinheit, die einen Roboter unter Verwendung von zweiten Fehlerparametern außer den ersten Fehlerparametern in mehrere Positionen und Lagen antreibt und durch ein dreidimensionales Messgerät tatsächlich gemessene Positionen des Roboters misst. Die Steuervorrichtung umfasst eine Parameterberechnungseinheit, die auf Basis der tatsächlichen Positionen des Roboters und von Drehpositionen von Roboterantriebsmotoren erste Mechanismusfehlerparameter berechnet. Die Steuervorrichtung umfasst eine Korrektureinheit, die die durch die Parameterbestimmungseinheit als ungültig bestimmten ersten Mechanismusfehlerparameter zu den durch die Parameterberechnungseinheit berechneten ersten Mechanismusfehlerparametern ändert.

Device and method for detecting abnormality of joint of robot

A device and method for judging the presence or absence of an abnormal clearance between paring elements of a passive joint of a robot. The device has sections configured to: calculate a score for each motion path, wherein the score is increased when the paring elements of an objective pair collide with each other and is decreased when the paring elements of the other pair collide with each other; generate a robot motion for moving the robot along the motion path having the score not lower than a predetermined threshold; measure a drive torque or a current value of a motor when the robot is moved according to the generated robot motion; calculate an index value based on a magnitude of variation of the measured drive torque or current value; and judge as to whether the abnormal clearance exists in the objective pair, based on the index value.

Kalibriersystem und Kalibrierverfahren eines Roboters

Kalibriersystem (1) eines Roboters (2), umfassend:eine Datenspeichereinheit (5), die eine Mehrzahl von Elementen von Daten speichert, in denen momentane Messpositionsinformationen, die durch momentanes Messen einer Spitzenposition (A) des Roboters (2) erhalten wurden, und Informationen, welche einen Zustand des Roboters (2) bei der momentanen Messung der momentanen Messpositionsinformationen anzeigen, kombiniert sind;eine Parameterauswahleinheit (7), die mechanische Fehlerparameter, die zu identifizieren sind, aus Parametern auswählt, die mechanische Fehler des Roboters (2) anzeigen;eine Parameteridentifizierungseinheit (8), die jeden der mechanischen Fehlerparameter unter Verwendung der in der Datenspeichereinheit (5) gespeicherten Daten und Informationen der durch die Parameterauswahleinheit (7) ausgewählten mechanischen Fehlerparameter identifiziert; undeine Identifikationsergebnisauswerteeinheit (9), die ein Identifikationsergebnis durch die Parameteridentifizierungseinheit (8) auswertet,wobei, in einem Fall, in dem eine Bewertung durch die Identifikationsergebnisauswerteeinheit (9) ein vorgegebenes Kriterium nicht erfüllt, die Auswahl verschiedener mechanischer Fehlerparameter durch die Parameterauswahleinheit (7), die Identifizierung durch die Parameteridentifizierungseinheit (8) und die Bewertung durch die Identifikationsergebnisauswerteeinheit (9) wiederholt werden, undin einem Fall, in dem die Bewertung durch die Identifikationsergebnisauswerteeinheit (9) das vorgegebene Kriterium erfüllt, die zu diesem Zeitpunkt identifizierten mechanischen Fehlerparameter an eine Steuereinrichtung ausgegeben werden.

Control apparatus for giving notification of maintenance and inspection times of signal-controlled peripheral devices

A control apparatus in an automaton that operates in cooperation with a peripheral device, includes: an operating time accumulator regarding the output time of a control signal to the peripheral device or the output time of an operating signal from the peripheral device as operating time and determining cumulative operating time by adding up the operating times; a time-at-inspection recorder recording the cumulative operating time when inspection is performed as the cumulative operating time at inspection; a cumulative operating time comparator comparing the difference between the current cumulative operating time and the cumulative operating time at inspection, the cumulative operating time from the latest inspection, or the cumulative operating time after inspection, with a preset inspection interval; and, a maintenance request output unit outputting a maintenance request to the outside when the cumulative operating time after inspection obtained as a result of the comparison exceeds the preset inspection interval.

Control device for robot that performs work by pressing tool against workpiece

A robot control device includes a correction amount calculation unit that calculates a correction amount for collecting a deviation of a tip position of a tool attached to a tip of a robot due to an external force applied to the tool and a correction profile generation unit that generates a correction profile indicating a relationship between the correction amount calculated by the correction amount calculation unit and time.

Robot control device for controlling motor-driven robot

A robot control device includes a first sensor which is used in a first range including the entirety of the operating range of the robot, a second sensor which is used in a second range including at least a part of the operating range of the robot, and a range storing unit for storing a third range included in both the operating range and the second range. The robot control device also includes a ratio setting unit for setting a ratio between a first control input obtained using the first sensor and a second control input obtained using the second sensor with respect to control inputs to the motor based on the comparison of the third range and the position and posture of the robot, and an addition unit for adding the first control input and the second control input together in accordance with the set ratio.

Multi-joint robot having function for repositioning arm

A multi-joint robot using substantially one sensor, capable of performing a proper repositioning motion of an arm of the robot. The controller has a disturbance torque estimating part which estimates a first disturbance torque and a second disturbance torque, by calculating a torque generated by a mass and motion of the robot and subtracting the calculated torque from the first torque and the second torque detected by a torque detecting part. The controller has a repositioning commanding part which generates a motion command for rotating each axis so that the disturbance torque is reduced, when the disturbance torque exceeds a torque threshold. Since the axis is repositioned based on the motion command, a portion of the robot pushed by the operator is repositioned, whereby the operator can easily perform one's work without using a teaching board, etc.

Robot controller for avoiding problem regarding robot at the time of emergency stop

A robot controller having a function for mitigating damage to a robot when the robot is brought to an emergency stop, and for facilitating restoration of the robot from the emergency stop. The robot controller has a controlling part which controls a motion of a robot based on a predetermined robot program; a first detecting part which detects a predetermined abnormality which does not require the robot to be immediately stopped; a stopping condition judging part which judges as to whether or not a predetermined stopping condition is satisfied when the first detecting part detects the abnormality; and a stopping process executing part which executes a stopping process of the robot when the stopping condition is satisfied, and does not execute the stopping process when the stopping condition is not satisfied.

Robot control apparatus having function of detecting contact with object or person

A robot control apparatus comprises a contact detection unit which judges whether or not a robot is in contact with an object other than the robot, and an operation direction monitor unit which detects an operation direction of the robot after the robot comes in contact with the object and monitors operation of the robot. After the robot comes in contact with the object, the operation direction monitor unit permits operation of the robot being within a permissible range and inhibits operation of the robot falling outside the permissible range.

Human cooperation robot system in which robot is caused to perform retreat operation

A human cooperation robot system includes: an external force detecting unit that detects an external force acting on a robot; a retreat operation commanding unit that commands a retreat operation for causing the robot to be moved in a direction such that the external force is decreased when the external force detected by the external force detecting unit is larger than a first threshold value; a position acquiring unit that a current position of the robot; and a retreat operation stopping unit that stops the retreat operation when the current position of the robot acquired by the position acquiring unit departs from a retreat area.

Safety monitoring device for robot gripping and carrying workpiece

A safety monitoring device monitoring a robot includes a workpiece parameter switching unit switching a workpiece parameter, an external force estimation unit estimating, as an external force estimation value, a force acting on the robot from an external environment by using the workpiece parameter, an external force monitoring unit stopping the robot when the external force estimation value satisfies an external force determination condition, an operation monitoring unit stopping the robot, based on conditions such as a position of the robot being included within a predetermined region, an operation monitoring state switching unit switching between a disabling command and an enabling command for the operation monitoring unit, and an external force determination condition setting unit switching the external force determination condition to an operation monitoring disabling time external force determination condition at the disabling command and to an operation monitoring enabling time external force determination condition at the enabling command.

Human collaborative robot system

A human-collaborative robot system includes a detection unit that directly or indirectly detects a physical quantity which is changed in response to contact force applied to a robot when the robot comes in contact with an external environment, and a stop command unit that compares the physical quantity detected by the detection unit with a first threshold value and a second threshold value greater than the first threshold value, stops the robot according to a predetermined stop method when the physical quantity is equal to or greater than the first threshold value and is smaller than the second threshold value, and stops the robot in a shorter period of time as compared with the predetermined stop method when the physical quantity is equal to or greater than the second threshold value.