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If you ever become separated from Sergeant RL-3, he will be waiting for you in Canterbury Commons. After you have recruited Sergeant RL-3 you can raise or lower your Karma rating without losing him.
My advice
If you dismissed all the followers and talk to joe or the robot it should follow with the neutral karma system. You have to talk to Joe to gain the bot. Joe should be at tenpenny towers near the rob co. Either way i think the robot can only follow you when you have neutral karma. Or try commands.
Did you use any companion mods?
If not it could be your save >< i have never really experienced companion problems or try some mods to fix it.
https://steamcommunity.com/sharedfiles/filedetails/?id=570741327
I hope your problem was sovled, if not then it's your save.