When occurrence of an obstruction has been detected during action of a robot, a path generation section acquires environment information at a periphery of the robot after obstruction occurred, robot specification information, and safe pose information representing a recovery-pose for the robot, and generates a path of the robot from a pose after obstruction occurred to a safe pose based on the acquired information.

Provided is a method for computer-aided user assistance during the activation of a movement planner for a machine, in which: a user interface is provided and can be used by a user to specify parameterization data for the movement planner, wherein the parameterization data comprise a machine model and an environment model; the collision-free movement space and the collision-prone movement space of the machine in the configuration space are determined on the basis of parameterization data specified via the user interface; one or more features with respect to the collision-free and/or collision-prone movement space are determined; a predefined plausibility criterion is checked for a respective feature of at least some of the features, wherein, if the plausibility criterion has not been satisfied, an output in the form of a warning message is produced via the user interface.

The present disclosure provides a robot motion path planning method, apparatus, and terminal device. The method includes planning a planned path for a robot in a current scene using an open motion planning library (OMPL) database, setting a shortest ideal path as an initial ideal path, calculating a new path between the planned path and the initial ideal path using a dichotomy method, determining whether the new path meets an obstacle avoidance requirement and a structural constraint of the robot in the current scene, making the new path as the new planned path if yes, otherwise determining the new path as a new ideal path, optimizing the planned path using the dichotomy method iteratively until an error between the planned path and the ideal path is within a preset range, and determining the planned path as a motion path of the robot, thereby improving the motion efficiency.

A robot device includes an arm, a force sensor, and an adjustment portion. The force sensor is provided at a front end portion of the arm and has a force detecting portion that detects an externally exerted force. The adjustment portion performs a zero point adjustment by setting a reference point of the force detected by the force sensor based on a detection result by the force sensor. The detection result is obtained when the force detecting portion of the force sensor is in a protected condition. The protected condition is a condition in which no load is applied on the force detecting portion of the force sensor. According to this robot device, a technology for accurately setting the reference point of the force detected by the force sensor can be provided.

An operation instruction list including starting points and ending points of trajectories of a plurality of robot arms is generated (a trajectory definition data generation process). Order of generation of trajectories is determined in accordance with the operation instruction list (a generation order determination process). A trajectory of a specific robot arm included in the operation instruction list is generated in accordance with a starting point and an ending point such that the trajectory avoids obstacle spaces registered in the obstacle memory when trajectories of other robot arms are generated (a trajectory generation process). A sweeping space in which a structure of the arm sweeps when the robot arm is operated along the generated trajectory is added to the obstacle memory as an obstacle space to be avoided by the other robot arm (an obstacle registration process).

A work transfer system may include cassettes to house a work; a processing apparatus; and a robot to load and unload the work. The robot may include a base, a base link connected to the base, an arm link coupled to the base link, an arm connected to the arm link, and a hand connected to the arm. The base link and the arm link are controlled so that a center a coupling shaft of the arm link and the arm moves along a straight line. The cassettes are parallel to the straight line. A via point is specified for each quadrant of coordinate system and the robot moves between stages that are a target of loading or unloading of the work and uses the via point as a via point when moving.

A machining system has a machine tool, a numerical controller which moves a machining table of the machine tool according to a machining program, a robot which performs a process to a work on the machining table, and a robot control unit, and the numerical controller is configured to send a current position coordinate of the machining table, a prefetched position coordinate of the machining table, which is calculated by prefetching the machining program and carrying out an acceleration and deceleration interpolation, and time information, which corresponds to the current position coordinate and the prefetched position coordinate, to the robot control unit, and the robot control unit controls the robot so that the distal end portion of the robot follows the movement of the machining table by using the current position coordinate, the prefetched position coordinate, and the time information, which are received from the numerical controller.

A motion plan device 10X mainly includes a condition setting means 90X and a motion plan means 100X. The condition setting means 90X sets a first condition in which a robot performing a pick-and-place for one or more transport objects and the one or more transport objects are located inside movable region being a region where no collision with a collision avoidance necessary target occurs, and a second condition in which, while the robot is grasping and carrying the transport object, the movable region around the collision avoidance necessary target of the robot and the movable region around the collision avoidance necessary target of the transport object being carried match with each other. Next, the motion plan means 100X calculates a motion plan of the robot based on the first condition and the second condition.

A robotic system receives from a first agent included in a plurality of robotically controlled agents a request to be provided a motion plan to perform a first pick and place task assigned to the first agent. A first motion plan is determined for the first agent, including by taking into consideration a second motion plan associated with a second agent included in the plurality of robotically controlled agents to perform a second pick and place task assigned to the second agent, at least in part by considering a swept volume associated with at least a remaining uncompleted portion of the second motion plan as an obstacle with which the first agent will not collide while implementing the first motion plan.

Devices and systems for performing an operation are provided. The system comprises a mobile platform comprising a frame having side supports and a rear support, side wheel assemblies coupled to the side supports, and a rear wheel assembly coupled to the rear support. The wheel assemblies each comprise wheels and a wheel frame, the wheel frame being pivotally connected to the side and rear supports. The system further comprises a first control system for controlling movement of the mobile platform and a manipulator element coupled to the mobile platform. The manipulator element is configured to removably connect to the mobile platform and to perform an operation. The manipulator element comprises a second control system for controlling the operation. The first control system and the second control system are configured to communicate to cause the mobile platform to move and to cause the manipulator element to perform the operation.