A method for operating the X-ray device, which includes a detector, a radiation source, or a C-arm including the detector and the radiation source, and an articulated arm and a base. Initially, a starting position of the X-ray device is specified with respect to the detector, the radiation source, or the C-arm, and the articulated arm, and an end position of the X-ray device is specified at least with respect to the detector, the radiation source, or the C-arm. A plurality of paths that may be followed by the articulated arm and the detector, the radiation source, or the C-arm on movement from the starting position into the end position are automatically determined. One path of the plurality of paths for the movement of the X-ray device is selected, and the X-ray device is moved into the end position.

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 method for determining values influencing movement of a robot is disclosed. The method includes the following steps: a) provision of a task to be performed by the robot and a worker; b) provision of a layout of a workstation; c) provision of tool data; d) determination of respective axial movement patterns of the robot on the basis of steps a) to c); e) provision of a worker workspace; f) determination of critical path points of the robot, where a specified movement speed is exceeded by the robot and/or a specified mass of an element to be moved by the robot is exceeded, on the basis of the axial movement patterns and the workspace; g) simulation of respective collisions at the critical path points by a second robot; and h) determination of permissible operating speeds of the robot for each critical path point on the basis of the simulated collisions.

A method for motion planning for at least one robot includes providing a start configuration comprising at least one start position and a destination configuration comprising at least one destination position for the robot, providing a motion of at least one obstacle in the workspace of the robot, the obstacle motion defining a position of the obstacle that varies over time, and determining a motion of the robot from its start configuration to its destination configuration. The robot motion definies a position of the robot over a time period from a start time to a destination time. The robot motion is determined such that at each point in time between the start and destination times a distance between the robot and the obstacle does not fall below a predetermined threshold.

Methods and apparatus related to robot collision avoidance. One method may include: receiving robot instructions to be performed by a robot; at each of a plurality of control cycles of processor(s) of the robot: receiving trajectories to be implemented by actuators of the robot, wherein the trajectories define motion states for the actuators of the robot during the control cycle or a next control cycle, and wherein the trajectories are generated based on the robot instructions; determining, based on a current motion state of the actuators and the trajectories to be implemented, whether implementation of the trajectories by the actuators prevents any collision avoidance trajectory from being achieved; and selectively providing the trajectories or collision avoidance trajectories for operating the actuators of the robot during the control cycle or the next control cycle depending on a result of the determining.

A control device of a machine with a plurality of position-controlled axes controls the position-controlled axes in accordance with a part program while processing a system program. Through the control of the position-controlled axes, an end effector is moved along a track defined by the part program via at least one intermediate element relative to a base body of the machine under position control. While processing the system program, the control device checks before control of the position-controlled axes with a parameterizable model of the machine, whether the end effector can move along the track without collisions. Before checking the part program, the control device receives initial measured values characteristic of an actual configuration of the machine, determines parameters of the model based on the initial measured values and parameterizes the model in accordance with the determined parameters.

A manual feed apparatus of a robot comprises an interference calculation apparatus configured to calculate an operable range in which the robot can operate without causing interference. The interference calculation apparatus includes an operation range setting part configured to judge a position at which the robot can operate without interfering with a peripheral object and set the operable range. The operation range setting part calculates the operable range during a period when the robot is stopped. The interference calculation apparatus calculates an operation allowable range in a direction in which the robot operates based on the operable range. The robot control apparatus executes control for reducing a speed of the robot when the operation allowable range is smaller than a predetermined judgement value.

An interference avoidance device is provided with: a three-dimensional sensor that is attached to a tip portion of a robot arm and acquires a distance image of an area around a robot; a position data creating portion that converts coordinates of a nearby object in the distance image to coordinates on a robot coordinate system and creates the position data of the nearby object based on the coordinates of the nearby object on the robot coordinate system; a storage portion that stores the position data; and a control portion that controls the robot based on the robot coordinate system; and the control portion controls the robot to avoid interference of the robot with the nearby object, based on the position data stored in the storage portion.

A path generation device including an acquisition unit, a setting unit, and a path generation unit. The acquisition unit is configured to acquire pose information relating to an initial pose and a target pose of a robot, position information relating to a position of the robot, obstacle information including a position of an obstacle present in a range of interference with the robot, and specification information relating to a specification including a shape of the robot. The setting unit is configured to, based on a positional relationship between the robot and the obstacle, set a clearance amount representing an amount of clearance to avoid the interference for at least one out of the robot or an obstacle present in a range of interference with the robot.

An interference check system capable of appropriately checking interference between a machine tool and a robot in real time even in the case where real-time properties of data communication are not secured in a system including a machine tool and a robot. The interference check system includes a machine tool controller configured to control a machine tool, a robot controller configured to control a robot, and an interference check execution unit configured to include shape model data or the like of a machine tool mechanical unit and a robot mechanical unit. The interference check execution unit checks presence/absence of interference between the machine tool mechanical unit and the robot mechanical unit based on the shape model data of the machine tool and the robot and time-series data generated by integrating the positions of the control axes of the machine tool and the robot, respectively.