A system and method are provided for automated engaging of a truck trailer at a loading dock. Sensors measure a distance and an angle of alignment between the incoming trailer and a wall of the loading dock. An outside lighting system guides a truck driver backing the trailer toward the dock door. A vehicle restraint system fixates the trailer within the loading dock in response to signals from the sensors. An overhead dock door opens once the trailer is successfully fixated by the vehicle restraint system. A dock leveler deploys after the overhead dock door opens. An inside dock light indicates to dock personnel that the trailer is ready to be serviced. Once servicing of the trailer is finished, an automated release of the trailer from the loading dock may be initiated by PLC communication.

A computer-implemented method executed by data processing hardware of a robot causes the data processing hardware to perform operations. The robot includes an articulated arm having an end effector configured to engage with an object. The operations include receiving a measured task parameter set for the end effector. The measured task parameter set representing positions of the end effector while manipulating the object. The operations also include generating a task space model for the object based on the measured task parameter set. The task space model modelling the at least one constrained axis of the object. The operations further include limiting movement of the end effector along the at least one constrained axis of the object based on the task space model.

A robot apparatus includes: a door opening/closing robot and a controller. The door opening/closing robot includes a base, a first arm, a second arm, a third arm, and a fourth arm. The door opening/closing robot is disposed between a side surface of the vehicle body and a booth side wall. The controller sequentially performs a door opening control for controlling the door opening/closing robot such that a tool opens a door at an upstream side of a first axis in a direction of a conveyance line, a door following control for controlling the door opening/closing robot such that an opened state of the door is maintained while the vehicle body is being conveyed along the conveyance line, and a door closing control for controlling the door opening/closing robot such that the tool closes the door at a downstream side of the first axis in the direction of the conveyance line.