The invention relates to a method of collision handling for a robot with a kinematic chain structure comprising at least one kinematic chain, wherein the kinematic chain structure includes: a base, links, joints connecting the links, actuators and at least one end-effector, a sensor S.sub.distal.i in the most distal link of at least one of the kinematic chains for measuring/estimating force/torque, and sensors S.sub.i for measuring/estimating proprioceptive data, wherein the sensors S.sub.i are arbitrarily positioned along the kinematic chain structure, the method including: providing a model describing the dynamics of the robot; measuring and/or estimating with sensor S.sub.distal.i force/torque F.sub.ext,S.distal.i in the most distal link of at least one of the kinematic chains; measuring and/or estimating with the sensors S.sub.i proprioceptive data: base and robot generalized coordinates q(t) and their time derivative {dot over (q)}(t), generalized joint motor forces τ.sub.m, external forces F.sub.S, a base orientation φ.sub.B(t) and a base velocity {dot over (x)}(t).sub.B; generating an estimate {circumflex over (τ)}.sub.∈ of the generalized external forces τ.sub.ext with a momentum observer based on at least one of the proprioceptive data and the model; generating an estimate {umlaut over ({circumflex over (q)})}(t) of a second derivative of base and robot generalized coordinates {umlaut over (q)}(t), based on {circumflex over (τ)}.sub.∈ and τ.sub.m; estimating a Cartesian acceleration {umlaut over ({circumflex over (x)})}.sub.D of point D on the kinematic chain structure based on {umlaut over ({circumflex over (q)})}(t); compensating the external forces F.sub.D for rigid body dynamics effects based on {umlaut over ({circumflex over (x)})}.sub.D and for gravity effects to obtain an estimated external wrench {circumflex over (F)}.sub.ext,S.i; compensating {circumflex over (τ)}.sub.∈ for the Jacobian J.sub.S.distal.i.sup.T transformed F.sub.ext,S.distal.i to obtain an estimation {circumflex over (τ)}.sub.ext,col of generalized joint forces originating from unexpected collisions; detecting a collision based on given thresholds τ.sub.thresh and F.sub.S.i,thresh if {circumflex over (τ)}.sub.ext,col>τ.sub.thresh and/or if {circumflex over (F)}.sub.ext,S.i>F.sub.S.i,thresh.

Provided is a method for detecting an imminent collision between an object and a component of an autonomous system in the real environment including at least one real, decentralized autonomous component, whereby of at least a part of the autonomous system a virtual image is available, emulating at least one aspect of the autonomous system.

An object recognition apparatus for automatic detection of an abnormal operation state of a machine including a machine tool operated in an operation space monitored by at least one camera configured to generate camera images of a current operation scene is provided. The generated camera images are supplied to a processor configured to analyze the current operation scene using a trained artificial intelligence module to detect objects present within the current operation scene. The processor is also configured to compare the detected objects with objects expected in an operation scene in a normal operation state of the machine to detect an abnormal operation state of the machine.

A method of monitoring movement of a robotic arm, the robotic arm being arranged to be moved by an actuator, the method comprising: determining an expected robotic arm condition based on a known robotic condition and a torque applied to the robotic arm by the actuator; measuring an actual robotic arm condition during movement of the arm caused by the applied torque; and determining whether a collision has occurred by comparing the actual robotic arm condition with the expected robotic arm condition and generating a collision signal if a difference between the actual robotic arm condition and the expected robotic arm condition exceeds a threshold.

Operation information on a robot is recorded in a temporary data recorder continually only for a predetermined period. The operation information for one cycle during a normal operation of the robot is retrieved from the temporary data recorder, and is recorded in a normal-state data recorder. If a storage control section determines that a predetermined trigger condition has occurred, some pieces of the operation information recorded in the temporary data recorder are recorded in the trigger-state data recorder. An operation information display displays the operation information in a normal state and the operation information in a trigger state so that these pieces of the operation information can be compared with each other.

A robot safety weight compensation system and method calculate a difference between an estimated torque calculated by a dynamics model and a detected torque to form a weight tolerance. When the weight tolerance exceeds a predetermined trigger condition, an error notification is output, and the robot is brought to a safe state. When the weight tolerance is within a predetermined trigger condition, a weight compensation information is sent to correctly compensate the weight held by a robot.

In the present invention, contact between an operator and a robot that moves a workpiece is avoided, and an effect on an article is reduced. This robot controller (1), which controls the operation speed of a robot (2) that moves a workpiece (3), comprises: a prediction unit (11) that predicts contact from the position of a robot and the position of a person or object; and an acceleration change unit (12) that, when contact is predicted by the prediction unit, changes the acceleration at which the speed of the robot is reduced to perform an emergency stop in accordance with the presence of the workpiece.

A control device for a robot is configured to control operation of a robotic arm having a plurality of links coupled to each other through a rotation axis, and a motor for drive provided to the rotation axis. The control device includes an angle calculating module configured to calculate an angle formed by the two links adjacent to each other through the rotation axis, and an angle monitoring module configured to monitor whether the angle calculated by the angle calculating module is a given angle or below.

A method of evaluating safety of a robot includes a step of obtaining a three-dimensional image or three-dimensional model of a test robot comprising shape information of a real robot, a step of setting a movement time and movement path of the test robot by inputting profile information comprising movement time information and movement path information of the test robot, a step of calculating a collision pressure and collision force applied to a collision object in consideration of a shape, effective mass, movement speed, and direction of an injury-causing dangerous portion of the test robot, and a step of evaluating safety of the robot by determining whether magnitudes of the calculated collision pressure and collision force fall within magnitudes of a predetermined maximum collision pressure and predetermined maximum collision force.

A control device for a robot is configured to control operation of a robotic arm having a plurality of links coupled to each other through a rotation axis, and a motor for drive provided to the rotation axis. The control device includes an angle calculating module configured to calculate an angle formed by the two links adjacent to each other through the rotation axis, and an angle monitoring module configured to monitor whether the angle calculated by the angle calculating module is a given angle or below.