A teaching device constructs, in a virtual space, a virtual robot system in which a virtual 3D model of a robot and a virtual 3D model of a peripheral structure of the robot are arranged, and teaches a moving path of the robot. The teaching device includes an acquisition unit configured to acquire information about a geometric error between the virtual 3D models, and a correction unit configured to correct the moving path of the robot in accordance with the information acquired by the acquisition unit.

Disclosed are a collision avoidance method for a moving device, a collision avoidance apparatus for a moving device, and a computer-readable storage medium. This application relates to the field of artificial intelligence technologies. According to the method, a parking direction of a moving device in an avoidance area is adjusted, so that a startup time used by the moving device after avoidance completes may be reduced. The method includes: determining a target path direction of a moving device; determining a first candidate parking direction and a second candidate parking direction; determining, based on the target path direction, a target parking direction of the moving device from the first candidate parking direction and the second candidate parking direction; and controlling, based on the target parking direction, the moving device to be parked in the avoidance area.

An obstacle avoidance method for a robot arm is provided, including a modeling step, a collecting and evaluating coordinates step, an obtaining control parameter step, an establishing an occupation function step, and a finding an obstacle avoiding posture step. The present invention pre-stores the data obtained in performing the modeling step, the step of collecting and evaluating coordinates, the step of obtaining control parameter, and the step of establishing the occupation function into a database, thereby allowing the robot arm to quickly evaluate whether a collision behavior will occur in subsequent execution of a task. If a collision will occur, the robot arm executes the step of the finding the obstacle avoiding posture to dodge obstacles. The invention uses a non-contact approach for anti-collision design, which can improve the shortcomings faced by the existing contact type anti-collision design.

A computer-implemented method including determining a group to which a first object belongs and a group to which a second object belongs, executing a simulation including the first object and the second object, executing a collision determination between the first object and the second object during execution of the simulation, and changing the group to which the first object belongs when a predetermined condition is satisfied. The collision determination is executed only when the group to which the first object belongs is different from the group to which the second object belongs.

A method and system simulates a work process on a machine tool using a virtual machine. The virtual machine is set up to simulate the work process on the machine tool using machine data, workpiece data, and tool data as a function of numerical control (NC) control data and programmable logic control (PLC) control data. The work process is simulated on a platform that comprises a plurality of processor cores, wherein the work process is simulated in partial simulations that run in parallel on different processor cores.

A press working simulator according to an aspect of the present disclosure includes: a robot program storage section that stores a robot program that instructs a robot how to move; a press program storage section that stores a press program that instructs a press machine how to move; a profile data setting section that causes the press program storage section to store a press program according to profile data that records what position a die is in at each time point when the press machine is actually moved; a model placing section that places three-dimensional models of a workpiece, the robot, and the press machine in a virtual space; a press movement processing section that causes the three-dimensional model of the press machine to move according to the press program; and a robot movement processing section that causes the three-dimensional model of the robot to move according to the robot program.

According to one embodiment, a monitor apparatus includes a memory and processing circuitry. The processing circuitry acquires first information indicating a position and a moving direction of a target, acquires second information indicating a position of each of moving objects and sensors which are provided in the moving objects, selects at least one of a first moving object for monitoring the target from among the moving objects or a first sensor for monitoring the target from among the sensors, based on the first information and the second information, and transmits third information indicating the target and at least one of the first moving object or the first sensor.

A functional safety system performs safety analysis on three-dimensional point cloud data measured by a time-of-flight (TOF) sensor that monitors a hazardous industrial area that includes an automation system. To reduce the amount of point cloud data to be analyzed for hazardous conditions, the safety system executes a real-time emulation of the automation system using a digital twin and live controller data read from an industrial controller that monitors and controls the automation system. The safety system generates simulated, or shadow, point cloud data based on the emulation and subtracts this simulate point cloud data from the measured point cloud data received from the TOF sensor. This removes portions of the point cloud data corresponding to known or expected elements within the monitored area. Any remaining entities detected in the reduced point cloud data can be further analyzed for safety concerns.

The present invention relates to a collision-free path generating method for a robot and an end effector quipped thereon to move. The method includes steps of configuring a virtual working environment, containing a plurality of virtual objects at least including the robot, the end effector and a target object consisting of a plurality of basic members and mapped from a working environment in a reality, in a robot simulator; selecting a level of detail and a pre-determined shape for a collider covering the plurality of virtual objects to determine boundaries for the plurality of objects; randomly sampling a combination of robot configurations; and based on the determine boundaries and the randomly sampled combination of robot configurations, performing a heuristic based pathfinding algorithm to compute a collision-free path for the robot and the end effector quipped thereon to move to the target object accordingly.

In order to detect when a kinematic linkage (1) leaves workspaces (WS) and/or enters safe spaces (SS), using, little computing power, and therefore doing so more quickly, at least a part of the kinematic linkage (1) is modeled with a number of kinematic objects (K1, K2, K3, K4), and a monitoring space (S) is specified, The number of kinematic objects (K1, K2, K3, K4) is modeled in less than two dimensions D<2. For each modeled kinematic object (K1, K2, K3, K4), a geometric variable of a monitoring space (S) is modified by a distance (d1, d2, d3, d4). Each distance (d1, d2, d3, d4) is derived from at least one geometric parameter (P1, P2, P3) of the modeled kinematic object (K1, K2, K3, K4), The position of each of the number of kinematic objects (K1, K2, K3, K4) is checked in relation to the modified monitoring spaces (S1, S2, S3, S4).