A method for queuing robots destined for a target location in an environment, includes determining if a first robot occupies the target location and if it is determined that the first robot occupies the target location, determining if a second robot destined for the target location has entered a predefined target zone proximate the target location. If the second robot has entered the predefined target zone, the method further includes navigating the second robot to a first queue location and causing the second robot to wait at the first queue location until the first robot no longer occupies the target location. The method also includes navigating the second robot to the target location after the first robot leaves the target location.

A simulation apparatus acquires a position and an operating speed in each drive axis of the robot at a set point set for each minute section of a motion path of the robot when an operation program of a robot is executed. The simulation apparatus comprises a stop position estimation part that estimates a stop position where the robot is stopped after moving by inertia in each dive axis, based on the position in each drive axis of the robot, the operating speed in each drive axis, and the weight of the work tool, when an emergency stop of the robot is performed at the set point. The simulation apparatus comprises a swept space calculation part that calculates a swept space of three-dimensional models of the robot and the work tool based on the stop position.

A robot control device according to an aspect of the invention is a robot control device that controls a robot on the basis of a simulation result of a simulation device that performs a simulation of operation of a virtual robot on a virtual space. In the simulation, a first region and a second region located on an inside of the first region can be set on the virtual space. In the case where the virtual robot operates, when a specific portion of the virtual robot intrudes into the first region, operating speed of the virtual robot is limited. When the specific portion of the virtual robot intrudes into the second region, the operation of the virtual robot stops or the virtual robot retracts from the second region.

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 information processing apparatus includes a display controller configured to output display information to be displayed on a display apparatus, and an analysis unit. The display apparatus includes an operation display area displaying an operation of a robotic system based on robot control data and an information display area displaying information related to an operation parameter of the robotic system in a time-series manner based on the robot control data. The analysis unit is configured to analyze the operation parameter to specify a warning event. The display controller displays the warning event specified by the analysis unit in the operation display area and the information display area in association with each other.

A method for controlling an arm of a robot to imitate a human arm, includes: acquiring first pose information of key points of a human arm to be imitated; converting the first pose information into second pose information of key points of an arm of a robot; determining an angle value of each joint of the arm according to inverse kinematics of the arm based on the second pose information; and controlling the arm to move according to the angle values.

A robot system include: a robot; and circuitry configured to: sequentially call a plurality of commands representing an operation path of the robot including an undetermined section; generate an additional path for the undetermined section; and operate the robot based on a command called from the plurality of commands and the additional path, wherein the circuitry is configured to generate the additional path based on surrounding environment information of the robot during operation of the robot based on the called command.

A control system and method for a safety state of a robot. After a followed device is selected by the selection device, a safety state of a controlled device is set to follow the followed device. When a sensing device detects an object leaving a working environment, the controlled device is controlled according to the state of the followed device. The controlled device is controlled to follow the followed device to leave the safety state to improve the safety of the robot.

A system has a virtual-world (VW) controller and a physical-world (PW) controller. The pairing of a PW element with a VW element establishes them as corresponding physical and virtual twins. The VW controller and/or the PW controller receives measurements from one or more sensors characterizing aspects of the physical world, the VW controller generates the virtual twin, and the VW controller and/or the PW controller generates commands for one or more actuators affecting aspects of the physical world. To coordinate the corresponding virtual and physical twins, (i) the VW controller controls the virtual twin based on the physical twin or (ii) the PW controller controls the physical twin based on the virtual twin. Depending on the operating mode, one of the VW and PW controllers is a master controller, and the other is a slave controller, where the virtual and physical twins are both controlled based on one of VW or PW forces.