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.

Systems and a process for determining a set of tuned robotic motion instructions of a robot for performing robotic tasks, wherein a sudden stop of the robot implies a trajectory deviation. Inputs are received, including virtual representation of the robot, information on a sequence of robotic motion instructions, information on a set of forbidden volumes. A set of segments of robotic motion instructions is defined. For each segment, a corresponding stop envelope is generated by taking into account a set of sudden stops of the robot. A subset of critical segments for which there is a certain overlapping zone between the corresponding stop envelope and the set of forbidden volumes is determined. For each critical segment, the corresponding robotic motion instructions are iteratively tuned until the newly generated stop envelope for the segment has a minimal overlapping zone with the set of forbidden volumes.

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.

A control apparatus for controlling operation of a work robot for performing work inside a target region using a manipulator includes a trajectory information acquiring unit for acquiring N?1 or N pieces of trajectory information respectively indicating N?1 or N trajectories connecting N work regions where the work robot performs a series of work operations in order of a series of work operations; a classifying unit for classifying the N?1 or N trajectories as (i) trajectories that need correction or (ii) trajectories that do not need correction; and a trajectory planning unit for planning a trajectory of a tip of the manipulator between two work regions relating to the each of the one or more trajectories, for each of the one or more trajectories classified as a trajectory that needs correction by the classifying unit.

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 wanting event specified by the analysis unit in the operation display area and the information display area in association with each other.

Unique systems, methods, techniques and apparatuses of a robot training system are disclosed. One exemplary embodiment is an industrial robot training system comprising a mixed reality display device structured to superimpose a virtual scene on a real-world view of a real-world scene including a plurality of physical objects including an industrial robot, a video input device, and a computing device. The computing device is structured to detect physical objects using video output from the video input device, generate virtual objects using the detected physical objects, simulate a virtual robot path, determine one movement of the series of robot movements causes a collision, adjust the virtual robot path so as to avoid the collision between the two virtual objects of the plurality of virtual objects, and program the industrial robot to perform a real robot path using the adjusted virtual robot path.

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.

A simulation system includes circuitry configured to: determine placement of a robot with respect to another object in a virtual space, based on a placement constraint applied to the robot for executing a plurality of tasks; generate a path representing a trajectory of at least a portion of the robot or a tool operated by the robot during the tasks, based on a spatial relationship between the determined placement of the robot and the other object that satisfies the placement constraint; execute an operation program including the generated path in the virtual space in which the robot and the other object are placed; and check whether the robot interferes with the other object, based on the spatial relationship between the determined placement of the robot and the other object along the generated path in the virtual space, as a result of executing the tasks in the operation program.

A system and a method predict a collision free posture of a kinematic system. The method includes: receiving a 3D virtual environment, receiving a 3D representation of the kinematic system and a set of 3D postures defined for the 3D virtual kinematic system, receiving a target task to be performed by the kinematic system with respect to the surrounding environment, and receiving a prescribed location within the 3D virtual environment. The prescribed location defines a position at which the 3D virtual kinematic system has to be placed within the 3D virtual environment. A collision free detection function (CFD) is applied to a set of input data containing the 3D virtual environment, the target task, the prescribed location and the set of postures. The CFD function outputs a set of collision free postures enabling the kinematic system to perform the target task when located at the prescribed location.